Rugged and Compact Three-Axis Force/Torque Sensor for Wearable Robots.

In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user's strength, and based on this, wearable robots are controlled. In this paper, we propose a novel three-axis force/torque sensor for wearable robots that is compact and has a high load capacity. The bolt and nut combination of the proposed sensor is designed to measure high-load weights, and the simple structure of this combination allows the sensor to be compact and light. Additionally, to measure the three-axis force/torque, we design three capacitance-sensing cells. These cells are arranged in parallel to measure the difference in capacitance between the positive and negative electrodes. From the capacitance change measured by these sensing cells, force/torque information is converted through deep neural network calibration. The sensing point can also be confirmed using the geometric and kinematic relation of the sensor. The proposed sensor is manufactured through a simple and inexpensive process using cheap and simply structured components. The performance of the sensor, such as its repeatability and capacity, is evaluated using several experimental setups. In addition, the sensor is applied to a wearable robot to measure the force of an artificial muscle.

Heat dissipative mechanical damping properties of EPDM rubber composites including hybrid fillers of aluminium nitride and boron nitride.

As highly integrated electronic devices and automotive parts are becoming used in high-power and load-bearing systems, thermal conductivity and mechanical damping properties have become critical factors. In this study, we applied two different fillers of aluminium nitride (AlN) and boron nitride (BN), having polygonal and platelet shapes, respectively, into ethylene-propylene-diene monomer (EPDM) rubber to ensure improved thermo-mechanical properties of EPDM composites. These two different shapes are considered advantageous in providing effective pathways of phonon transfer as well as facilitating sliding movement of packed particles. When the volume ratio of AlN : BN was 1 : 1, the thermal conductivity of the hybrid-filler system (EPDM/AlN/BN) increased in comparison to that of the single-filler system (EPDM/AlN) of 3.03 to 4.76 W m-1 K-1. The coefficient of thermal expansion (CTE) and thermal distortion parameter (TDP) substantially decreased from 59.3 ppm °C-1 and 17.5 m K-1 of EPDM/AlN, to 39.7 ppm °C-1 and 8.4 m K-1 of EPDM/AlN/BN, representing reductions of 33 and 52%, respectively. Moreover, the damping coefficient of EPDM/AlN/BN was greatly increased to 0.5 of at 50 °C, compared to 0.03 of neat EPDM. These excellent performances likely stem from the effective packing of AlN/BN hybrid fillers, which could induce facile energy transfer and effective energy dissipation by the sliding movement of the adjacent hybrid fillers in the EPDM matrix.

A Non-Array Type Cut to Shape Soft Slip Detection Sensor Applicable to Arbitrary Surface.

The presence of a tactile sensor is essential to hold an object and manipulate it without damage. The tactile information helps determine whether an object is stably held. If a tactile sensor is installed at wherever the robot and the object touch, the robot could interact with more objects. In this paper, a skin type slip sensor that can be attached to the surface of a robot with various curvatures is presented. A simple mechanical sensor structure enables the cut and fit of the sensor according to the curvature. The sensor uses a non-array structure and can operate even if a part of the sensor is cut off. The slip was distinguished using a simple vibration signal received from the sensor. The signal is transformed into the time-frequency domain, and the slippage was determined using an artificial neural network. The accuracy of slip detection was compared using four artificial neural network models. In addition, the strengths and weaknesses of each neural network model were analyzed according to the data used for training. As a result, the developed sensor detected slip with an average of 95.73% accuracy at various curvatures and contact points.

Extraordinarily high conductivity of flexible adhesive films by hybrids of silver nanoparticle-nanowires.

Highly conductive flexible adhesive (CFA) film was developed using micro-sized silver flakes (primary fillers), hybrids of silver nanoparticle-nanowires (secondary fillers) and nitrile butadiene rubber. The hybrids of silver nanoparticle-nanowires were synthesized by decorating silver nanowires with silver nanoparticle clusters using bifunctional cysteamine as a linker. The dispersion in ethanol was excellent for several months. Silver nanowires constructed electrical networks between the micro-scale silver flakes. The low-temperature surface sintering of silver nanoparticles enabled effective joining of silver nanowires to silver flakes. The hybrids of silver nanoparticle-nanowires provided a greater maximum conductivity (54 390 S cm(-1)) than pure silver nanowires, pure multiwalled carbon nanotubes, and multiwalled carbon nanotubes decorated with silver nanoparticles in nitrile butadiene rubber matrix. The resistance change was smallest upon bending when the hybrids of silver nanoparticle-nanowires were employed. The adhesion of the film on polyethylene terephthalate substrate was excellent. Light emitting diodes were successfully wired to the CFA circuit patterned by the screen printing method for application demonstration.

