The Experts below are selected from a list of 11982 Experts worldwide ranked by ideXlab platform
Iain A Anderson - One of the best experts on this subject based on the ideXlab platform.
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An Artificial Muscle computer
Applied Physics Letters, 2013Co-Authors: Benjamin M. O'brien, Iain A AndersonAbstract:We have built an Artificial Muscle computer based on Wolfram's “2, 3” Turing machine architecture, the simplest known universal Turing machine. Our computer uses Artificial Muscles for its instruction set, output buffers, and memory write and addressing mechanisms. The computer is very slow and large (0.15 Hz, ∼1 m3); however by using only 13 Artificial Muscle relays, it is capable of solving any computable problem given sufficient memory, time, and reliability. The development of this computer shows that Artificial Muscles can think—paving the way for soft robots with reflexes like those seen in nature.
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Cutting the fat: Artificial Muscle oscillators for lighter, cheaper, and slimmer devices
Electroactive Polymer Actuators and Devices (EAPAD) 2012, 2012Co-Authors: Benjamin M. O'brien, Samuel Rosset, Herbert Shea, Iain A AndersonAbstract:Artificial Muscles based on dielectric elastomers show enormous promise for a wide range of applications and are slowly moving from the lab to industry. One problem for industrial uptake is the expensive, rigid, heavy and bulky high voltage driver, sensor and control circuitry that Artificial Muscle devices currently require. One recent development, the Dielectric Elastomer Switch(es) (DES), shows promise for substantially reducing auxiliary circuitry and helping to mature the technology. DES are piezoresistive elements that can be used to form logic, driver, and sensor circuitry. One particularly useful feature of DES is their ability to embed oscillatory behaviour directly into an Artificial Muscle device. In this paper we will focus on how DES oscillators can break down the barriers to industrial adoption for Artificial Muscle devices. We have developed an improved Artificial Muscle ring oscillator and applied it to form a mechanosensitive conveyor. The free running oscillator ran at 4.4 Hz for 1056 cycles before failing due to electrode degradation. With better materials Artificial Muscle oscillators could open the door to robots with increased power to weight ratios, simple-to-control peristaltic pumps, and commercially viable Artificial Muscle motors.
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rotating turkeys and self commutating Artificial Muscle motors
Applied Physics Letters, 2012Co-Authors: Benjamin Obrien, Todd Gisby, Thomas Mckay, Iain A AndersonAbstract:Electrostatic motors—first used by Benjamin Franklin to rotisserie a turkey—are making a comeback in the form of high energy density dielectric elastomer Artificial Muscles. We present a self-commutated Artificial Muscle motor that uses dielectric elastomer switches in the place of bulky external electronics. The motor simply requires a DC input voltage to rotate a shaft (0.73 Nm/kg, 0.24 Hz) and is a step away from hard metallic electromagnetic motors towards a soft, light, and printable future.
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An Artificial Muscle Ring Oscillator
IEEE ASME Transactions on Mechatronics, 2012Co-Authors: Benjamin M. O'brien, Iain A AndersonAbstract:Dielectric elastomer Artificial Muscles have great potential for the creation of novel pumps, motors, and circuitry. Control of these devices requires an oscillator, either as a driver or clock circuit, which is typically provided as part of bulky, rigid, and costly external electronics. Oscillator circuits based on piezo-resistive dielectric elastomer switch technology provide a way to embed oscillatory behavior into Artificial Muscle devices. Previous oscillator circuits were not digital, able to function without a spring mass system, able to self-start, or suitable for miniaturization. In this paper we present an Artificial Muscle ring oscillator that meets these needs. The oscillator can self-start, create a stable 1 Hz square wave output, and continue to function despite degradation of the switching elements. Additionally, the oscillator provides a platform against which the performance of different dielectric elastomer switch materials can be benchmarked.
