Development of Soft, Efficient, Powerful, and Rapid Artificial Muscles for the Design of a Soft Wearable Haptic Exoskeleton

Descripción del proyecto

Superación de las limitaciones de los actuadores para los dispositivos hápticos blandos

El avance y el desarrollo rápidos de la robótica blanda ofrece nuevas esperanzas para diversas soluciones, como los exoesqueletos hápticos blandos ponibles que proporcionan precisión y seguridad a través de la automatización para ayudar a las personas en tareas muy complejas, duras o peligrosas en campos como la medicina o la agricultura. Lamentablemente, los sistemas de accionamiento clave en este ámbito, responsables de mover y controlar los mecanismos o los sistemas, siguen careciendo de soluciones satisfactorias. A fin de superar las limitaciones actuales, el proyecto financiado con fondos europeos M-SCPA desarrollará un nuevo tipo de actuador blando (el M-SCPA) combinando una nueva fibra polimérica magnetoactiva (M-) y una estructura helicoidal inspirada en la tecnología de los actuadores de polímeros superenrollados. Posteriormente, se realizará una demostración del nuevo dispositivo háptico blando ponible y un estudio de opinión.

Objetivo

Soft robotics is a growing research field promising to apply automation to new areas of our societies such as medicine, agriculture and exploration. However, since soft robotics is a relatively recent research field, many fundamental components of soft robots still demonstrate disappointing capabilities. Indeed, actuation is one of the most vital requirement of robots but it is yet to be solved adequately.
This proposal describes the development and characterization of a new soft actuator. We call these innovative soft actuator “M-SCPAs”, as they are inspired by recent advances in Magnetoactive polymeric fiber (MAEs) and Supercoiled Polymer Actuators (SCPAs). M-SCPAs will be manufacThis proposal aims at creating a new type of soft actuator. Soft actuators are a key component of the soft robotics research field, with applications in medical, agricultural or wearable technologies. We propose to use “M-SCPAs”, named after the 2 key distinct concepts used in their design.
-The first key concept is the use of a magnetoactive (M-) polymeric fiber. Inspired by recent advances in magnetoactive materials, we propose to embed strongly magnetized ferromagnetic particles within an extruded polymer fiber. When exposed to a magnetic field, the particles will internally pivot, and the fiber contract.
-The second key concept is the use of an helical structure similar to the one used by “Supercoiled Polymer Actuators” (SCPAs). The twisting of a polymeric fiber creates a three-dimensional structure akin to a typical steel spring. From this structure is derived inherent softness, convenient form factor, as well as increased contractile capabilities.
The proposal details the combination of these two ideas to create a new type of actuator overcoming each of the respective original actuators limitations. The proposal also proposes the demonstration of these actuators through the manufacture of a soft wearable haptic device powered and its subsequent use in an haptic feedback study.