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Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback

Kenji Tahara, Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Takuma Yamauchi, Eitaro Tanaka
2019 IEEE Robotics and Automation Letters  
This letter focuses on the latter one and proposes an estimated temperature feedback control method to regulate a torsional angle of the TPF actuator.  ...  A twisted polymeric fiber (TPF) actuator often referred to as a fishing line/sewing thread artificial muscle, is one of the soft actuators which is made by twisting and heating a nylon fishing line.  ...  The other is often referred to just as a Twisted Polymeric Fiber (TPF) actuator, which is made by twisting the nylon thread until before coiled, and it can produce a rotational motion within a limited  ... 
doi:10.1109/lra.2019.2901982 fatcat:wfgznbzc3fgyrlfhx6inh274dm

Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by The Combination of a Model-based Feed-forward and Estimated Temperature Feedback

Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Rui Fujino, Takuma Yamauchi, Eitaro Tanaka, Kenji Tahara
2019 IEEE Robotics and Automation Letters  
In this letter, an angular trajectory tracking controller for a twisted polymeric fiber (TPF) actuator by the combination of a model-based feed-forward and estimated temperature feedback is proposed.  ...  TPF actuator is one of the soft actuators that can produce a rotational motion, which is made by twisting a nylon yarn and thermally treating it.  ...  Generally, a rotational angle sensor such as an encoder or potentiometer is necessary in order to consist of a feedback controller when regulating a rotational angle of an actuator.  ... 
doi:10.1109/lra.2019.2908484 fatcat:ap2jfi46nrhefidzrbjwitixpm

Table of Contents

2019 IEEE Robotics and Automation Letters  
Deckerová 2439 Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .K.  ...  Semini 2553 Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2019.2928383 fatcat:w6o3fq3trrbcni25apvi2nzege

Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications

Matheus S. Xavier, Charbel D. Tawk, Ali Zolfagharian, Joshua Pinskier, David Howard, Taylor Young, Jiewen Lai, Simon M. Harrison, Yuen K. Yong, Mahdi Bodaghi, Andrew J. Fleming
2022 IEEE Access  
modeling and control methods, hardware control boards, and nonlinear estimation and control techniques.  ...  He is currently an Assistant Professor of mechanical engineering at the University of Wollongong in Dubai.  ...  (iv) bidirectional twisting actuators proposed in [125] by exploiting the free form surface of the actuator chamber, which allows a free rotation of 116.7 • and blocking torque of 0.81 N•m.  ... 
doi:10.1109/access.2022.3179589 fatcat:nxdgxuorkjhcnoxwqc47gakone

Wearable Actuators: An Overview

Yu Chen, Yiduo Yang, Mengjiao Li, Erdong Chen, Weilei Mu, Rosie Fisher, Rong Yin
2021 Textiles  
Wearable actuators, a subcategory of wearable technology, have attracted enormous interest from researchers in various disciplines and many wearable actuators and devices have been developed in the past  ...  In this paper, we review the actuation mechanisms, structures, applications, and limitations of recently developed wearable actuators including pneumatic and hydraulic actuators, shape memory alloys and  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/textiles1020015 fatcat:gvkjqnibwrcplkzkammvuj3h7q

Biorobotics: An Overview of Recent Innovations in Artificial Muscles

Matthew Craddock, Emmanuel Augustine, Sam Konerman, Minchul Shin
2022 Actuators  
to actuate artificial muscles as a whole.  ...  The goal of this paper will be to gain a better understanding of where the current field of biorobotics is at and what its current trends in manufacturing and its techniques are within the last several  ...  This value can be read and utilized in a feedback loop for muscle control [39] . TFAMs are produced simply by applying a twist to a set of fibers.  ... 
doi:10.3390/act11060168 fatcat:aqxzsfspy5a73o4jjh6yupmfq4

Surface Dynamics at Photoactive Liquid Crystal Polymer Networks

Danqing Liu
2019 Advanced Optical Materials  
Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of  ...  If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User  ...  Acknowledgements The results presented are part of research programmes financed by Guangdong Innovative Research Team Program (No. 2013C102), European Research Commission under ERC Advanced Grant 66999  ... 
doi:10.1002/adom.201900255 fatcat:7gw6kwct3rfqlc2lt22nxpjjse

