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Soft Electromagnetic Sliding Actuators for Highly Compliant Planar Motions Using Microfluidic Conductive Coil Array.

Yeongjin Choi1,2, Gyowook Shin3, Sohee John Yoon1,2

  • 1Department of Mechanical Engineering, Seoul National University, Seoul, South Korea.

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PubMed
Summary

We developed a soft electromagnetic sliding actuator for compliant robotic systems. This novel actuator offers precise planar motion control, reduced power consumption, and versatile surface operation.

Keywords:
eutectic gallium-indium (EGaIn)liquid metalmicrofluidic coil arrayproprioceptive actuatorsensor–actuator integrationshape morphingsoft electromagnetic actuator

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Area of Science:

  • Robotics
  • Materials Science
  • Electromagnetism

Background:

  • Developing compliant actuation systems is crucial for advanced robotics.
  • Existing actuators often face limitations in flexibility, power consumption, and multi-surface operation.
  • Soft electromagnetic actuators offer potential for overcoming these challenges.

Purpose of the Study:

  • To propose and characterize a novel soft electromagnetic sliding actuator.
  • To enable versatile planar motions for highly compliant actuation systems.
  • To demonstrate the actuator's capabilities in robotic applications.

Main Methods:

  • Designing a soft actuation base (stator) with a parallel liquid-metal coil array for maximized electromagnetic field density.
  • Utilizing stretchable magnetic components for stable slider positioning without external constraints.
  • Implementing an untethered structure for reduced power consumption and programmable trajectory control.
  • Employing inductance change measurements for slider position estimation.

Main Results:

  • The actuator achieves stable planar motion with programmable trajectories.
  • It demonstrates reduced power consumption due to an untethered design.
  • The actuator successfully operates on curved and inclined surfaces.
  • Position estimation is achieved through inductance change measurements.

Conclusions:

  • The proposed soft electromagnetic sliding actuator offers a unique solution for compliant actuation.
  • Its design enables versatile motion control, reduced power usage, and adaptability to various surfaces.
  • The actuator shows promise for advanced robotic applications like shape morphing and integrated sensing.