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Ionic and Capacitive Artificial Muscle for Biomimetic Soft Robotics
Author(s) -
Must Indrek,
Kaasik Friedrich,
Põldsalu Inga,
Mihkels Lauri,
Johanson Urmas,
Punning Andres,
Aabloo Alvo
Publication year - 2015
Publication title -
advanced engineering materials
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.938
H-Index - 114
eISSN - 1527-2648
pISSN - 1438-1656
DOI - 10.1002/adem.201400246
Subject(s) - actuator , artificial muscle , materials science , robot , soft robotics , bending , capacitive sensing , payload (computing) , robotics , mechanical engineering , computer science , artificial intelligence , electrical engineering , composite material , engineering , computer network , network packet
We report here the development of an actuator with an ionic electromechanically active polymer (IEAP) laminate that is exclusively designed to exhibit a combination of high electrically induced strain and high bending modulus. The newly constructed laminate is one of the few IEAPs meeting the requirements for use in miniature soft robotics. The laminate has activated carbon‐based electrodes and ionic liquid is used as an electrolyte. Layers of compliant gold foil are used as current collectors. The superior performance of the IEAP laminate is demonstrated by constructing a centimeter‐scale robot propelled by a single IEAP actuator. The cyclic locomotion of the robot is inspired by the movements of an inchworm, while the IEAP laminate is used concurrently as an actuator and a structural member. The 830‐mg robot is able to crawl on a smooth surface in open air, solely by undulation of its body. The microprocessor‐controlled robot has an on‐board lithium battery and uses a pulse‐width‐modulated signal to drive the IEAP actuator. The robot is able to carry its own power supply and even an extra payload. The constructed biomimetic robot is distinctive for the use of a non‐planar actuator whose shape is programmed during the manufacturing process.