RoboHeart: A Bi-Directional Zipping Actuator
نویسندگان
چکیده
Widespread adoption of soft robotic technologies is held back by the limitations existing actuators. One cause limited performance actuators their uni-polar stroke, which means only part work-cycle powered. In this work, we introduce RoboHeart, a bi-directional compliant smart actuator. RoboHeart consists two spring-steel strips covered with PVC insulation, pre-bent into heart shape and driven dielectrophoretic zipping. Here, perform isotonic isometric characterisation performance, demonstrating work output 17 mJ (expansion) 18 (contraction) power 1.5 mW 2 (contraction). We then confirm practical application 10-RoboHeart ring configuration capable gripping range objects as they are lifted. also demonstrate bidirectional control actuation using three separate channels. believe that represents step towards high-performance technologies.
منابع مشابه
A novel bi-directional deformable fluid actuator
The deformable fluid actuators available on the market, i.e. pneumatic muscles and pneumatic springs, are designed to mainly exert compressive or tensile forces. This paper deals with a novel fluid deformable actuator, with three membranes, called BiFAc3, whose particular feature is the ability to exert both tensile and compressive forces. The structure of the actuator is based on three cylindr...
متن کاملA Bi-Directional Out-of-Plane Actuator by Electrostatic Force
Presented in this paper is a bi-directional out-of-plane actuator which combines the merits of the electrostatic repulsive principle and the electrostatic attractive principle. By taking advantage of the electrostatic repulsive mode, the common “pull-in” instability can be lessened to enlarge the displacement, and by applying the electrostatic attractive mode, the out-of-plane displacement is f...
متن کاملBi-directional trafficking
The trans-Golgi network (TGN) is the major sorting station of the biosynthetic pathway, in which newly synthesized soluble and transmembrane proteins, as well as lipids, are sorted for subsequent transport to different destinations: the cell surface (apical and basolateral in polarized cells), secretory granules in endocrine cells, or the endosomal system. Several transmembrane proteins have be...
متن کاملBi-directional hepatic hydrothorax
A 59-year-old male with alcoholic cirrhosis presented to our hospital with an acutely painful umbilical hernia, and 4 mo of exertional dyspnea. He was noted to be tachypneic and hypoxic. He had a massive right sided pleural effusion with leftward mediastinal shift and gross ascites, with a tense, fluid-filled, umbilical hernia. Emergent paracentesis with drain placement and a large volume thora...
متن کاملBI - DIRECTIONAL PATH TRACINGEric
In this paper we present a new Monte Carlo rendering algorithm that seamlessly integrates the ideas of shooting and gathering power to create photorealistic images. The algorithm can be explained as a generalisation of the well-known path tracing algorithm. Test results show that it performs signiicantly better for typical indoor scenes where indirect lighting is important.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3193249