Electrochemical graphene/carbon nanotube yarn artificial muscles

Hyeon, Jae Sang,Park, Jong Woo,Baughman, Ray H.,Kim, Seon Jeong Elsevier 2019 Sensors and actuators. B, Chemical Vol.286 No.-

<P><B>Abstract</B></P> <P>Fiber-type artificial muscles similar to natural muscles are being studied for applications such as robots, prosthetics and exoskeletons. In particular, carbon nanotube (CNT) yarn artificial muscles have attracted interest for their unique mechanical and electrical properties as electrochemical artificial muscles. Here, we demonstrate the large tensile stroke of CNT-based electrochemical yarn artificial muscles induced by increasing capacitance. The coiled graphene/CNT yarns made by the biscrolling method can produce greater tensile actuation using more ions at the same voltage than pristine CNT coils. The maximum tensile actuation of these electrochemical muscles is 19%, which is two times larger than coiled CNT muscles with a work capacity of 2.6 J g<SUP>−1</SUP>. These electrochemical artificial muscles could be further developed for practical applications, such as micromechanical devices and robotics.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Coiled graphene/CNT yarns were prepared for electrochemical artificial muscles. </LI> <LI> More ions were induced in the CNT yarns by grahpene at the same voltage. </LI> <LI> The graphene/CNT muscles contracted twice more than pristine CNT muscles through capacitance increase. </LI> </UL> </P>

High performance electrochemical and electrothermal artificial muscles from twist-spun carbon nanotube yarn

Lee Jae Ah,Baughman Ray H,Kim Seon Jeong 나노기술연구협의회 2015 Nano Convergence Vol.2 No.8

High performance torsional and tensile artificial muscles are described, which utilize thermally- or electrochemically-induced volume changes of twist-spun, guest-filled, carbon nanotube (CNT) yarns. These yarns were prepared by incorporating twist in carbon nanotube sheets drawn from spinnable CNT forests. Inserting high twist into the CNT yarn results in yarn coiling, which can dramatically amplify tensile stroke and work capabilities compared with that for the non-coiled twisted yarn. When electrochemically driven in a liquid electrolyte, these artificial muscles can generate a torsional rotation per muscle length that is over 1000 times higher than for previously reported torsional muscles. All-solid-state torsional electrochemical yarn muscles have provided a large torsional muscle stroke (53° per mm of yarn length) and a tensile stroke of up to 1.3% when lifting loads that are ~25 times heavier than can be lifted by the same diameter human skeletal muscle. Over a million torsional and tensile actuation cycles have been demonstrated for thermally powered CNT hybrid yarns muscles filled with paraffin wax, wherein a muscle spins a rotor at an average 11,500 revolutions/minute or delivers 3% tensile contraction at 1200 cycles/minute. At lower actuation rates, these thermally powered muscles provide tensile strokes of over 10%.

Artificial muscles: Non-Stoichiometry Nature, Sensing and Actuating Properties and Tactile Sensibility

Otero T.F.,Lopez-Cascales J.J.,Vazquez-Arenas G. The Korean Institute of Electrical Engineers 2005 KIEE International Transactions on Electrical Mach Vol.b5 No.2

Electro-chemo-mechanical devices or artificial muscles based on conducting polymers (CP) are presented as bilayers, CP/adhesive polymer, or as triple layers, CP/adhesive polymer/CP. Those soft and wet materials, working in aqueous solutions of a salt, mimic the composition of most organs from animals. Under electrochemical control, so working as new electrical machines, they produce continuous, reverse and elegant bending movements, mimicking those produce by animal muscles. By means of the current a perfect controls of the movement rate is attained giving soft and continuous movements. Muscles able to sense the chemical and mechanical conditions of work or muscle having tactile sense, as will be presented here, are being developed. All of them are founded on the non-stoichiometric nature of the soft and wet materials.

