Fast, variable stiffness- induced braided coiled artificial muscles
成果类型：
Article
署名作者：
Hu, Xinghao; Wang, Xiangyu; Wang, Jian; Zhang, Guorong; Fang, Shaoli; Zhang, Fengrui; Xiao, Ye; Cheng, Guanggui; Baughman, Ray H.; Ding, Jianning
署名单位：
Jiangsu University; University of Texas System; University of Texas Dallas; Northwestern Polytechnical University; Yangzhou University
刊物名称：
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
ISSN/ISSBN：
0027-8817
DOI：
10.1073/pnas.2412288121
发表日期：
2024-10-08
关键词：
摘要：
Biomimetic actuation technologies with high muscle strokes, cycle rates, and work capacities are necessary for robotic systems. We present a muscle type that operates based on changes in muscle stiffness caused by volume expansion. This muscle is created by coiling a mechanically strong braid, in which an elastomer hollow tube is adhesively attached inside. We show that the muscle reversibly contracts by 47.3% when driven by an oscillating input air pressure of 120 kilopascals at 10 Hz. It generates a maximum power density of 3.0 W/g and demonstrates a mechanical contractile efficiency of 74%. The muscle's low- pressure operation allowed for portable, thermal pneumatical actuation. Moreover, the muscle demonstrated bipolar actuation, wherein internal pressure leads to muscle length expansion if the initial muscle length is compressed and contraction if the muscle is not compressed. Modeling indicates that muscle expansion significantly for fast running and climbing robots.
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