Measuring gas discharge in contact electrification.

Contact electrification in a gas medium is usually followed by partial surface charge dissipation caused by dielectric breakdown of the gas triggered during separation of the surfaces. It is widely assumed that such discharge obeys the classical Paschen's law, which describes the general dependence of the breakdown voltage on the product of gas pressure and gap distance. However, quantification of this relationship in contact electrification involving insulators is impeded by challenges in nondestructive in situ measurement of the gap voltage. The present work implements an electrode-free strategy for capturing discrete discharge events by monitoring the gap voltage via Coulomb force, providing experimental evidence of Paschen curves governing nitrogen breakdown in silicone-acrylic and copper-nylon contact electrification. It offers an alternative approach for characterizing either the ionization energies of gases or the secondary-electron-emission properties of surfaces without the requirement of a power supply, which can potentially benefit applications ranging from the design of insulative materials to the development of triboelectric sensors and generators.

Inclusion in human-machine interactions.

Human­machine interactions research should include diverse subjects and benefit all people.

Spinal Helical Actuation Patterns for Locomotion in Soft Robots.

Spinal-driven locomotion was first hypothesized to exist in biological systems in the 1980s. However, only recently has the concept been applied to legged robots. In implementing spinal-driven locomotion in robots to-date, researchers have focused on bending in the spine. In this article, we propose an additional mode of spinal-driven locomotion: axial torsion via helical actuation patterns. To study torsional spinal-driven locomotion, a six-legged robot with unactuated legs is used. This robot is designed to be modular to allow for changes in the physical system, such as material stiffness of the spine and legs, and has actuators that spiral around the central elastomeric spine of the robot. A model is provided to explain torsional spinal-driven locomotion. Three spinal gaits are developed to allow the robot to walk forward, through which we demonstrate that the speed of the robot can be influenced by the stiffness of the spine and legs. We also demonstrate that a single gait can be used to drive the robot forward and turn the robot left and right by adjusting the leg positions or foot friction. The results indicate that the inclusion of helical actuation patterns can assist in movement. The addition of these actuation patterns or active axial torsion to future, more complex robots with active leg control may enhance the energy efficiency of locomotion or enable fast, dynamic maneuvering.