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7th Conference on Microactuators, Microsensors and Micromechanisms, MAMM 2024

作者： Herrmann, David Schaeffer, Leon Merker, Lukas Zentner, Lena Böhm, Valter Ostbayerische Technische Hochschule Regensburg Regensburg Germany Technische Universität Ilmenau Ilmenau Germany

ISBN: (纸本)9783031833564

Within this paper a novel tensegrity-mechanism is described. The mechanism is based on a tensegrity principle with multiple states of self-equilibrium. The tensegrity mechanism is built upon a mechanical compliant tensegrity structure, consisting of tensioned and compressed members. The existence of the different states of self-equilibrium depends on the parameters of deformable compressed members with continuous or discontinuous load-displacement characteristic. The working principle of the mechanism and the mechanical compliance is verified by theoretical investigations. Therefore, in the first step, the deformable compressed members are analyzed separately. With the help of the subsequent following form-finding procedure the equilibrium configurations of the mechanism and their static stability are analyzed in dependence of the mechanical parameters of the compressed and tensioned members. As a specific application case, the use of the mechanism as a variable stiffness device is discussed. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Compliant Structure Multistable Structure Tensegrity

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Individual and collective manipulation of multifunctional bimodal droplets in three dimensions

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SCIENCE ADVANCES 2024年第29期10卷 eadp1439页

作者： Sun, Mengmeng Sun, Bonan Park, Myungjin Yang, Shihao Wu, Yingdan Zhang, Mingchao Kang, Wenbin Yoon, Jungwon Zhang, Li Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Chinese Univ Hong Kong Dept Mech & Automat Engn Hong Kong Peoples R China Gwangju Inst Sci & Technol Sch Integrated Technol Gwangju South Korea Koc Univ Dept Ophthalmol Med Sch TR-34450 Istanbul Turkiye

Spatiotemporally controllable droplet manipulation is vital across numerous applications, particularly in miniature droplet robots known for their exceptional deformability. Despite notable advancements, current droplet control methods are predominantly limited to two-dimensional (2D) deformation and motion of an individual droplet, with minimal exploration of 3D manipulation and collective droplet behaviors. Here, we introduce a bimodal actuation strategy, merging magnetic and optical fields, for remote and programmable 3D guidance of individual ferrofluidic droplets and droplet collectives. The magnetic field induces a magnetic dipole force, prompting the formation of droplet collectives. Simultaneously, the optical field triggers isothermal changes in interfacial tension through Marangoni flows, enhancing buoyancy and facilitating 3D movements of individual and collective droplets. Moreover, these droplets can function autonomously as soft robots, capable of transporting objects. Alternatively, when combined with a hydrogel shell, they assemble into jellyfish-like robots, driven by sunlight. These findings present an efficient strategy for droplet manipulation, broadening the capabilities of droplet-based robotics.

关键词： Robots

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Miniature coiled artificial muscle for wireless soft medical devices

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SCIENCE ADVANCES 2022年第10期8卷 000-000页

作者： Li, Mingtong Tang, Yichao Soon, Ren Hao Dong, Bin Hu, Wenqi Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Soochow Univ Inst Funct Nano & Soft Mat FUNSOM Jiangsu Key Lab Carbon Based Funct Mat & Devices Suzhou 215123 Jiangsu Peoples R China Tongji Univ Sch Mech Engn Shanghai 201804 Peoples R China Swiss Fed Inst Technol Inst Biomed Engn CH-8092 Zurich Switzerland Koc Univ Sch Med & Coll Engn TR-34450 Istanbul Turkey

Wireless small-scale soft-bodied devices are capable of precise operation inside confined internal spaces, enabling various minimally invasive medical applications. However, such potential is constrained by the small output force and low work capacity of the current miniature soft actuators. To address this challenge, we report a small-scale soft actuator that harnesses the synergetic interactions between the coiled artificial muscle and radio frequency-magnetic heating. This wirelessly controlled actuator exhibits a large output force (similar to 3.1 N) and high work capacity (3.5 J/g). Combining this actuator with different mechanical designs, its tensile and torsional behaviors can be engineered into different functional devices, such as a suture device, a pair of scissors, a driller, and a clamper. In addition, by assuming a spatially varying magnetization profile, a multilinked coiled muscle can have both magnetic field-induced bending and high contractile force. Such an approach could be used in various future untethered miniature medical devices.

