Valveless microliter combustion for densely packed arrays of powerful soft actuators.

Existing tactile stimulation technologies powered by small actuators offer low-resolution stimuli compared to the enormous mechanoreceptor density of human skin. Arrays of soft pneumatic actuators initially show promise as small-resolution (1- to 3-mm diameter), highly conformable tactile display strategies yet ultimately fail because of their need for valves bulkier than the actuators themselves. In this paper, we demonstrate an array of individually addressable, soft fluidic actuators that operate without electromechanical valves. We achieve this by using microscale combustion and localized thermal flame quenching. Precisely, liquid metal electrodes produce sparks to ignite fuel lean methane-oxygen mixtures in a 5-mm diameter, 2-mm tall silicone cylinder. The exothermic reaction quickly pressurizes the cylinder, displacing a silicone membrane up to 6 mm in under 1 ms. This device has an estimated free-inflation instantaneous stroke power of 3 W. The maximum reported operational frequency of these cylinders is 1.2 kHz with average displacements of ∼100 µm. We demonstrate that, at these small scales, the wall-quenching flame behavior also allows operation of a 3 × 3 array of 3-mm diameter cylinders with 4-mm pitch. Though we primarily present our device as a tactile display technology, it is a platform microactuator technology with application beyond this one.

X-ray Computed Tomography for Flame-Structure Analysis of Laminar Premixed Flames.

Quantitative X-ray computed tomography (XCT) diagnostics for reacting flows are developed and demonstrated in application to premixed flames in open and optically inaccessible geometries. A laboratory X-ray scanner is employed to investigate methane/air flames that were diluted with krypton as an inert radiodense tracer gas. Effects of acquisition rate and tracer gas concentration on the signal-to-noise ratio are examined. It is shown that statistically converged three-dimensional attenuation measurements can be obtained with limited impact from the tracer gas and within an acceptable acquisition time. Specific aspects of the tomographic reconstruction and the experimental procedure are examined, with particular emphasis on the quantification of experimental uncertainties. A method is developed to determine density and temperature from the X-ray attenuation measurements. These experiments are complemented by one- and multi-dimensional calculations to quantify the influence of krypton on the flame behavior. To demonstrate the merit of XCT for optically inaccessible flames, measurements of a complex flame geometry in a tubular confinement are performed. The use of a coflow to provide a uniform tracer-gas concentration is shown to improve the quantitative temperature evaluation. These measurements demonstrate the viability of XCT for flame-structure analysis and multi-dimensional temperature measurements using laboratory X-ray systems. Further opportunities for improving this diagnostic are discussed.

Powerful, soft combustion actuators for insect-scale robots.

Insects perform feats of strength and endurance that belie their small stature. Insect-scale robots-although subject to the same scaling laws-demonstrate reduced performance because existing microactuator technologies are driven by low-energy density power sources and produce small forces and/or displacements. The use of high-energy density chemical fuels to power small, soft actuators represents a possible solution. We demonstrate a 325-milligram soft combustion microactuator that can achieve displacements of 140%, operate at frequencies >100 hertz, and generate forces >9.5 newtons. With these actuators, we powered an insect-scale quadrupedal robot, which demonstrated a variety of gait patterns, directional control, and a payload capacity 22 times its body weight. These features enabled locomotion through uneven terrain and over obstacles.