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Versatile vacuum-powered artificial muscles through replaceable external reinforcements.

Mijaíl Jaén Mendoza1, Sergio Cancán2, Steve Surichaqui3

  • 1Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru.

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|January 19, 2024
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Summary
This summary is machine-generated.

This study introduces a versatile vacuum-powered artificial muscle (VPAM) for soft robotics. This adaptable soft actuator offers tunable output motions, enhancing robot functionality in unpredictable environments.

Keywords:
artificial musclereplaceable reinforcementsreusablesoft actuatorsoft roboticsversatile

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft pneumatic artificial muscles are crucial for safe, lightweight, and conformable robotic systems.
  • Existing actuators often lack adaptability for diverse or unpredictable operational demands.

Purpose of the Study:

  • To develop a versatile vacuum-powered artificial muscle (VPAM) with manually tunable output motion.
  • To demonstrate the adaptability and reusability of the VPAM across various applications.

Main Methods:

  • Designed a novel artificial muscle comprising a stack of air chambers.
  • Integrated replaceable external reinforcements to constrain actuator motion.
  • Characterized deformation and lifting forces for different motion modes (twisting, bending, shearing, rotary).

Main Results:

  • Successfully demonstrated tunable output motions including twisting, bending, shearing, and rotary actuation.
  • Validated the reusability and versatility of the VPAM in two distinct soft robotic machines.
  • Achieved sophisticated locomotion modes suitable for varied tasks.

Conclusions:

  • The developed VPAM offers a reusable and versatile solution for soft robotics.
  • Its adaptable nature is beneficial for unpredictable workspaces and diverse operational requirements.
  • Presents new strategies for locomotion in underwater, terrestrial, and wearable robotic devices.