Thermo-Pneumatic Artificial Muscle: Air-Based Thermo-Pneumatic Artificial Muscles for Pumpless Pneumatic Actuation.

To make robots more human-like and safer to use around humans, artificial muscles exhibiting compliance have gained significant attention from researchers. However, despite having excellent performance, pneumatic artificial muscles (PAMs) have failed to gain significant traction in commercial mobile applications due to their requirement to be tethered to a pneumatic source. This study presents a thermo-PAM called Thermo-PAM that relies on heating of a volume of air to produce a deformation. This allows for pneumatic actuation using only an electrical power source and thus enables pumpless pneumatic actuation. The actuator uses a high ratio between the heating volume and the deformable volume to produce a high actuation force throughout its entire motion and can produce either contractile or extension motions. The controllability of the actuator was demonstrated as well as its ability to handle heavy payloads. Moreover, it is possible to rely on either positive or negative pressure actuation modes where the positive pressure actuation mode actuates when heated and the negative pressure actuation mode relaxes when heated. The ability to use Thermo-PAMs for different modes of actuation with different operation methods makes the proposed actuator highly versatile and demonstrates its potential for advanced pumpless robotic applications.

Woven Fabric Muscle for Soft Wearable Robotic Application Using Two-Dimensional Zigzag Shape Memory Alloy Actuator.

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 the ability to provide significant power support to the user without hindering their movement and mobility. There has been an increasing focus on the research and development of fabric muscles, which are crucial components of these robots. This article introduces a high-performance fabric muscle utilizing zigzag-shaped shape memory alloy (SMA), ZSMA, a new form of SMA actuator. Through modeling and experimentation of the ZSMA actuator, we identified an optimized actuator design and detailed the fabric muscle fabrication process. The proposed fabric actuator, weighing only 7.5 g, demonstrated the impressive capability to lift a weight of 2 kg with a contraction displacement of 40%. This significant achievement paves the way for future research possibilities in soft wearable robotics.

A transparent and stretchable graphene-based actuator for tactile display.

A tactile display is an important tool to help humans interact with machines by using touch. In this paper, we present a transparent and stretchable graphene-based actuator for advanced tactile displays. The proposed actuator is composed of transparent and compliant graphene electrodes and a dielectric elastomer substrate. Since the electrode is coated onto the appointed region of the substrate layer by layer, only the area of the dielectric elastomer substrate with electrodes bumps up in response to the input voltage, which consequently produces actuation. The actuator is proven to be operable while preserving its electrical and mechanical properties even under 25% stretching. Also, the simple fabrication of the proposed actuator is cost-effective and can easily be extended to multiple arrays. The actuator is expected to be applicable to various applications including tactile displays, vari-focal lenses etc.

Design and Control of Lightweight Bionic Arm Driven by Soft Twisted and Coiled Artificial Muscles.

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 in performance, including development of techniques such as actuation strain and heating methods. However, the development of robots using TCA is still in its early stages. In this study, a bionic arm driven by TCAs was developed for light and flexible operation. The aim of this study was to gain a foothold in the future of robot development using TCA, which is considered as the appropriate artificial muscle. The main developments were with regard to the design (from actuator design to system design), system configuration for control, and control method. First, a process technology for repeatedly manufacturing TCA, which can be used practically and delivers sufficient performance, was developed. Based on the developed actuator, a joint was designed to move the elbow and hand. The final bionic arm was developed by integrating the TCA, pulley joint, and control system. It moved the elbow up to 100° and allowed the hand to move in three degrees of freedom. Using the control method for each joint, we were able to show the movement by using the hand and elbow.

Electromechanically driven variable-focus lens based on transparent dielectric elastomer.

Dielectric elastomers with low elastic stiffness and high dielectric constant are smart materials that produce large strains (up to 300%) and belong to the group of electroactive polymers. Dielectric elastomer actuators are made from films of dielectric elastomers coated on both sides with compliant electrode material. Poly(3,4-ethylenedioxythiophene) (PEDOT), which is known as a transparent conducting polymer, has been widely used as an interfacial layer or polymer electrode in polymer electronic devices. In this study, we propose the transparent dielectric elastomer as a material of actuator driving variable-focus lens system using PEDOT as a transparent electrode. The variable-focus lens module has light transmittance up to 70% and maximum displacement up to 450. When voltage is applied to the fabricated lens module, optical focal length is changed. We anticipate our research to be a starting point for new model of variable-focus lens system. This system could find applications in portable devices, such as digital cameras, camcorder, and cell phones.

