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16 pages, 4889 KiB

Open AccessArticle

Fabrication and Characterization of Graphene–Mesoporous Carbon–Nickel–Poly(Vinyl Alcohol)-Coated Mandrel-Coiled TCP_FL^NR Artificial Muscle

by Pawandeep Singh Matharu, Yuyang Song, Umesh Gandhi and Yonas Tadesse

Biomimetics 2024, 9(8), 458; https://doi.org/10.3390/biomimetics9080458 - 26 Jul 2024

Cited by 1 | Viewed by 1273

Abstract

This study investigates the performance enhancement of mandrel-coiled twisted and coiled polymer fibers with a nichrome heater (TCP_FL^NR) by coating with a solution of graphene–mesoporous carbon–nickel–polyvinyl alcohol. The coating process involved a one-pot synthesis utilizing graphene powder, Ni nanoparticles, mesoporous carbon, and PVA as a binding agent. The coating was performed by manually shaking the TCP_FL^NR and the subsequent annealing process, which results in improved thermal conductivity and actuation behavior of the TCP_FL^NR. Experimental results on a 60 mm long actuator demonstrated significant enhancements in actuation displacement and actuation strain (20% to 42%) under various loads with an input current of 0.27 A/power 2.16 W. The blocked stress is ~10 MPa under this 2.16 W power input and the maximum strain is 48% at optimum load of 1.4 MPa. The observed actuation strain correlated directly with the input power. The coated TCP_FL^NR exhibited better thermal contacts, facilitating enhanced heat transfer, and reducing power consumption by 6% to 9% compared to non-coated actuators. It was found that the nanomaterial coating helps the TCP actuator to be reliable for more than 75,000 actuation cycles at 0.1 Hz in air due to improved thermal conductivity. These findings highlight the potential for further research to optimize electrothermally operated TCP actuators and unlock advancements in this field. Full article

(This article belongs to the Special Issue Bioinspired Structures for Soft Actuators)

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29 pages, 10949 KiB

Open AccessArticle

HBS-1.2: Lightweight Socially Assistive Robot with 6-Ply Twisted Coiled Polymer Muscle-Actuated Hand

by Abhishek Pratap Singh, Darshan Palani, Onan Ahmed, Pawandeep Singh Matharu, Tristan Linn, Trung Nguyen and Yonas Tadesse

Actuators 2023, 12(8), 312; https://doi.org/10.3390/act12080312 - 1 Aug 2023

Cited by 6 | Viewed by 4142

Abstract

In this paper, a new socially assistive robot (SARs) called HBS-1.2 is presented, which uses 6-ply twisted and coiled polymer (TCP) artificial muscles in its hand to perform physical tasks. The utilization of 6-ply TCP artificial muscles in a humanoid robot hand is a pioneering advancement, offering cost effective, lightweight, and compact solution for SARs. The robot is designed to provide safer human–robot interaction (HRI) while performing physical tasks. The paper explains the procedures for fabrication and testing of the 6-ply TCP artificial muscles, along with improving the actuation response by using a Proportional-Integral-Derivative (PID) control method. Notably, the robot successfully performed a vision-based pick and place experiment, showing its potential for use in homecare and other settings to assist patients who suffer from neurological diseases like Alzheimer’s disease. The study also found an optimal light intensity range between 34 to 108 lumens/m², which ensures minimal variation in calculated distance with 95% confidence intervals for robust performance from the vison system. The findings of this study have important implications for the development of affordable and accessible robotic systems to support elderly patients with dementia, and future research should focus on further improving the use of TCP actuators in robotics. Full article

(This article belongs to the Special Issue Actuators in Assistive and Rehabilitation Robotics)

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11 pages, 3441 KiB

Open AccessArticle

Characteristic Analysis of Heterochiral TCP Muscle as a Extensile Actuator for Soft Robotics Applications

by Beau Ragland and Lianjun Wu

Actuators 2023, 12(5), 189; https://doi.org/10.3390/act12050189 - 28 Apr 2023

Cited by 3 | Viewed by 2461

Abstract

A soft actuator is an essential component in a soft robot that enables it to perform complex movements by combining different fundamental motion modes. One type of soft actuator that has received significant attention is the twisted and coiled polymer artificial muscle (TCP actuator). Despite many recent advancements in TCP actuator research, its use as an extensile actuator is less common in the literature. This works introduces the concept of using TCP actuators as thermal-driven extensile actuators for robotics applications. The low-profile actuator can be easily fabricated to offer two unique deformation capabilities. Results from the characterization indicate that extensile actuators, made with various rod diameters and under different load conditions, display remarkable elongation deformation. Additionally, a proof-of-concept soft-earthworm robot was developed to showcase the potential application of the extensile actuator and to demonstrate the benefits of combining different types of motion modes. Full article

(This article belongs to the Special Issue Soft Actuators and Robotics)

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10 pages, 6579 KiB

Open AccessArticle

Design and Application of a Twisted and Coiled Polymer Driven Artificial Musculoskeletal Actuation Module

by Chunbing Wu, Wen Zheng, Zhiyi Wang, Biao Yan, Jia Ma and Guangqiang Fang

Materials 2022, 15(22), 8261; https://doi.org/10.3390/ma15228261 - 21 Nov 2022

Viewed by 2064

Abstract

Twisted and coiled polymer (TCP) artificial muscles can exhibit unidirectional actuation similar to skeletal muscles. This paper presents a TCP driven artificial musculoskeletal actuation module that can be used in soft robots. This module can contract in the axis direction, and the contraction displacement and force can be controlled easily. The main body of the actuation module consists of TCP muscles and leaf springs, and the deformation of the module is actuated by the TCP muscles. A prototype was made to test the performance of the module. The design and experimental results of the module are presented. The module can provide contraction motion. Results show that the module can provide a contraction force of 0.7 N with displacement of approximately 6.8 mm at 120 °C when exposed to electrical power of 24 V. The proposed artificial musculoskeletal actuation module can potentially be applied in biomimetic robots and the aerospace field. Full article

(This article belongs to the Special Issue Advanced Composite Material Design and Manufacturing Technology for Aerospace Engineering)

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14 pages, 2272 KiB

Open AccessArticle

A Modeling of Twisted and Coiled Polymer Artificial Muscles Based on Elastic Rod Theory

by Chunbing Wu and Wen Zheng

Actuators 2020, 9(2), 25; https://doi.org/10.3390/act9020025 - 7 Apr 2020

Cited by 28 | Viewed by 10289

Abstract

Twisted and coiled polymer (TCP) can generate large stroke and output high power density, making it a promising artificial muscle. Thermally induced muscles fabricated from nylon or other polymer fibers can be used in robotic, biomedical devices, and energy-harvesting equipment. While fibers with different shapes and materials have different optimal process parameters. Understanding mechanisms of TCP forming and the impact of process parameters is critical to explore stronger, more powerful artificial muscles. In this paper, an elastic-rod-theory-based model was established for capturing the quantitative relationship between tensile actuation and fabrication load. Further experimental results agree with model calculation and TCP muscles used in our research reaches maximum stroke of 52.6%, strain up to 9.8 MPa, and power density of 211.89 J/kg. Full article

(This article belongs to the Special Issue Polymeric Actuators 2020)

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