Enhancing and Decoding the Performance of Muscle Actuators with Flexures
Enhancing and Decoding the Performance of Muscle Actuators with Flexures
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DOI：
10.1002/aisy.202300834
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发表时间：
2024-04-08
影响因子：
7.4
通讯作者：
Raman，Ritu
中科院分区：
文献类型：
--
作者：
Lynch，Naomi;Castro，Nicolas;Raman，Ritu
在过去的十年里，利用活肌肉作为软机器人的高效和自适应致动器越来越受到关注，重点是功能的概念验证。生物混合机器的可复制设计和可扩展制造需要增加应变限制肌肉致动器的冲程输出并实现准确和精确的质量控制和性能监控的方法。顺应性的机械元件，称为弯曲，旨在提高肌肉收缩中风到105倍以前报道的值和解码收缩动力学与高时空分辨率。将刚性和柔性元件结合在线性弹性弯曲件内，使我们能够在低频和高频刺激下超越基于黄金标准弹性梁的肌肉收缩测量的灵敏度。利用弯曲来对肌肉致动器中的力、功和功率输出进行定量比较，这促使我们发现肌肉中频率依赖性疲劳的新观察结果，并开发了一种以频率无关方式调节肌肉收缩动力学的新方法。通过增强肌肉致动器的收缩行程，并以前所未有的精度精确调整收缩动力学和耐力，这项研究为利用弯曲来改善下一代生物混合机器人的鲁棒性，可重复性和预测性设计和制造奠定了基础。
Leveraging living muscle as an efficient and adaptive actuator for soft robots has been of increasing interest over the past decade, with a focus on proof‐of‐concept demonstrations of function. Reproducible design and scalable manufacturing of biohybrid machines requires methods to increase the stroke output of strain‐limited muscle actuators and enable accurate and precise quality control and performance monitoring. Compliant mechanical elements, termed flexures, are designed to enhance muscle contractile stroke to ≈5× previously reported values and decode contraction dynamics with high spatiotemporal resolution. Combining rigid and flexible elements within a linear elastic flexure enables us to outperform the sensitivity of gold standard elastomeric beam‐based measurements of muscle contraction at both low‐ and high‐frequency stimulations. Flexures are leveraged to make quantitative comparisons of force, work, and power outputs in muscle actuators, driving us to discover a new observation of frequency‐dependent fatigue in muscle, and also develop a novel method for tuning muscle contractile dynamics in a frequency‐independent manner. By enhancing the contractile stroke of muscle actuators and precisely tuning contractile dynamics and endurance with unprecedented precision, this study sets the stage for leveraging flexures to improve robust, reproducible, and predictive design and manufacturing of next‐generation biohybrid robots.