Integrated linkage-driven dexterous anthropomorphic robotic hand.

Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.

Shape Estimation of Soft Manipulator Using Stretchable Sensor.

The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness, lightness in its weight, and safety toward the human organ. However, it cannot be used widely because of its difficulty of control. To control a soft robot manipulator accurately, shape sensing is essential. This paper presents a method of estimating the shape of a soft robot manipulator by using a skin-type stretchable sensor composed of a multiwalled carbon nanotube (MWCNT) and silicone (p7670). The sensor can be easily fabricated and applied by simply attaching it to the surface of the soft manipulator. In its fabrication, MWCNT is sprayed on a teflon sheet, and liquid-state silicone is poured on it. After curing, we turn it over and cover it with another silicone layer. The sensor is fabricated with a sandwich structure to decrease the hysteresis of the sensor. After calibration and determining the relationship between the resistance of the sensor and the strain, three sensors are attached at 120° intervals. Using the obtained data, the curvature of the manipulator is calculated, and the entire shape is reconstructed. To validate its accuracy, the estimated shape is compared with the camera data. We experiment with three, six, and nine sensors attached, and the result of the error of shape estimation is compared. As a result, the minimum tip position error is approximately 8.9 mm, which corresponded to 4.45% of the total length of the manipulator when using nine sensors.

A flexible self-recovery finger joint for a tendon-driven robot hand.

This paper presents a new biomimetic soft finger joint with elastic ligaments for enhanced restoration capability. A hemisphere-shaped flexible finger joint is designed to secure omnidirectional restoration and guarantee a reliable recovery function. Joint design comparative studies for enhancing restoration are presented with joint mechanisms and potential energy formulation analyses. A ligament design that enables an efficient grasping mode switch from power to pinch grasping is also considered. By using the presented joint and ligament, a tendon-driven robot hand is assembled. For the finger's biomimetic features, the hand provides a reasonably secure grasping operation for various complicated objects with minimum controls. The impact test and grasping experiments confirmed that the fabricated hand has the right amount of passive compliance in all directions as designed, and the restoration to the original state is also stably performed.

Author Correction: Solvent-free bulk polymerization of lignin-polycaprolactone (PCL) copolymer and its thermoplastic characteristics.

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

Jumping Tensegrity Robot Based on Torsionally Prestrained SMA Springs.

This paper introduces the addition of torsional prestrain into the manufacturing process of shape memory alloy (SMA) springs to form torsionally prestrained SMA springs. These springs have a better performance at the same power input for the same loads and same coil dimensions as regular SMA springs. A modified thermoconstitutive model was presented that can predict the behavior of the actuator based on the amount of torsional prestrain added into the manufacturing process, and a simple two-state model is used to predict its actuation stroke. These improved actuators were used in the development of a tensegrity robots capable of fast rolling motions and jumping both vertically and horizontally. This robot is capable of rolling at 0.14 BL/s (body length per second) and can jump up to nearly a full body length.

Solvent-free bulk polymerization of lignin-polycaprolactone (PCL) copolymer and its thermoplastic characteristics.

The pristine lignin molecules contain multiple reactive hydroxyl [OH] groups, some of which undergo limited polymerization depending on their configuration (aromatic or aliphatic) or conformation. The key issue in lignin-polymerization is to quantify the number of hydroxyl groups in the pristine molecules for subsequent activation to specific lignin-polymer chain lengths or degree of grafting. In this study, using ε-caprolactone (CL) as a reactive solvent, we successfully polymerized CL on the [OH] sites in the kraft lignin macromonomers (LM, Mw = 1,520 g mol-1), which resulted in a thermoplastic lignin-polycaprolactone (PCL) grafted copolymer. We found that the average number of [OH] groups in the LM was 15.3 groups mol-1, and further detected 40-71% of the [OH] groups in the CL bulk polymerization. The degree of polymerization of PCL grown on each [OH] site ranged between 7 and 26 depending on the reaction conditions ([CL]/[OH] and reaction-time) corresponding to 4,780 and 32,600 g mol-1 of PCL chains per a LM. The thermoplastic characteristics of the synthesized lignin-PCL copolymers were established by the melt viscosity exhibiting a shear-thinning behavior, e.g., 921 Pa.s at 180 °C. The thermal stability was remarkable providing a Tid (2% of weight loss) of 230 °C of the copolymers, compared with 69 °C for the pristine lignin.

