The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness, lightness weight, and safety toward human organ. However, it cannot be used widely because of difficulty control. To control a accurately, shape sensing essential. This paper presents method estimating by using skin-type stretchable sensor composed multiwalled carbon nanotube (MWCNT) silicone (p7670). can easily fabricated applied simply attaching to surface manipulator. In fabrication,...

This paper reports the twisted and coiled soft actuator (abbreviated with STCA) spandex fiber. The STCA exhibits higher actuation strain at lower temperature than previous nylon actuators NTCAs). While NTCAs are fabricated using a twist-insertion process until coils formed, new method is developed to fabricate ultra-stretch of spandex, whereby again after coil has been formed. A 6-gear-twist-insertion device that increases stability fabrication speed STCA. superior performance exhibited by...

This paper introduces a fabrication method and properties of newly developed Twisted Coiled soft Actuator (TCA) from nylon spandex. The TCA, thermally driven actuator, is one the promising actuators that shows considerable strain compared to others. Typically, TCA fabricated single polymer fiber such as spandex nylon. However, each material some limits. (STCA) siginificant more than 45%. since non‐conductive material, STCA requires additional heat source gun. On other hand, (NTCA)...

Research about the artificial muscle made of fishing lines or sewing threads, called twisted and coiled polymer actuator (abbreviated as TCA in this paper) has collected many interests, recently. Since a specific power surpassing human skeletal theoretically, it is expected to be new generation actuator. In order that utilized useful actuator, paper introduces fabrication modeling temperature-controllable TCA. With an embedded micro thermistor, able measure temperature directly, feedback...

In this study, we propose a fabric muscle based on the Zigzag Shape Memory Alloy (ZSMA) actuator. Soft wearable robots have been gaining attention due to their flexibility and ability provide significant power support user without hindering movement mobility. There has an increasing focus research development of muscles, which are crucial components these robots. This article introduces high-performance utilizing zigzag-shaped shape memory alloy (SMA), ZSMA, new form SMA Through modeling...

Artificial muscles have been developed for various input power sources. Among them, thermally driven actuators can be easily actuated at a low voltage without an additional device using the Joule heating. Therefore, these considered suitable developing lightweight robots. Shape memory alloy or twisted and coiled are typically used as both advantage of large specific power; however, their disadvantages include speed, hysteresis, initial tension. In this letter, we hybrid antagonistic system...

The purpose of this study is to develop an artificial muscle actuator suitable for robotic applications, and demonstrate the feasibility applying arm mechanism, controlling it delicately smoothly like a human being. To accomplish this, we perform procedures that integrate soft actuator, called single body dielectric elastomer which very flexible capable high speed operation, displacement amplification mechanism sliding filament joint mimics model muscles. In paper, describe characteristics...

Twisted and coiled actuators (TCAs), which are light but capable of producing significant power, were developed in recent times. After their introduction, there have been numerous improvements performance, including development techniques such as actuation strain heating methods. However, the robots using TCA is still its early stages. In this study, a bionic arm driven by TCAs was for flexible operation. The aim study to gain foothold future robot TCA, considered appropriate artificial...

Skeletal muscles produce contractile motions and a couple of skeletal antagonistically arranged are required to create bidirectional active movements. The musculoskeletal system is mainly composed two muscles, joint, bones tendons, thus, joint performs rotations. Likewise, Twisted Coiled soft Actuator (called TCA in this study) exhibits only unidirectional actuation, TCAs antagonistic structure can motions. However, the characteristics similar that tension coil spring, it diminishes...

This paper presents a fabric actuator consisting of ordinary polymer fibers, conductive and twisted coiled soft actuators (TCAs). Previous studies have developed Spandex TCA (STCA) that is driven at lower temperature than the conventional Nylon exhibits greater actuation strain. However, no method to drive STCAs via electrical joule-heating has been yet. The presented in this offers solution problem by employing an STCA multiple fabrication method, continuous bundling technology, weaving...

This paper presents the property characterization, modeling and position control of a hybrid twisted-coiled polymer actuator made from Spandex nylon fibers. The is low-cost, easy to fabricate light-weight. Moreover, it can generate large displacement provide Joule heating capability. Based on energy method experimental observations, nonlinear dynamic model developed estimate actuator. then utilized in finite time controller, which guarantees robustness over variations external disturbances....