关键词： Medical applications

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Surprisingly Robust In-Hand Manipulation: An Empirical Study 17th

Surprisingly Robust In-Hand Manipulation: An Empirical Study

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Conference on robotics - Science and systems

作者： Bhatt, Aditya Sieler, Adrian Puhlmann, Steffen Brock, Oliver Tech Univ Berlin Robot & Biol Lab Berlin Germany

ISBN: (纸本)9780992374778

We present in-hand manipulation skills on a dexterous, compliant, anthropomorphic hand. Even though these skills were derived in a simplistic manner, they exhibit surprising robustness to variations in shape, size, weight, and placement of the manipulated object. They are also very insensitive to variation of execution speeds, ranging from highly dynamic to quasi-static. The robustness of the skills leads to compositional properties that enable extended and robust manipulation programs. To explain the surprising robustness of the in-hand manipulation skills, we performed a detailed, empirical analysis of the skills' performance. From this analysis, we identify three principles for skill design: 1) Exploiting the hardware's innate ability to drive hard-to-model contact dynamics. 2) Taking actions to constrain these interactions, funneling the system into a narrow set of possibilities. 3) Composing such action sequences into complex manipulation programs. We believe that these principles constitute an important foundation for robust robotic in-hand manipulation, and possibly for manipulation in general.

关键词： robotics

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Magnetically assisted soft milli-tools for occluded lumen morphology detection

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SCIENCE ADVANCES 2023年第33期9卷 eadi3979页

作者： Yan, Yingbo Wang, Tianlu Zhang, Rongjing Liu, Yilun Hu, Wenqi Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Xi An Jiao Tong Univ Sch Aerosp Lab Multiscale Mech & Med Sci SV LAB Xian 710049 Peoples R China Swiss Fed Inst Technol Dept Informat Technol & Elect Engn CH-8092 Zurich Switzerland Koc Univ Sch Med TR-34450 Istanbul Turkiye Koc Univ Coll Engn TR-34450 Istanbul Turkiye

Methodologies based on intravascular imaging have revolutionized the diagnosis and treatment of endovascular diseases. However, current methods are limited in detecting, i.e., visualizing and crossing, complicated occluded vessels. Therefore, we propose a miniature soft tool comprising a magnet-assisted active deformation segment (ADS) and a fluid drag-driven segment (FDS) to visualize and cross the occlusions with various morphologies. First, via soft-bodied deformation and interaction, the ADS could visualize the structure details of partial occlusions with features as small as 0.5 millimeters. Then, by leveraging the fluidic drag from the pulsatile flow, the FDS could automatically detect an entry point selectively from severe occlusions with complicated microchannels whose diameters are down to 0.2 millimeters. The functions have been validated in both biologically relevant phantoms and organs ex vivo. This soft tool could help enhance the efficacy of minimally invasive medicine for the diagnosis and treatment of occlusions in various circulatory systems.

关键词： Diagnosis

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A bi-stable soft robotic bendable module driven by silicone dielectric elastomer actuators: design, characterization, and parameter study

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SMART materialS AND STRUCTURES 2022年第11期31卷 114002-114002页

作者： Baltes, Matthias Kunze, Julian Prechtl, Johannes Seelecke, Stefan Rizzello, Gianluca Saarland Univ Dept Syst Engn D-66123 Saarbrucken Germany Saarland Univ Dept Mat Sci & Engn D-66123 Saarbrucken Germany

In this paper, we present a novel concept for a planar soft robotic module actuated by smart artificial muscles. The structure consists of a flexible backbone capable of continuously bending along a plane, and having a rigid plate connected to its top. The actuation is provided by an antagonist-agonist pair of artificial muscle fibers, consisting of silicone-based rolled dielectric elastomer actuator (RDEA) membranes connected to the rigid top plate. When actuated via high voltage, the RDEAs expand and, in turn, cause the structure to bend along a desired direction. The novel prototype concept is described in detail first, and systematic parameter studies are conducted afterwards by means of a physics-based model. Then, an experimental prototype is manufactured and tested, with the aim of validating the dependency of the bending angle performance on the system design parameters. We demonstrate that the bending angle is strongly affected by the choice of the flexible beam geometry, as well as the RDEAs mounting points. It is found that, for some combinations of parameters, the buckling instability of the beam can be suitably triggered by the RDEAs, resulting in large bending angles up to 25 degrees. This feature also allows to keep the robot deformed without supplying any electric power. In contrast, parameters corresponding to mono-stable configurations result in a maximum bending angle of 11 degrees only.

关键词： dielectric elastomer dielectric elastomer actuator soft robotics bi-stability bendable module characterization

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soft-robotic ciliated epidermis for reconfigurable coordinated fluid manipulation

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SCIENCE ADVANCES 2022年第34期8卷 eabq2345页

作者： Ren, Ziyu Zhang, Mingchao Song, Shanyuan Liu, Zemin Hong, Chong Wang, Tianlu Dong, Xiaoguang Hu, Wenqi Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Swiss Fed Inst Technol Dept Informat Technol & Elect Engn CH-8092 Zurich Switzerland Koc Univ Sch Med TR-34450 Istanbul Turkey Koc Univ Coll Engn TR-34450 Istanbul Turkey

The fluid manipulation capabilities of current artificial cilia are severely handicapped by the inability to reconfigure near-surface flow on various static or dynamically deforming three-dimensional (3D) substrates. To overcome this challenge, we propose an electrically driven soft-robotic ciliated epidermis with multiple independently controlled polypyrrole bending actuators. The beating kinematics and the coordination of multiple actuators can be dynamically reconfigured to control the strength and direction of fluid transportation. We achieve fluid transportation along and perpendicular to the beating directions of the actuator arrays, and toward or away from the substrate. The ciliated epidermises are bendable and stretchable and can be deployed on various static or dynamically deforming 3D surfaces. They enable previously difficult to obtain fluid manipulation functionalities, such as transporting fluid in tubular structures or enhancing fluid transportation near dynamically bending and expanding surfaces.