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a thin membrane Artificial Muscle rotary motor
Applied Physics A, 2010Co-Authors: Iain A Anderson, Thom Hale, Todd Gisby, Tokushu Inamura, Thomas Mckay, Benjamin Obrien, Scott Walbran, Emilio P CaliusAbstract:Desirable rotary motor attributes for robotics include the ability to develop high torque in a low mass body and to generate peak power at low rotational speeds. Electro-active polymer Artificial Muscles offer promise as actuator elements for robotic motors. A promising Artificial Muscle technology for use as a driving mechanism for rotary motion is the dielectric elastomer actuator (DEA). We present a membrane DEA motor in which phased actuation of electroded sectors of the motor membrane impart orbital motion to a central drive that turns a rotor. The motor is inherently scalable, flexible, flat, silent in operation, amenable to deposition-based manufacturing approaches, and uses relatively inexpensive materials. As a membrane it can also form part of the skin of a robot.
Toshiyuki Sato - One of the best experts on this subject based on the ideXlab platform.
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mechanical equilibrium model of rubberless Artificial Muscle and application to position control of antagonistic drive system
Industrial Robot-an International Journal, 2013Co-Authors: Naoki Saito, Takanori Ogasawara, Takanori Sato, Ryo Takahashi, Toshiyuki SatoAbstract:Purpose – The purpose of this paper is to describe a mechanical equilibrium model of a one‐end‐fixed type rubberless Artificial Muscle and the feasibility of this model for control of the rubberless Artificial Muscle. This mechanical equilibrium model expresses the relation between inner pressure, contraction force, and contraction displacement. The model validity and usability were confirmed experimentally.Design/methodology/approach – Position control of a one‐end‐fixed type rubberless Artificial Muscle antagonistic drive system was conducted using this mechanical equilibrium model. This model contributes to adjustment of the antagonistic force.Findings – The derived mechanical equilibrium model shows static characteristics of the rubberless Artificial Muscle well. Furthermore, it experimentally confirmed the possibility of realizing position control with force adjustment of the rubberless Artificial Muscle antagonistic derive system. The mechanical equilibrium model is useful to control the rubberless ...
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joint angle control of a manipulator driven by rubberless Artificial Muscle using a static mechanical equilibrium model
Procedia Engineering, 2012Co-Authors: Takanori Sato, Naoki Saito, Toshiyuki SatoAbstract:Abstract This paper describes derivation of a static mechanical equilibrium model of a both-ends-fixed type of Rubberless Artificial Muscle and joint angle control of a manipulator driven by it. The Rubberless Artificial Muscle is a new Artificial Muscle we proposed to improve problems attributable to the deterioration of traditional rubber Artificial Muscles. As a construction material, it uses a sheet in substitution for rubber. The sheet neither expands nor contracts. This Rubberless Artificial Muscle has characteristics resembling those of other Artificial Muscles. Because of its exclusion of rubber material, the Rubberless Artificial Muscle can be driven by low pressure. In this paper, we derived a static mechanical equilibrium model of a both-ends-fixed type of Rubberless Artificial Muscle and confirmed its validity. Additionally, we conducted joint angle control of the manipulator, and confirmed the possibility of the application to the mechatronics of the Rubberless Artificial Muscle.
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ROBIO - Mathematical model of rubberless pneumatic Artificial Muscle
2011 IEEE International Conference on Robotics and Biomimetics, 2011Co-Authors: Takanori Ogasawara, Naoki Saito, Takanori Sato, Toshiyuki SatoAbstract:This paper describes a mathematical model of a rubberless pneumatic Artificial Muscle. This Artificial Muscle has characteristics resembling those of a McKibben-type Artificial Muscle. Because of its exclusion of rubber material, however, the rubberless Artificial Muscle can be driven by low pressure. Although it uses a braided mesh similar to that of a McKibben Artificial Muscle, its contractive mechanism differs slightly. We derived a mathematical model of the rubberless Artificial Muscle while devoting attention to its unique contractive mechanisms. We confirmed the validity of the mathematical model through experimentation. Results show that this proposed mathematical model can be expressed in a simple form, and that it has sufficient accuracy.
