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Electrically-driven phase transition actuators to power soft robot designs.

D Fonseca1, P Neto2

  • 1University of Coimbra, CEMMPRE, Department of Mechanical Engineering, Coimbra, Portugal.

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Summary
This summary is machine-generated.

This study introduces an electric soft actuator using liquid-gas phase transition with water, achieving high strain and pressurization rates. It offers low-voltage operation and integration into soft robots.

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Traditional soft actuators often rely on electrostatic or electrothermal methods, limiting their potential.
  • Liquid-gas phase transition actuators have faced challenges with speed and control.

Purpose of the Study:

  • To develop a liquid-gas phase transition electric soft actuator with improved performance.
  • To enable low-voltage operation, enhanced controllability, and scalability in soft robotics.

Main Methods:

  • Utilized water as the working fluid powered by a flexible coil-type heating element.
  • Developed a working fluid selection method for application-specific optimization.
  • Implemented a nonlinear control approach to minimize vibrations and control lag.

Main Results:

  • Achieved strain rates exceeding 16%/s and pressurization rates of 100 kPa/s.
  • Demonstrated blocked forces over 50 N at voltages up to 24 V.
  • Successfully integrated the actuator into a biomimetic hand and a quadruped robot.

Conclusions:

  • Liquid-gas phase transition electric soft actuators offer a viable alternative for high-performance soft robotics.
  • The proposed methods enhance actuator capabilities and enable diverse robotic applications.
  • This technology advances the development of controllable, scalable, and low-voltage soft robotic systems.