An Overview of Novel Actuators for Soft Robotics

Pinar Boyraz, Gundula Runge, Annika Raatz
2018 Actuators  
In this systematic survey, an overview of non-conventional actuators particularly used in soft-robotics is presented.  ...  The review is performed by using well-defined performance criteria with a direction to identify the exemplary and potential applications.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/act7030048 fatcat:5kxgiut7g5havanuvjinhj6l7i

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

Youn, Jeong, Hwang, Kim, Hyeon, Park, Kyung
2020 Applied Sciences  
This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft actuators which have recently been considered as a key power generation component for soft  ...  This paper begins with the introduction of the working principle of the dielectric elastomer actuators.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app10020640 fatcat:n7d6y6xq3va3xbdvko6uhybpwq

Tethered and Untethered 3D Microactuators Fabricated by Two-Photon Polymerization: A Review

Zhaoxin Lao, Neng Xia, Shijie Wang, Tiantian Xu, Xinyu Wu, Li Zhang
2021 Micromachines  
Then, an outlook of the design, fabrication, control, and applications of 3D laser-printed microactuators is propounded with the goal of providing a reference for related research.  ...  In contrast to classical 2D MEMS devices, 3D microactuators provide a new platform for the research of stimuli-responsive functional devices.  ...  At the same time, this gives the SPP an inverse angular momentum, exerting a torque that may actuate a rotation of the SPP.  ... 
doi:10.3390/mi12040465 pmid:33924199 fatcat:pwahtodou5frvh4vs5wgf6vmhq

Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction

Panagiotis Polygerinos, Nikolaus Correll, Stephen A. Morin, Bobak Mosadegh, Cagdas D. Onal, Kirstin Petersen, Matteo Cianchetti, Michael T. Tolley, Robert F. Shepherd
2017 Advanced Engineering Materials  
The emerging field of soft robotics makes use of many classes of materials including metals, low glass transition temperature (Tg) plastics, and high Tg elastomers.  ...  This review focuses on a particular type of intrinsically soft, elastomeric robot À those powered via fluidic pressurization.  ...  In addition, to assist the feedback controller, a feedforward term is included using a steady-state mapping function from pressure input to angle output of the modules.  ... 
doi:10.1002/adem.201700016 fatcat:scv6dsc2fzclleakte2y7ahatq

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA July 2019 2485-2492 Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback.  ...  Kodaira, A., +, LRA April 2019 1335-1342 Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Low‐Voltage Soft Actuators for Interactive Human–Machine Interfaces

Shaohua Chen, Matthew Wei Ming Tan, Xuefei Gong, Pooi See Lee
2021 Advanced Intelligent Systems  
Soft electrical actuators driven by low voltages are promising for interactive human-machine interfaces (iHMI) applications including executing orders to complete various tasks and communicating with humans  ...  This review covers three typical classes of electrical actuators, namely, electrochemical, electrothermal, and other electrical (dielectric, electrostatic, ferroelectric, and plasticized gel) actuators  ...  Wang designed a self-controlled walking robot driven by a CNT-wrapped rubber fiber ETA based on the resistance feedback sensed by itself, which can autonomously walk continuously on a ratchet surface when  ... 
doi:10.1002/aisy.202100075 fatcat:ewjwpdnwenbjviijjztzuwmyzm

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures [chapter]

I. Gaiser, R. Wiegand, O. Ivlev, A. Andres, H. Breitwieser, S. Schulz, G. Bretthauer
2012 Smart Actuation and Sensing Systems - Recent Advances and Future Challenges  
For control feedback the current measurements of pressure and joint angle position as well as a force/torque observer based on inverted experimental torque characteristics of FFA are used.  ...  When pressurized the fiber angles change until the critical fiber angle of θ = 54, 4 • is reached (figure 3(c)) [141] .  ... 
doi:10.5772/51866 fatcat:onevy6hpbndydgpg3ottbairta

Review and perspectives: shape memory alloy composite systems

Brian T. Lester, Theocharis Baxevanis, Yves Chemisky, Dimitris C. Lagoudas
2015 Acta Mechanica  
The integration of SMAs into composite structures has resulted in many benefits, which include actuation, vibration control, damping, sensing, and selfhealing.  ...  However, despite substantial research in this area, a comparable adoption of SMA composites by industry has not yet been realized.  ...  Lester gratefully acknowledges the support of the Sandia National Laboratory-Texas A&M University Excellence in Engineering fellowship program and the past support of the NSF IGERT program.  ... 
doi:10.1007/s00707-015-1433-0 fatcat:7ib5kmuqjrb7jpnnz7ap6ux5sm
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