Control of IPMC-based Artificial Muscle for Myoelectric Hand Prosthesis

Lee Myoung-Joon,Jung Sung-Hee,Moon Inhyuk,Lee Sukmin,Mun Mu-Seong The Korean Society of Medical and Biological Engin 2005 의공학회지 Vol.26 No.5

This paper proposes an ionic polymer metal composite (IPMC) based artificial muscle to be applicable to the Myoelectric hand prosthesis. The IPMC consists of a thin polymer membrane with metal electrodes plated chemically on both faces, and it is widely applying to the artificial muscle because it is driven by relatively low input voltage. The control commands for the IPMC-based artificial muscle is given by electromyographic (EMG) signals obtained from human forearm. By an intended contraction of the human flexor carpi ulnaris and extensor carpi ulnaris muscles, we investigated the actuation behavior of the IPMC-based artificial muscle. To obtain higher actuation force of the IPMC, the single layered as thick as $800[{\mu}m]$ or multi-layered IPMC of which each layer can be as thick as $178[{\mu}m]$ are prepared. As a result, the bending force was up to the maximum 12[gf] from 1[gf] by actuating the single layered IPMC with $178[{\mu}m]$, but the bending displacement was reduced to 6[mm] from 30[mm]. The experimental results using an implemented IPMC control system show a possibility and a usability of the bio-mimetic artificial muscle.

Jumping Motion Control of One-legged Jumping Robot with Pneumatic Muscles

Yuta ISHIYAMA,Yuya YAMAMOTO,Atsuo TAKANISHI,Hun-ok Lim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

This paper describes the dynamic analysis of the vertical jumping motion of a one-legged jumping robot that consists of a hip, a thigh, a shin, and a foot. The jumping robot has two kinds of pneumatic artificial muscles, the mono-articular muscle and the bi-articular muscle. The jumping robot is difficult to obtain the output force of each artificial muscle because each joint force is produced by the plural pneumatic artificial muscles. When the robot jumps, the forces can be projected to the waist. Thus, we developed a method that can calculate the magnitude and direction of the resultant of the forces, and convert the resultant force to the output force of the pneumatic muscles. Vertical jumping simulations are conducted, and the effectiveness of the mathematical modeling is verified.

공압형 인공근육을 이용한 상극구동의 동적 특성

강봉수(Bong-Soo Kang),송승(Seung Song) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.10

This paper presents dynamic characteristics of pneumatic artificial muscles. Since the actuating performance of a pneumatic muscle is closely related to the input pressure of a pneumatic muscle, the air flow model on a valve orifice and an elastic bladder of the muscle is formulated to estimate precisely the pressure variance of pneumatic muscles during deflating and inflating process. Frequency response experiments are performed with an antagonistic system consisting of two pneumatic muscles and fast pneumatic control valves. Comparing with experimental results, the proposed model yielded good performance in estimating dynamic motions of the antagonistic system as well as the pressure variance of the pneumatic artificial muscles

공압서보밸브를 이용한 인공근육의 제어

서기원,엄태준 순천향대학교 부설 산업기술연구소 2015 순천향 산업기술연구소논문집 Vol.21 No.1

Pneumatic artificial muscle(PAM) chat consists of an elascic bladder and braided cover generates pulling force due to contraction of the tube by similar principle applied to human muscle. This is recently used to robotic system and muscle assistive devices. However, PAM control is very difficult due to non-linearity of pneumatics and compressibility of air and therefore many researchers have presently studied for improvement. This paper presents control of PAM using pneumatic servo valve. The dynamic characteristics of PAM was verified by simulation with the Runge-Kutta 4th method. Also, conjugate gradient method with least square error was applied for system identification and the transfer fiinccion was obtained. The gain and of PD control were determined by Root Locus method such chat damping ratio 0.55 was obtained. The simulation was done to predict the displacement, velocity, volume and pressure by applying PD control. Also, the experiment was carried out by applying the calibration coefficients co operate the servo valve properly. The simulation results by theoretical basis and experimental results were compared and the simulation was verified.

