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.

A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator.

Accurate dynamic model is critical for collaborative robots to achieve satisfactory performance in model-based control or other applications such as dynamic simulation and external torque estimation. Such dynamic models are frequently restricted to identifying important system parameters and compensating for nonlinear terms. Friction, as a primary nonlinear element in robotics, has a significant impact on model accuracy. In this paper, a reliable dynamic friction model, which incorporates the influence of temperature fluctuation on the robot joint friction, is utilized to increase the accuracy of identified dynamic parameters. First, robot joint friction is investigated. Extensive test series are performed in the full velocity operating range at temperatures ranging from 19 °C to 51 °C to investigate friction dependency on joint module temperature. Then, dynamic parameter identification is performed using an inverse dynamics identification model and weighted least squares regression constrained to the feasible space, guaranteeing the optimal solution. Using the identified friction model parameters, the friction torque is computed for measured robot joint velocity and temperature. Friction torque is subtracted from the measured torque, and a non-friction torque is used to identify dynamic parameters. Finally, the proposed notion is validated experimentally on the Indy7 collaborative robot manipulator, and the results show that the dynamic model with parameters identified using the proposed method outperforms the dynamic model with parameters identified using the conventional method in tracking measured torque, with a relative improvement of up to 70.37%.

Electron tunneling of hierarchically structured silver nanosatellite particles for highly conductive healable nanocomposites.

Healable conductive materials have received considerable attention. However, their practical applications are impeded by low electrical conductivity and irreversible degradation after breaking/healing cycles. Here we report a highly conductive completely reversible electron tunneling-assisted percolation network of silver nanosatellite particles for putty-like moldable and healable nanocomposites. The densely and uniformly distributed silver nanosatellite particles with a bimodal size distribution are generated by the radical and reactive oxygen species-mediated vigorous etching and reduction reaction of silver flakes using tetrahydrofuran peroxide in a silicone rubber matrix. The close work function match between silicone and silver enables electron tunneling between nanosatellite particles, increasing electrical conductivity by ~5 orders of magnitude (1.02×103 Scm-1) without coalescence of fillers. This results in ~100% electrical healing efficiency after 1000 breaking/healing cycles and stability under water immersion and 6-month exposure to ambient air. The highly conductive moldable nanocomposite may find applications in improvising and healing electrical parts.

Silver Nanoflower Decorated Graphene Oxide Sponges for Highly Sensitive Variable Stiffness Stress Sensors.

Soft conductive materials should enable large deformation while keeping high electrical conductivity and elasticity. The graphene oxide (GO)-based sponge is a potential candidate to endow large deformation. However, it typically exhibits low conductivity and elasticity. Here, the highly conductive and elastic sponge composed of GO, flower-shaped silver nanoparticles (AgNFs), and polyimide (GO-AgNF-PI sponge) are demonstrated. The average pore size and porosity are 114 µm and 94.7%, respectively. Ag NFs have thin petals (8-20 nm) protruding out of the surface of a spherical bud (300-350 nm) significantly enhancing the specific surface area (2.83 m2 g-1 ). The electrical conductivity (0.306 S m-1 at 0% strain) of the GO-AgNF-PI sponge is increased by more than an order of magnitude with the addition of Ag NFs. A nearly perfect elasticity is obtained over a wide compressive strain range (0-90%). The strain-dependent, nonlinear variation of Young's modulus of the sponge provides a unique opportunity as a variable stiffness stress sensor that operates over a wide stress range (0-10 kPa) with a high maximum sensitivity (0.572 kPa-1 ). It allows grasping of a soft rose and a hard bottle, with the minimal object deformation, when attached on the finger of a robot gripper.

Flexible Touch Sensors Made of Two Layers of Printed Conductive Flexible Adhesives.

Touch sensors are crucial in controlling robotic manipulation when a robot interacts with environmental objects. In this study, multilayer flexible touch sensors in the form of an array were developed. The sensors use ink-type conductive flexible adhesives as electrodes which were printed on polyethylene terephthalate (PET) films in a parallel equidistance stripe pattern. Between the two printed layers, a double-sided adhesive film was used to combine each layer and was perforated at the junctions of the top and bottom electrodes with different-sized circles. These holes represent switching mechanisms between the top and bottom electrodes, and their sizes make the sensor respond to different levels of external pressure. We showed the durability of the fabricated sensor with 1 mm diameter holes by repeated experiments of exerting normal pressure ranging from 0 to 159.15 kPa for 1000 cycles. In case of 1 mm diameter holes, the state of each sensor node was reliably determined by the threshold pressures of 127.3 kPa for increasing pressure and 111.4 kPa for decreasing pressure. On the other hand, decreasing the hole size from 3 to 0.5 mm caused an increase in the threshold pressure from 1.41 to 214 kPa. The relation between the hole size and the threshold pressure was analyzed by a mechanical model. The sensor performance was also verified on curved surfaces up to 60 mm radius of curvatures. Additionally, we fabricated a sensor with three levels of sensitivity with a conventional method which was a thermal evaporation to show the extendibility of the idea.