关键词： Deformation

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In situ sensing physiological properties of biological tissues using wireless miniature soft robots

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SCIENCE ADVANCES 2023年第23期9卷 eadg3988页

作者： Wang, Chunxiang Wu, Yingdan Dong, Xiaoguang Armacki, Milena Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Swiss Fed Inst Technol Inst Biomed Engn CH-8092 Zurich Switzerland Vanderbilt Univ Dept Mech Engn Nashville TN 37235 USA Univ Hosp Ulm D-89081 Ulm Germany Koc Univ Sch Med TR-34450 Istanbul Turkiye Koc Univ Coll Engn TR-34450 Istanbul Turkiye

Implanted electronic sensors, compared with conventional medical imaging, allow monitoring of advanced physiological properties of soft biological tissues continuously, such as adhesion, pH, viscoelasticity, and biomarkers for disease diagnosis. However, they are typically invasive, requiring being deployed by surgery, and frequently cause inflammation. Here we propose a minimally invasive method of using wireless miniature soft robots to in situ sense the physiological properties of tissues. By controlling robot-tissue interaction using external magnetic fields, visualized by medical imaging, we can recover tissue properties precisely from the robot shape and magnetic fields. We demonstrate that the robot can traverse tissues with multimodal locomotion and sense the adhesion, pH, and viscoelasticity on porcine and mice gastrointestinal tissues ex vivo, tracked by x-ray or ultrasound imaging. With the unprecedented capability of sensing tissue physiological properties with minimal invasion and high resolution deep inside our body, this technology can potentially enable critical applications in both basic research and clinical practice.

关键词： Tissue

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Towards Sensorless soft robotics: Self-Sensing Stiffness Control of Dielectric Elastomer Actuators

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IEEE TRANSACTIONS ON roboticS 2020年第1期36卷 174-188页

作者： Rizzello, Gianluca Serafino, Pietro Naso, David Seelecke, Stefan Saarland Univ Dept Syst Engn D-66123 Saarbrucken Germany Saarland Univ Dept Mat Sci & Engn D-66123 Saarbrucken Germany Polytech Univ Bari Dept Elect & Informat Engn I-70125 Bari Italy

In this article, we present a sensorless stiffness control (SC) architecture for a soft dielectric elastomer (DE) membrane actuator. The method relies on a self-sensing algorithm that exploits measurements of electrical quantities (i.e., membrane voltage and current) to perform a real-time estimation of DE displacement and force. By combining self-sensing feedback with a SC algorithm, active shaping of the membrane force-displacement response is achieved without introducing additional electro-mechanical sensors in the system, thus, making it possible to design compact, lightweight, and low-cost DE robotic systems. A description of the novel self-sensing scheme is initially performed. To cope with the strong system nonlinearity, a robust design method to synthesize a SC law is subsequently proposed. An extensive experimental campaign is, then, carried out, with the goal of evaluating the performance of both sensor-based and sensorless SC. Quantitative accuracy of both control architectures is finally assessed and compared.

关键词： Robot sensing systems Force Integrated circuits Actuators Strain Transducers Dielectric elastomer (DE) intelligent actuators interaction control (IC) self-sensing sensorless control soft robotics stiffness control (SC)

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soft robotic module actuated by silicone-based rolled dielectric elastomer actuators-modeling and simulation 17

Soft robotic module actuated by silicone-based rolled dielec...

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17th International Conference and Exhibition on New Actuator systems and Applications, ACTUATOR 2021

作者： Prechtl, Johannes Kunze, Julian Seelecke, Stefan Rizzello, Gianluca Intelligent Material Systems Laboratory Department of Systems Engineering Department of Materials Science and Engineering Saarland University Saarbrücken Germany gGmbH Saarbrücken Germany

ISBN: (纸本)9783800754564

soft robotics is a special field of robotics with increasing popularity in the recent decades. Established actuation mechanisms for soft robots are pneumatic or tendon-based systems, which require comparatively large and non-soft external support devices such as air compressors or electrical motors. For such applications, dielectric elastomers present themselves as an attractive class of smart materials that offer inherent softness and flexibility as well as noiseless actuation. In this paper, we present a scalable, DE-actuated soft robotic module, of which several can be arranged into modular structures. A dynamic model is formulated and several simulations are carried out to optimize actuation performance. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Silicones

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