Bioinspired activation strategies for Peano-HASEL artificial muscle

Human muscles perform many functions during activities of daily living producing a wide range of force outputs, displacements, and velocities. This versatile ability is believed to be associated with muscle activation strategies, such as the number and position of activated motor units within the muscle, as well as the frequency, magnitude and shape of the activation signal. Activation strategies similar to those in the human neuromuscular system could increase the functionality of artificial muscles. Activation in an artificial muscle is the contraction of a single actuator or multiple actuators within the muscle. The number of activated actuators, timing and magnitude of activation (the activation strategy) will enable modulation of the artificial muscles force, displacement and contraction velocity. These activation strategies will mean that an artificial muscle will be able to change its performance to modulate its displacement, length (maximal contractile strain) and velocity for various loading conditions without altering its hardware-making it more versatile in a range of applications or tasks. This study aims to investigate the effect of activation strategies on the displacement-time response, force-length relationship, and force-velocity relationship of a Peano-hydraulically amplified self-healing electrostatic (HASEL) artificial muscle.

This study developed a finite element model of an artificial muscle consisting of four Peano-HASEL actuators arranged in three parallel groups in a diamond pattern (two actuators in series in the middle-middle actuators, with one actuator in parallel either side-side actuators). Bioinspired activation strategies were applied to the artificial muscle. Specifically, the number of activated actuators (i.e., activation level), the position of activated actuators, the profile, frequency, and phase of the activation signal were investigated.

Activating more actuators resulted in increased displacement (106%) and increased average contraction velocity (128%), but overall energy efficiency was sacrificed by 47%. The distortion of inactivated actuators was mitigated by symmetric and phased activation. Phased activation refers to activating middle actuators before side actuators. In addition, displacement patterns of the Peano-HASEL artificial muscle changed with activation signal frequency. The ramp activation signal with low frequencies (less than 5 Hz) is suitable for applications favouring controllable displacement, while the step activation signal produces greater average contraction velocity (325%) which would be advantageous for applications requiring a fast response.

This paper demonstrates that activation strategies can enhance multi-actuator artificial muscle function without changing the physical hardware configuration. Specifically, activation strategy can, improve displacement control, contraction velocity and output force. Future work should focus on more complex artificial muscle arrangements and test activation strategies in practical experiments.