Fiber Embroidery of Self-Sensing Soft Actuators

Self-Sensing Solid-State Actuators

Automatic design of fiber-reinforced soft actuators for trajectory matching.

Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provid...

Mechanical Programming of Soft Actuators by Varying Fiber Angle

In this work we investigate the influence of fiber angle on the deformation of fiber-reinforced soft fluidic actuators. We demonstrate that, by simply varying the fiber angle, we can tune the actuators to achieve a wide range of motions, including axial extension, radial expansion, and twisting. We investigate the relationship between fiber angle and actuator deformation by performing finite el...

Self-Sensing Ionic Polymer Actuators: A Review

Ionic electromechanically active polymers (IEAP) are laminar composites that can be considered attractive candidates for soft actuators. Their outstanding properties such as low operating voltage, easy miniaturization, and noiseless operation are, however, marred by issues related to the repeatability in the production and operation of these materials. Implementing closed-loop control for IEAP ...

Self-sensing Actuators in Electrohydraulic Valves

Self-sensing refers to extracting the position information from the electromagnetic signals instead of from a physical position sensor. Self-sensing actuator has the benefit of significantly reducing hardware effort. In this paper, we investigate selfsensing actuators applied in direct acing proportional valves. The study is based on the configuration of a dual-solenoid actuator where each sole...