심장보조를 위한 흉부대동맥 근성형술 개발(예비 동물실험)

오중환,박승일,김은기,김영호,류기홍,이상헌,원주호,서재정 대한흉부심장혈관외과학회 2000 Journal of Chest Surgery (J Chest Surg) Vol.33 No.6

Background: Thoracic aortomyoplasty is one of the surgical treatment for heart failure and has advantages over artificial heart or intraaortic balloon pumps. It uses autogenous skeletal muscles and solves problems such as energy source. However its use in clinical settings has been limited. This preliminary study was designed to develop surgical technique and to determine the effect of acute descending thoracic aortomyoplsty. Material and Method: Thirteen adult Mongrel dogs were used. The left latissimus dorsi muscle was wrapped around the descending aorta under general anesthesis. Swan-Ganz and microtipped Millar catheter were used for the hemodynamics and endocaridial viability ratio. Data were collected with myostimulator on and off in normal hearts and the ischemic hearts. Result: In normal hearts, the mean aortic diastolic pressure increased from 72$\pm$15mmHg at baseline to 78$\pm$13mmHg with stimulator on. Coronary perfusion pressure increased from 61$\pm$11mmHg to 65$\pm$9mmHg. Diastolic time increased from 0.288$\pm$0.003 msec to 0.290$\pm$0.003msec. Systolic time decreased from 0.164$\pm$0.002msec to 0.160$\pm$0.002 msec. Endocardial viability ratio increased from 1.21$\pm$0.22 to 1.40$\pm$0.18. In ischemic hearts, mean aortic diastolic pressure incrased from 56$\pm$21mmHg at baseline to 61$\pm$15mmHg with stimulator on. Coronary perfusion pressure increased from 48$\pm$17mmHg to 52$\pm$15mmHg. Diastolic time increased from 0.290$\pm$0.003 msec to 0.313$\pm$0.004msec. Systolic time decreased from 0.180$\pm$0.002 msec to 0.177$\pm$0.003 msec. Endovascular viability ratio increased from 0.9$\pm$0.31 to 1.1$\pm$0.31. The limited number of cases ruled out the statistic significance. Conclusion: Descending thoracic aortomyoplasty is a simple operation designed to use patient's own skeletal muscles. It trends to increase diastolic augmentation and coronary perfusion pressure. Modification of surgical technique and stimulator protocol would maximize the effect to assist the heart.

Low-pressure pneumatic muscles: development, phenomenological modeling, and evaluation in assistive applications through sEMG analysis

Aman Arora,Debadrata Sarkar,Amit Kumar,Soumen Sen,Shibendu Shekhar Roy 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.9

Compliant actuators have received much attention from researchers over the last two decades. Specifically, pneumatic artificial muscles (PAMs) have been used in several human-in-loop assistive and rehabilitative devices due to their inherent behavior resembling biological muscles. We presented a lucid customizable fabrication process to develop lowpressure actuated PAMs, named pneumatic silicone tube artificial muscles (pSTAMs), and to cater activity-specific actuator requirements. Two constructions of pSTAMs with varying lengths were rigorously experimented at different pressure-load conditions for their isobaric static and stiffness characterizations. Estimation of bandwidth and use of empirical correction factors in the conventional analytical models for quasi-static characterization of pSTAMs were demonstrated. Lumped parameter-based phenomenological model was employed to closely model their dynamic characteristics. A detailed integrated electromyography analysis with surface electromyography signals from the targeted muscle groups was performed to determine the efficacy of using pSTAMs in two activities.

Prototyping the Flexible Solenoid-Coil Artificial Muscle, for Exoskeletal Robots

Asuka Takai,Nouf Alanizi,Kazuo Kiguchi,Thrishantha Nanayakkara 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

Design approaches to exoskeletal robots traditionally aimed to achieve mechanical forces many times larger than the level achievable by the corresponding natural musculoskeletal system. This has often obstructed the user’s muscles during physical rehabilitation. Moreover, mechanisms designed for excessive force generation are heavy and rigid structures with little compliance and thus are not suitable for many mobile applications. Here, we present a novel biomimetic flexible solenoid-coil artificial muscle (FSAM) fibre with inherent mechanical compliance, a high pulling stroke, and structural flexibility that suit a lightweight wearable exoskeletal robot for rehabilitation use. FSAM consists of a chain of specially designed bobbins of solenoid coils that can slide against each other. The chain allows FSAM to form an arch shape when the coils are energized; this is reminiscent of a natural muscle that bends a joint by a combined contraction of the muscle length and bending in an arch shape. This strategy of bending a joint not only reduces the need for linear contraction but also allows the exoskeletal to be compliant with the contraction morphology of natural muscle.