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Development of rubberless Artificial Muscle and fundamental characteristics
IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society, 2011Co-Authors: Takanori Sato, Takanori Ogasawara, Naoki Saito, Toshiyuki SatoAbstract:This paper describes development and fundamental characteristics of a rubberless Artificial Muscle. The rubberless Artificial Muscle is used for an aluminum vapor deposition polyester sheet of non-expansion and contraction material in substitution for rubber. Measurements of fundamental characteristics confirmed that the rubberless Artificial Muscle is superior to a McKibben Artificial Muscle in contractive force and contraction displacement. We confirmed that the rubberless Artificial Muscle converts pressure more efficiently into contractive force and contraction displacement. The sleeve friction was improved greatly when we used an aluminum vapor deposition polyester sheet. Consequently, the improvement of the friction deterioration by the sleeve is expected.
Koichi Suzumori - One of the best experts on this subject based on the ideXlab platform.
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New concept and fundamental experiments of a smart pneumatic Artificial Muscle with a conductive fiber
Sensors and Actuators A-physical, 2016Co-Authors: Shuichi Wakimoto, Jumpei Misumi, Koichi SuzumoriAbstract:Abstract A McKibben Artificial Muscle consisting of a rubber tube and a mesh sleeve made from fibers is a promising actuator as an Artificial Muscle because of its high power, low weight, and flexibility. However, an external pressure sensor or an expensive electro/pneumatic regulator is generally required to control the pneumatic pressure to drive the actuator. A novel smart McKibben-type Artificial Muscle with a pressure-sensing function has been proposed and developed in this study. One fiber on the sleeve of the actuator is converted from a normal to a conductive material. The applied pressure is estimated by observing the electrical resistance of the conductive fiber. Therefore, the fiber works as both a sensor and an actuator element. The fabrication process of the smart Artificial Muscle is established in this report, and the basic characteristics are clarified. Moreover, a compact driving control system of the smart Artificial Muscle, which uses a small rotary pump without external sensors, electro/pneumatic regulator, or valves, is proposed.
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ROBIO - Experimental investigation of conductive fibers for a smart pneumatic Artificial Muscle
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015Co-Authors: Jumpei Misumi, Shuichi Wakimoto, Koichi SuzumoriAbstract:Recently, the demand for wearable apparatus for supporting human movement in the medical and welfare fields increases with low birthrate and aging of society in many countries. In these apparatus, a pneumatic Artificial Muscle like a McKibben Artificial Muscle is highly expected as the actuator because of its high power, light weight and flexibility. But the conventional displacement sensors are not suitable for controlling the pneumatic Artificial Muscle, because, compared with the Artificial Muscle, the sensors are expensive and rigid. Additionally they are incorporated in the system separately from the Artificial Muscle generally. In order to solve the problem, in this study, conductive fibers are utilized as the displacement sensor for the pneumatic Artificial Muscle by replacing the fiber component of the Artificial Muscle. This paper describes the basic design of a smart pneumatic Artificial Muscle integrating the conductive fibers as the sensor. Additionally results of basic characteristics of the smart pneumatic Artificial Muscle are shown experimentally.
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Flexible Artificial Muscle by bundle of McKibben fiber actuators
2011 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2011Co-Authors: Shuichi Wakimoto, Koichi Suzumori, Jungo TakedaAbstract:McKibben actuator is well known as an Artificial Muscle because it realizes contraction force and displacement with high energy density. Therefore mechanical engineers have been applied the actuators to biomimetic robots, power assisting wear mechanisms and so on. Generally, “one” actuator has been used as “one” Artificial Muscle. Namely, if one Artificial Muscle of 10mm in diameter is necessary, one actuator of 10mm in diameter has been utilized.
