Biologically inspired electrostatic artificial muscles for insect-sized robots

Wang，Hongqiang1,2; York，Peter3,4; Chen，Yufeng5,6; Russo，Sheila7; Ranzani，Tommaso7; Walsh，Conor3,4; Wood，Robert J.3,4

2021

10.1177/02783649211002545

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH   影响因子和分区

0278-3649

1741-3176

Millimeter-sized electrostatic film actuators, inspired by the efficient spatial arrangement of insect muscles, achieve a muscle-like power density (61 W kg) and enable robotic applications in which agility is needed in confined spaces. Like biological muscles, these actuators incorporate a hierarchical structure, in this case building from electrodes to arrays to laminates, and are composed primarily of flexible materials. So comprised, these actuators can be designed for a wide range of manipulation and locomotion tasks, similar to natural muscle, while being robust and compact. A typical actuator can achieve 85 mN of force with a 15 mm stroke, with a size of (Formula presented.) mm and mass of 92 mg. Two millimeter-sized robots, an ultra-thin earthworm-inspired robot and an intestinal-muscle-inspired endoscopic tool for tissue resection, demonstrate the utility of these actuators. The earthworm robot undertakes inspection tasks: the navigation of a 5 mm channel and a 19 mm square tube while carrying an on-board camera. The surgical tool, which conforms to the surface of the distal end of an endoscope, similar to the thin, smooth muscle that covers the intestine, completes tissue cutting and penetrating tasks. Beyond these devices, we anticipate widespread use of these actuators in soft robots, medical robots, wearable robots, and miniature autonomous systems.

Bio-inspired robotics electrostatic actuators microfabrication millimeter-scale robots

SCI ; EI

英语

第一 ; 通讯

National Science Foundation[CMMI-1830291] ; Defense Advanced Research Projects Agency[FA8650-15-C-7548] ; Army Research Office DURIP program[W911NF-13-1-0311] ; National Natural Science Foundation for Young Scientists of China[51905256] ; Natural Science Foundation of Guangdong Province of China[2020A1515010955] ; Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]

Robotics

Robotics

WOS:000648638600004

SAGE PUBLICATIONS LTD

20211410182880

Agricultural robots ; Biomimetics ; Electrostatic actuators ; Electrostatics ; End effectors ; Endoscopy ; Laminates ; Medical robotics ; Surgical equipment

Bioengineering and Biology:461 ; Biomedical Equipment, General:462.1 ; Electricity: Basic Concepts and Phenomena:701.1 ; Robotics:731.5 ; Control Equipment:732.1

ENGINEERING

2-s2.0-85103603961

Scopus

1.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,China
2.Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,China
3.John A,Paulson School of Engineering and Applied Sciences,Harvard University,Cambridge,United States
4.Wyss Institute for Biologically Inspired Engineering,Harvard University,Cambridge,United States
5.Research Laboratory of Electronics,Massachusetts Institute of Technology,Cambridge,United States
6.Department of Electrical Engineering and Computer Science,Massachusetts Institute of Technology,Cambridge,United States
7.Department of Mechanical Engineering,Boston University,Boston,United States

Wang，Hongqiang,York，Peter,Chen，Yufeng,et al. Biologically inspired electrostatic artificial muscles for insect-sized robots[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,2021,40(6-7):895-922.

Wang，Hongqiang.,York，Peter.,Chen，Yufeng.,Russo，Sheila.,Ranzani，Tommaso.,...&Wood，Robert J..(2021).Biologically inspired electrostatic artificial muscles for insect-sized robots.INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,40(6-7),895-922.

Wang，Hongqiang,et al."Biologically inspired electrostatic artificial muscles for insect-sized robots".INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 40.6-7(2021):895-922.