Synthetic Muscle electroactive polymer (EAP) based actuation and sensing for prosthetic and robotic applications
Synthetic Muscle electroactive polymer (EAP) based actuation and sensing for prosthetic and robotic applications
复制标题
基于合成肌肉电活性聚合物 (EAP) 的驱动和传感，适用于假肢和机器人应用
DOI：
10.1117/12.2297660
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
G. Martino
中科院分区：
文献类型：
--
作者：
Lenore Rasmussen;Simone Rodriguez;M. Bowers;G. Franzini;C. Gentile;G. Ascione;Robert Hitchner;James Taylor;Dan Hoffman;Leon Moy;Patrick S. Mark;Daniel L. Prillaman;Robert Nodarse;Michael J. Menegus;R. Carpenter;Darold Martin;M. Maltese;T. Seacrist;C. Furlong;Payam Razavi;G. Martino
Ras Labs合成肌肉TM--一类在低电压下收缩和扩张的电活性聚合物（EAP）--模仿人体组织独特的温和而强壮的性质。这些EAP还可以衰减力并感知从轻微触摸到高冲击的机械压力。这是假肢和机器人技术的潜在资产，包括通过保护装置和人类辅助机器人进行载人太空旅行，以及通过深空进行无人空间探索。第五代合成肌肉TM非常坚固，通过非牛顿机制衰减冲击力。还探索了各种电解质溶液和导电添加剂以优化这些EAP。在假肢中，残肢和假肢装置的硬承窝之间的接口是一个痛点。EAP垫使用1.5 V电池在假肢接受腔内轻轻收缩和扩张，这将使截肢者在一天中获得极其舒适、可调节、完美的贴合感。对于机器人夹持器，EAP联动装置可以被致动，并且EAP传感器被放置在夹持器的指尖处用于触觉反馈。这些EAP在纳米级别的启动被确定为在48毫秒内，肉眼在几秒钟内即可看到宏观尺度的启动。基于智能EAP的材料和致动器有望改变假肢和机器人，允许治疗，减少和预防衰弱性伤害和死亡，并进一步推动我们在陆地，海洋，空中和太空的探索。
Ras Labs Synthetic MuscleTM – a class of electroactive polymers (EAPs) that contract and expand at low voltages – mimic the unique gentle-yet-strong nature of human tissue. These EAPs also attenuate force and sense mechanical pressure, from gentle touch to high impact. This is a potential asset to prosthetics and robotics, including manned space travel through protective gear and human assist robotics and for unmanned space exploration through deep space. Fifth generation Synthetic MuscleTM is very robust and attenuates impact force through non-Newtonian mechanisms. Various electrolyte solutions and conductive additives were also explored to optimize these EAPs. In prosthetics, the interface between the residual limb and the hard socket of the prosthetic device is a pain point. EAP pads that gently contract and expand within the prosthetic socket using 1.5 V batteries will allow for extremely comfortable, adjustable, perfect fit throughout the day for amputees. For robot grippers, EAP linkages can be actuated and EAP sensors placed at the fingertips of the grippers for tactile feedback. Onset of actuation of these EAPs at the nano-level was determined to be within 48 milliseconds, with macro-scale actuation visible to the naked eye within seconds. Smart EAP based materials and actuators promise to transform prostheses and robots, allowing for the treatment, reduction, and prevention of debilitating injury and fatalities, and to further our exploration by land, sea, air, and space.