This paper presents a 1-link robotic arm that is antagonistically driven by one pair of high performance super-coiled polymer actuators with an embedded controller. The actuator which made from Spandex and nylon fibers low-cost, easy to fabricate light-weight. Moreover, it can generate large displacement provide Joule heating capability. main contribution the model-based impedance controller, enables position control antagonistic joint variable stiffness damping. torque-based law, in turn...

Twist and Coiled soft Actuator (TCA) is simply fabricated by twisting a polymer fiber. In the previous researches, TCA was mainly with Nylon 6,6 fiber, Nylon-TCA (NTCA) showed strong force outputs. However, strain from NTCA not much enough for practical application. This paper introduces SPX-TCA (STCA) which Spandex fibers. STCA were fabricated, their performances compared using performance evaluation device. larger strain, it actuated lower temperature than NTCA.

Shape memory alloy actuators (SMA) are widely used in robots owing to their flexibility and light weight. However, there is a drawback that SMAs need be as bundle lower force density than the motor. In addition, require continuous current maintain contracted state, which results overheating of actuator, causing breakdown excessive energy consumption. This study presents new locking system can mechanically hold state an actuator without consuming overcome disadvantages spring-type SMA. The...

In missile technology, for the high maneuverability of guided systems, miniaturization and lightweight technologies are essential. Therefore, novel actuator required reduction in weight fin control systems that direction missiles. this article, we introduce actuation (FCASs) driven by dielectric elastomer actuators (DEAs) possess characteristics living muscles lightening Each has a very light 3.5 g; furthermore, it is compact size, with diameter 9.5 mm length 65 mm, so can be bundled small...

Soft linear actuators (SLAs) make displacement by shrinkage and relaxation like skeletal muscles, so they can be called as artificial muscles (ASMs). They deform their body to create displacement. However, the restoring force generated deformation of soft reduces available from SLA. This actuation structure is a critical drawback in application SLAs. In living body, muscle main actuator movement. order meaningful movements, require bones joints. Thus, well ASMs, joints are surely required...

The purpose of this research is to make an actuator which easily adaptable use as artificial muscle by improving structure stack-type Dielectric Elastomer Actuator (DEA). In contrast with previous actuator, Single body stack Actuators (SDEAs) connected single without external frame so that it can be actuated in twisted and bended state like human muscle. Consequently, applicable no design limitations rigid has the advantages flexibility weight lightening. Using SDEAs, we fabricate 2-ply...

Soft linear actuators (SLAs) such as shape memory alloy (SMA) wires, pneumatic soft actuators, dielectric elastomer actuator, and twisted coiled actuator (TCA) called artificial muscle in general, have many advantages over the conventional actuators. SLAs can realize innovative robotic technologies like robots, wearable bionic arms future, but further development is still needed real applications because most do not provide large displacement or force needed. This paper presents a novel...

From being soft, flexible and producing movement by contracting, soft linear actuators are said to have muscle-like properties. Due these similarities, they often called "artificial muscle actuator." However, the strain produced is generally insufficient be utilized in a large range of applications. Some solutions been developed, but sacrifice force increase displacement. Meanwhile, skeletal muscles increases as it contracts due its working principle, which based on "sliding filament...

Abstract This paper proposes a shape-adaptive electroadhesion dielectric elastomer actuator (EA-DEA) pad gripper that can actively adapt to the shape of curved objects and quickly handle various by combining an EA multi-layered DEA driven electrostatic force. has rapid release function capable detaching thin light in less than 0.2 s with bending motion reverse polarity voltage. Moreover, combined transform mechanism changes posture EA-DEA gripper, multifunctional handling from irregularly...

The practical wearable electronics applications of stretchable conductive nanocomposites have been hindered by mechanical and electrical irreversibility. Here we report a resistive-type nanocomposite strain sensor, demonstrating excellent reversibility (30% strain, 3000 cycles). sensor element consists flower-shaped silver nanoparticles (AgNFs) embedded in polyurethane (PU) matrix. thin petals AgNFs construct efficient percolation network with neighboring AgNFs. shows high sensitivity (gauge...

The range of motion (ROM) joints in the human body is essential for movement and functional performance. Real-time monitoring joint angles crucial confirming pathologic biomechanics, providing feedback during rehabilitation, evaluating treatment efficacy. This study aims to evaluate concurrent validity a wearable nanocomposite strain sensor with two-dimensional electrical goniometer its repeatability measuring knee ROM repetitive movements 10 healthy female participants. participants...