3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators.

This paper presents a new manufacturing and control paradigm for developing soft ionic polymer-metal composite (IPMC) actuators for soft robotics applications. First, an additive manufacturing method that exploits the fused-filament (3D printing) process is described to overcome challenges with existing methods of creating custom-shaped IPMC actuators. By working with ionomeric precursor material, the 3D-printing process enables the creation of 3D monolithic IPMC devices where ultimately integrated sensors and actuators can be achieved. Second, Bayesian optimization is used as a learning-based control approach to help mitigate complex time-varying dynamic effects in 3D-printed actuators. This approach overcomes the challenges with existing methods where complex models or continuous sensor feedback are needed. The manufacturing and control paradigm is applied to create and control the behavior of example actuators, and subsequently the actuator components are combined to create an example modular reconfigurable IPMC soft crawling robot to demonstrate feasibility. Two hypotheses related to the effectiveness of the machine-learning process are tested. Results show enhancement of actuator performance through machine learning, and the proof-of-concepts can be leveraged for continued advancement of more complex IPMC devices. Emerging challenges are also highlighted.

Nanothorn electrodes for ionic polymer-metal composite artificial muscles.

Ionic polymer-metal composites (IPMCs) have recently received tremendous interest as soft biomimetic actuators and sensors in various bioengineering and human affinity applications, such as artificial muscles and actuators, aquatic propulsors, robotic end-effectors, and active catheters. Main challenges in developing biomimetic actuators are the attainment of high strain and actuation force at low operating voltage. Here we first report a nanostructured electrode surface design for IPMC comprising platinum nanothorn assemblies with multiple sharp tips. The newly developed actuator with the nanostructured electrodes shows a new way to achieve highly enhanced electromechanical performance over existing flat-surfaced electrodes. We demonstrate that the formation and growth of the nanothorn assemblies at the electrode interface lead to a dramatic improvement (3- to 5-fold increase) in both actuation range and blocking force at low driving voltage (1-3 V). These advances are related to the highly capacitive properties of nanothorn assemblies, increasing significantly the charge transport during the actuation process.

Range-based control of dual-stage nanopositioning systems.

A novel dual-stage nanopositioner control framework is presented that considers range constraints. Dual-stage nanopositioners are becoming increasingly popular in applications such as scanning probe microscopy due to their unique ability to achieve long-range and high-speed operation. The proposed control approach addresses the issue that some precision positioning trajectories are not achievable through existing control schemes. Specifically, short-range, low-speed inputs are typically diverted to the long-range actuator, which coincidentally has lower positioning resolution. This approach then limits the dual-stage nanopositioner's ability to achieve the required positioning resolution that is needed in applications where range and frequency are not inversely correlated (which is a typical, but not always the correct assumption for dual stage systems). The proposed range-based control approach is proposed to overcome the limitations of existing control methods. Experimental results show that the proposed control strategy is effective.

Cyclic energy harvesting from pyroelectric materials.

A method of continuously harvesting energy from pyroelectric materials is demonstrated using an innovative cyclic heating scheme. In traditional pyroelectric energy harvesting methods, static heating sources are used, and most of the available energy has to be harvested at once. A cyclic heating system is developed such that the temperature varies between hot and cold regions. Although the energy harvested during each period of the heating cycle is small, the accumulated total energy over time may exceed traditional methods. Three materials are studied: a commonly available soft lead zirconate titanate (PZT), a pre-stressed PZT composite, and single-crystal PMN-30PT. Radiation heating and natural cooling are used such that, at smaller cyclic frequencies, the temporal rate of change in temperature is large enough to produce high power densities. The maximum power density of 8.64 µW/cm3 is generated with a PMN-30PT single crystal at an angular velocity of 0.64 rad/s with a rate of 8.5°C/s. The pre-stressed PZT composite generated a power density of 6.31 µW/cm(3), which is 40% larger than the density of 4.48 µW/cm3 obtained from standard PZT.

Compact ultra-fast vertical nanopositioner for improving scanning probe microscope scan speed.

The mechanical design of a high-bandwidth, short-range vertical positioning stage is described for integration with a commercial scanning probe microscope (SPM) for dual-stage actuation to significantly improve scanning performance. The vertical motion of the sample platform is driven by a stiff and compact piezo-stack actuator and guided by a novel circular flexure to minimize undesirable mechanical resonances that can limit the performance of the vertical feedback control loop. Finite element analysis is performed to study the key issues that affect performance. To relax the need for properly securing the stage to a working surface, such as a laboratory workbench, an inertial cancellation scheme is utilized. The measured dominant unloaded mechanical resonance of a prototype stage is above 150 kHz and the travel range is approximately 1.56 µm. The high-bandwidth stage is experimentally evaluated with a basic commercial SPM, and results show over 25-times improvement in the scanning performance.