相关论文: Nonlinear analysis of a fiber-reinforced tubular c…
Twisted and coiled polymer actuators (TCPAs) offer the advantages of large stroke and large specific work as compared to other actuators. There have been extensive experimental investigations towards understanding their actuation response,…
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced Bending Fluidic Actuators (BFAs) became very popular thanks…
Thermally actuated twisted and coiled polymer (TCP) artificial muscles exhibit exceptional specific work capacities but are limited by an inherent competition between load-bearing capacity and actuation stroke. To address this limitation,…
Fiber-reinforced pneumatic twisted-and-coiled actuators (FR-PTCAs) offer high power density and compliance but their strong hysteresis and lack of intrinsic proprioception limit effective closed-loop control. This paper presents a…
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
We review recent progress on the theory of dynamics of polymer translocation through a nanopore based on the iso-flux tension propagation (IFTP) theory. We investigate both pore-driven translocation of flexible and a semi-flexible polymers,…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
This work presents a new fiberless soft pneumatic actuator that can work multifunctional and bidirectional, and its embedded sensors give it a self-proprioception ability. This actuator works based on the idea of employing helical pressure…
Twisted and coiled polymer actuators (TCPAs) generate large contractile mechanical work mimicking natural muscles, which makes them suitable for robotics and health-assistive devices. Understanding the mechanism of nylon TCPA remains…
Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques…
Entangled networks of stiff biopolymers exhibit complex dynamic response, emerging from the topological constraints that neighboring filaments impose upon each other. We propose a class of reference models for entanglement dynamics of stiff…
This paper presents a novel Embroidery Actuator, a fabric-integrated pneumatic actuator that enables diverse and controllable deformations through embroidery pattern design. Unlike conventional fabric actuators that rely on fiber- or…
In this study, an inhomogeneous Cosserat rod theory is introduced and compared to the conventional homogeneous rod for modeling soft manipulators. The inhomogeneity is addressed by considering the pressure actuation as part of the rod's…
Soft electrothermal actuators are of great interest in diverse application domains for their simplicity, compliance, and ease of control. However, the very nature of thermally induced mechanical actuation sets inherent operation…
Fiber-reinforced polymer composite (FRPC) materials are used extensively in various industries, such as aerospace, automobiles, and electronics packaging, due to their remarkable specific strength and desirable properties, such as enhanced…
Soft actuators allow to transform external stimuli to mechanical deformations. Because of their deformational response to external magnetic fields, magnetic gels and elastomers represent ideal candidates for such tasks. Mostly, linear…
We formulate and characterize a model to describe the dynamics of semiflexible polymers in the presence of activity due to motor proteins attached irreversibly to a substrate, and a transverse pulling force acting on one end of the…
Multilayer piezoelectric polyvinylidene fluoride (PVDF) actuators are a promising approach to enhance performance of soft microrobotic systems. In this work, we develop and characterize multilayer PVDF actuators with parallel voltage…
Entropy-driven directed translocation of a flexible polymer through a cone-shaped channel is studied theoretically and using computer simulation. For a given length of the channel, the effective force of entropic origin acting on the…