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very high force hydraulic mckibben Artificial Muscle with a p phenylene 2 6 benzobisoxazole cord sleeve
Advanced Robotics, 2010Co-Authors: Mayuko Mori, Koichi Suzumori, Masayuki Takahashi, Takashi HosoyaAbstract:Small and lightweight actuators that generate high force and high energy are strongly required for realizing powerful robots and tools. By applying ultra-high-strength p-phenylene-2,6-benzobisoxazole fiber sleeves to McKibben Artificial Muscles, new hydraulic Artificial Muscles have been developed. While conventional McKibben Muscles are driven by a maximum pneumatic pressure of 0.7 MPa, the newly developed Muscles are driven by a maximum water hydraulic of pressure of 4 MPa, resulting in very high force capability. This paper presents the materials and structure of the new Artificial Muscle and the experimental results. The developed Muscles are evaluated by four parameters — force density per volume (FDV), force density per mass (FDM), energy density per volume (EDV) and energy density per mass (EDM) — for comparisons with other conventional linear actuators. The prototype Artificial Muscle, which is 40 mm in diameter and 700 mm in length, can achieve a maximum contracting force of 28 kN, FDV of 32.3 × ...
Hyouk Ryeol Choi - One of the best experts on this subject based on the ideXlab platform.
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fabrication and modeling of temperature controllable Artificial Muscle actuator
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016Co-Authors: Kyeong Ho Cho, Mingeun Song, Hosang Jung, Sang Yul Yang, Hyungpil Moon, Ja Choon Koo, Jaedo Nam, Hyouk Ryeol ChoiAbstract:Research about the Artificial Muscle made of fishing lines or sewing threads, called the twisted and coiled polymer actuator (abbreviated as TCA in this paper) has collected many interests, recently. Since TCA has a specific power surpassing the human skeletal Muscle theoretically, it is expected to be a new generation of the Artificial Muscle actuator. In order that the TCA is utilized as a useful actuator, this paper introduces the fabrication and the modeling of the temperature-controllable TCA. With an embedded micro thermistor, the TCA is able to measure temperature directly, and feedback control is realized. The safe range of the force and temperature for the continuous use of the TCA was identified through experiments, and the closed-loop temperature control is successfully performed without the breakage of TCA.
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Fabrication and Control of Rectilinear Artificial Muscle Actuator
IEEE ASME Transactions on Mechatronics, 2011Co-Authors: Nguyen Huu Chuc, Hyungpil Moon, Ja Choon Koo, Jaedo Nam, Nguyen Huu Lam Vuong, Duk Sang Kim, Youngkwan Lee, Hyouk Ryeol ChoiAbstract:In this paper, we present an Artificial Muscle actuator based on a dielectric elastomer called the “multistacked actuator.” The actuator is made from a new material, the synthetic elastomer, developed by the authors. The proposed actuator is configured with multiple stacked synthetic elastomer films coated with compliant electrodes on both sides. This design enables the actuator to generate rectilinear motion with high force density. In addition, the actuators can be fabricated in various geometries to meet the requirements of the applications. We develop a pulsewidth-modulated proportional-integral-derivative (PWM-PID) feedback controller based on the high-voltage switching circuit and implemented it to drive the proposed actuator. Finally, the performance of the actuator is evaluated via experiments.
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IROS - Multi-stacked Artificial Muscle actuator based on synthetic elastomer
2007 IEEE RSJ International Conference on Intelligent Robots and Systems, 2007Co-Authors: Nguyen Huu Chuc, Ja Choon Koo, Jaedo Nam, Youngkwan Lee, Jong Kil Park, Doan Vu Thuy, Hyunseok Kim, Hyouk Ryeol ChoiAbstract:In this paper, we present a new Artificial Muscle actuator for the robotic applications, called multi-stacked actuator. This actuator is made from a new material, named synthetic elastomer previously developed by ourselves. The synthetic elastomer displays enhanced performance in terms of electrical as well as mechanical properties, which can be adjusted depending on its applications. The actuator is composed of the synthetic elastomer sheet coated with compliant electrodes on the both sides, connecting disks, spring, and rigid frame. This novel design enables the actuator to generate the large strain as well as the large force. Experimental works are performed to evaluate the actuation performance and the effectiveness of the actuator is validated.
Shuichi Wakimoto - One of the best experts on this subject based on the ideXlab platform.
