The discovery of an innovative class thermally activated actuators based on twisted polymeric fibres has opened new horizons toward the development effective devices that can be easily manufactured using inexpensive materials such as fishing lines or sewing threads. These show large deformations when heated together with promising performance in terms energy and power densities. With aim providing information data useful for future engineering applications, we present results a...

Dielectric elastomer generators (DEGs) are a class of capacitive solid-state devices that employ highly stretchable dielectrics and conductors to convert mechanical energy into high-voltage direct-current electricity. Their promising performance in terms convertible power density has been mostly proven quasi-static experimental tests with prescribed deformation. However, the assessment their ability harvesting from dynamic oscillating source is crucial demonstrate effectiveness practical...

This article introduces and describes an electrically powered full-body (FB) exoskeleton, called the body extender (BE), intended as a research platform for study of transport handling heavy loads up to 50 kg, with one hand at worst-load conditions (WLCs). The machine features 22-degrees-of-freedom (DoF) quasi-anthropomorphic kinematic scheme modular hardware/software architecture that made it possible manage complexity system design. Besides providing context some general guidelines, which...

Dielectric elastomers (DE) are incompressible rubberlike solids whose electrical and structural responses highly nonlinear strongly coupled. Thanks to their coupled electromechanical response, intrinsic lightness, easy manufacturability, low-cost, DEs perfectly suited for the development of novel solid-state polymeric energy conversion units with capacitive nature high-voltage operation, which more resilient, lightweight, integrated, economic, disposable than traditional generators based on...

This paper introduces the analysis and design of a wave energy converter (WEC) that is equipped with novel kind electrostatic power take-off system, known as dielectric elastomer generator (DEG). We propose modelling approach which relies on combination nonlinear potential-flow hydrodynamics electro-hyperelastic theory. Such model makes it possible to predict system response in operational conditions, thus employed evaluate DEG-based WEC features an effective dynamic response. The validated...

This paper compares the performance of commercially available membranes made styrenic rubber, natural rubber and acrylic elastomer for dielectric transducers (DETs) operating in large strain regime. Following a detailed description adopted experimental set-up procedures, results comprehensive electro-mechanical characterization three materials are reported to highlight following dependencies: strength versus stretch, electrical conductivity electric field, constant stress stretch rate....

An electrostatic transducer based on dielectric polymers and fluids operates as a contractile actuator, pump, or an energy harvester.

Human–robot collaboration stands as one of the research frontiers in industrial applications due to possibility for human operators be supported by robots carrying out their tasks a shared workspace. However, advances this field can slowed down lack standards regarding safety and ergonomics such applications. This article aims at reducing gap presenting an adaptation standard ISO 11228-3 ergonomic evaluation hand-guiding through OCRA index. innovative methodology is innovatively applied...

An analytical model and an operational procedure are presented, which make it possible to optimize conically shaped dielectric-elastomer linear actuators for known materials desired force/stroke requirements. The obtained by coupling a dielectric elastomer film with compliant frame is sized means of pseudorigid body model. Depending on the design, can work monodirectionally or bidirectionally. Simulation experimental results provided demonstrate efficacy proposed design show that...

Dielectric elastomers are smart materials that can be used to conceive solid-state electromechanical transducers such as actuators, sensors, and generators. elastomer generators, in particular, very promising for energy harvesting applications because they potentially feature large densities, good conversion efficiencies, shock corrosion resistance, low cost. In this article, a novel concept of parallelogram-shaped dielectric generator is presented analyzed. Parallelogram-shaped generators...

In recent decades, many researchers have focused on the design and development of exoskeletons. Several strategies been proposed to develop increasingly more efficient biomimetic mechanisms. However, existing exoskeletons tend be expensive only available for a few people. This paper introduces new gravity-balanced upper-limb exoskeleton suited rehabilitation applications designed with main objective reducing cost components materials. Regarding mechanics, significantly reduces motor torque...

Human–robot collaboration (HRC) remains an increasingly growing trend in the robotics research field. Despite widespread usage of collaborative robots on market, several safety issues still need to be addressed develop industry-ready applications exploiting full potential technology. This paper focuses hand-guiding applications, proposing approach based a wearable device reduce risk related operator fatigue or distraction. The methodology aims at ensuring operator’s attention during hand...

This paper deals with the development of a novel exoskeleton for robotic rehabilitation upper extremities. The system is based on modular custom-designed actuation groups implementing high reduction ratios and redundant position measurement securing patient safety, joint torque sensing guaranteeing performance providing application flexibility. Experimental results special component prototypes are reported which confirm validity developed potentials proposed architecture.

The interest in actuators based on dielectric elastomer films as a promising technology robotic and mechatronic applications is increasing. overall actuator performances are influenced by the design of both active film supporting frame. This paper presents single-acting actuator, which capable supplying constant force over given range motion. obtained coupling rectangular silicone with monolithic frame designed to suitably modify generated film. fully compliant mechanism whose main...

Wave energy harvesting is one of the most promising applications for Dielectric Elastomer Generators. A simple and interesting concept a Energy Converter based on Elastomers Polymeric Oscillating Water Column (Poly-OWC). In this paper, preliminary experimental results assessment small-scale Poly-OWC prototype are presented. The scale considered 1:50. Tests conducted in wave-flume by considering sea state conditions with different wave amplitudes frequencies. obtained confirm viability device.

This paper introduces a fabrication method and the experimental characterization of soft polymeric energy converter manufactured using combination dielectric conductive polydimethylsiloxane elastomers. The presented system is an inflated circular diaphragm elastomer generator; i.e., deformable electrostatic transducer that converts mechanical work done by time-varying pressure into electricity. A prototype realized on basis simple procedure makes use commercially available silicone films...

Constant-force actuators based on dielectric elastomers can be obtained by coupling a elastomer film with particular compliant frames whose structural properties must carefully designed. In any case, the practical achievement of desired force profile quite challenging task owing to time-dependent phenomena, which affect elastomer’s electromechanical response. Within this scenario, hyperviscoelastic model rectangular constant-force actuator is reported. The model, bond graph formalism, used...

Dielectric Elastomers (DE) have been largely studied as actuators and sensors. Fewer researches addressed their application in the field of energy harvesting. Their light weightiness, low cost, high corrosion resistance, intrinsic high-voltage cyclical-way operation make DE suited for harvesting mechanical from sea waves. To date, development cost-effective Wave Energy Converters (WECs) is hindered by inherent limitations available material technologies. State art WECs are indeed based on...