Non-Einstein Viscosity Phenomenon of Acrylonitrile-Butadiene-Styrene Composites Containing Lignin-Polycaprolactone Particulates Highly Dispersed by High-Shear Stress.

Lignin powder was modified via ring-opening polymerization of caprolactone to form a lignin-polycaprolactone (LPCL) particulate. The LPCL particulates were mixed with an acrylonitrile-butadiene-styrene (ABS) matrix at an extremely high rotational speed of up to 3000 rpm, which was achieved by a closed-loop screw mixer and in-line melt extruder. Using this high-shear extruding mixer, the LPCL particulate size was controlled in the range of 3395 nm (conventional twin-screw extrusion) down to 638 nm (high-shear mixer of 3000 rpm) by altering the mixing speed and time. The resulting LPCL/ABS composites clearly showed non-Einstein viscosity phenomena, exhibiting reduced viscosity (2130 Pa·s) compared to the general extruded composite one (4270 Pa·s) at 1 s-1 and 210 °C. This is due to the conformational rearrangement and the increased free volume of ABS molecular chains in the vicinity of LPCL particulates. This was supported by the decreased glass transition temperature (T g, 83.7 °C) of the LPCL/ABS composite specimens, for example, giving a 21.8% decrement compared to that (107 °C) of the neat ABS by the incorporation of 10 wt % LPCL particulates in ABS. The LPCL particulate morphology, damping characteristics, and light transmittance of the developed composites were thoroughly investigated at various levels of applied shear rates and mixing conditions. The non-Einstein rheological phenomena stemming from the incorporation of LPCL particulates suggest an interesting plasticization methodology: to improve the processability of high-loading filler/polymer composites and ultra-high molecular weight polymers that are difficult to process because of their high viscosity.

Quantitative Electrode Design Modeling of an Electroadhesive Lifting Device Based on the Localized Charge Distribution and Interfacial Polarization of Different Objects.

Electroadhesive devices can lift materials of different shapes and various types using the electrostatic force developed at the interface between the device and the object. More specifically, the electrical potential generated by the device induces opposite charges on the object to give electrostatic Maxwell force. Although this technology has a great deal of potential, the key design factors based on the fundamental principles of interfacial polarization have yet to be clearly identified. In this study, we identify that the lifting force is quantitatively related to the total length of the boundary edges of the electrodes, where the induced charges are selectively concentrated. We subsequently propose a model equation that can predict the electrostatic lifting forces for different object materials as a function of the applied voltage, impedance, and electrode-boundary length. The model is based on the fact that the amount of induced charges should be concentrated where the equipotential field distance is minimal. We report that the impedance magnitude is correlated with the electroadhesive lifting forces by analyzing the impedance characteristics of objects made of different materials (e.g., paper, glass, or metal), as attached in situ to the electroadhesive device.

Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.

Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.

Point-of-Care Test Equipment for Flexible Laboratory Automation.

Blood tests are some of the core clinical laboratory tests for diagnosing patients. In hospitals, an automated process called total laboratory automation, which relies on a set of sophisticated equipment, is normally adopted for blood tests. Noting that the total laboratory automation system typically requires a large footprint and significant amount of power, slim and easy-to-move blood test equipment is necessary for specific demands such as emergency departments or small-size local clinics. In this article, we present a point-of-care test system that can provide flexibility and portability with low cost. First, the system components, including a reagent tray, dispensing module, microfluidic disk rotor, and photometry scanner, and their functions are explained. Then, a scheduler algorithm to provide a point-of-care test platform with an efficient test schedule to reduce test time is introduced. Finally, the results of diagnostic tests are presented to evaluate the system.

Carbon-nanotube/silver networks in nitrile butadiene rubber for highly conductive flexible adhesives.

An adhesive with high conductivity, flexibility, cyclability, oxidation resistance, and good adhesion is developed using microscale silver flakes, multiwalled carbon nanotubes decorated with nanoscale silver particles, and nitrile butadiene rubber. Light-emitting-diode chips are attached to the conductive, flexible adhesive pattern on a poly(ethylene terephthalate) substrate as a visual demonstration. The brightness is invariant during bending tests.