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mckibben Artificial Muscle realizing variable contraction characteristics using helical shape memory polymer fibers
Sensors and Actuators A-physical, 2019Co-Authors: Shigeyoshi Yahara, Shuichi Wakimoto, Takefumi Kanda, Kouya MatsushitaAbstract:Abstract McKibben Artificial Muscles that consist of a rubber tube and a sleeve with knitted fibers have multiple advantages, including flexibility, low cost, and lightweight. Therefore, they are a prospective driving source for devices and robots used in the medical welfare field. The McKibben Artificial Muscles generate contraction motion by applying pneumatic pressure, and the contraction characteristics depend on initial knitting angle of the fibers. Namely, the contraction characteristics are decided during the fabrication process. Generally, a system with multiple Artificial Muscles has multiple regulators or valves to drive them with different contraction amount individually. This results in increased size, weight, and cost. To solve this problem, we proposed a novel Artificial Muscle structure that can change contraction characteristics on site with ease. The actuator has helical shape-memory polymer (SMP) fibers as sleeve fibers. Owing to shape fixity which is a unique function of SMPs, the angle of the helical SMP fibers, that is equivalent to the knitting angle of the sleeve fibers, can be varied even after fabrication, and contraction characteristics can be changed. Different contraction characteristics of a fabricated Artificial Muscle were confirmed experimentally by changing the angle of the helical SMP fibers.
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New concept and fundamental experiments of a smart pneumatic Artificial Muscle with a conductive fiber
Sensors and Actuators A-physical, 2016Co-Authors: Shuichi Wakimoto, Jumpei Misumi, Koichi SuzumoriAbstract:Abstract A McKibben Artificial Muscle consisting of a rubber tube and a mesh sleeve made from fibers is a promising actuator as an Artificial Muscle because of its high power, low weight, and flexibility. However, an external pressure sensor or an expensive electro/pneumatic regulator is generally required to control the pneumatic pressure to drive the actuator. A novel smart McKibben-type Artificial Muscle with a pressure-sensing function has been proposed and developed in this study. One fiber on the sleeve of the actuator is converted from a normal to a conductive material. The applied pressure is estimated by observing the electrical resistance of the conductive fiber. Therefore, the fiber works as both a sensor and an actuator element. The fabrication process of the smart Artificial Muscle is established in this report, and the basic characteristics are clarified. Moreover, a compact driving control system of the smart Artificial Muscle, which uses a small rotary pump without external sensors, electro/pneumatic regulator, or valves, is proposed.
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ROBIO - Experimental investigation of conductive fibers for a smart pneumatic Artificial Muscle
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015Co-Authors: Jumpei Misumi, Shuichi Wakimoto, Koichi SuzumoriAbstract:Recently, the demand for wearable apparatus for supporting human movement in the medical and welfare fields increases with low birthrate and aging of society in many countries. In these apparatus, a pneumatic Artificial Muscle like a McKibben Artificial Muscle is highly expected as the actuator because of its high power, light weight and flexibility. But the conventional displacement sensors are not suitable for controlling the pneumatic Artificial Muscle, because, compared with the Artificial Muscle, the sensors are expensive and rigid. Additionally they are incorporated in the system separately from the Artificial Muscle generally. In order to solve the problem, in this study, conductive fibers are utilized as the displacement sensor for the pneumatic Artificial Muscle by replacing the fiber component of the Artificial Muscle. This paper describes the basic design of a smart pneumatic Artificial Muscle integrating the conductive fibers as the sensor. Additionally results of basic characteristics of the smart pneumatic Artificial Muscle are shown experimentally.
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Flexible Artificial Muscle by bundle of McKibben fiber actuators
2011 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2011Co-Authors: Shuichi Wakimoto, Koichi Suzumori, Jungo TakedaAbstract:McKibben actuator is well known as an Artificial Muscle because it realizes contraction force and displacement with high energy density. Therefore mechanical engineers have been applied the actuators to biomimetic robots, power assisting wear mechanisms and so on. Generally, “one” actuator has been used as “one” Artificial Muscle. Namely, if one Artificial Muscle of 10mm in diameter is necessary, one actuator of 10mm in diameter has been utilized.
