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Parametric study of Pneumatic Circuit Model for Powering and Controlling Soft Pneumatic Actuators

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Fluidic actuation enables movement in a wide range of mechanical systems, from simple laboratory devices to more complex industrial machinery. Fluids are used to generate motion of mechanical pieces. The term "fluids" encompasses two types of technologies: ...

EPFL2023

SOFT BIDIRECTIONAL BENDING ACTUATOR BASED ON MAGNETORHOGICAL FLUIDS

Timothée Hirt

The goal of this project is to design and fabricate a bidirectional bending actuator for soft robotics applications. The actuation principle will be based on magnetorheological fluids (MRFs). MRFs are smart materials consisting of micro-meter-sized particl ...

2023

High Permittivity Siloxanes as Promising Materials for Dielectric Elastomer Transducers: From Synthesis to Application

Yauhen Sheima

The speed of change in the modern world is impressive. Within the last 50 years, many devices and technologies have significantly transformed their appearance, intrinsic characteristics and improved their performance. Computers have changed from the size o ...

EPFL2022

An actuator (22) comprises at least one actuator body (32) of dielectric elastomeric material and two electrodes (34, 36) being attached to opposite surfaces of the actuator body (32), respectively. At least one of the actuator body (32) and at least one o ...

2022

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

A compressed air driven generator is proposed, where the pneumatic energy is converted into mechanical energy using two vane-type rotational actuators. The use of a second actuator with a higher displacement in order to produce a thermodynamic expansion al ...

UNIV NIS2021

Manufacturing and Tests of a Tubular Multilayer Dielectric Elastomer Actuator for an Impedance Pump

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Francesco Clavica, Armando Matthieu Walter, Jonathan André Jean-Marie Chavanne, David Moser

During the last three decades, the field of electro active polymers (EAP) has seen a rapidly growing interest worldwide. These materials can exhibit many advantages, such as elasticity, high energy density, high dynamics and are often nicknamed artificial ...

2020

Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers

Jamie Paik, Marco Salerno, Junius Santoso

Soft pneumatic actuators promise simple, adaptable, and safe manipulation, but the nature of pneumatic circuits limits the scalability of this approach. This paper introduces a method to augment the degrees-of-freedom of soft pneumatic actuators without in ...

2019

We present variable stiffness dielectric elastomer actuators (DEAs), combining a single DEA actuator with embedded shape memory polymer (SMP) fibers, which can be electrically addressed to locally reduce the stiffness by a factor of 100. The device accommo ...

SPIE-INT SOC OPTICAL ENGINEERING2019

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This paper presents new implementations of a design method to obtain minimum energy adaptive structures. The design method was formulated in previous work [1, 2] for reticular structures equipped with sensors (e.g. strain, optical) and linear actuators. Th ...

2019