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1. Sheath-run artificial muscles

   https://doi.org/10.1126/science.aaw2403  

   Jiuke Mu, Mônica Jung ( July 2019 , Science)

   Although guest-filled carbon nanotube yarns provide record performance as torsional and tensile artificial muscles, they are expensive, and only part of the muscle effectively contributes to actuation.We describe a muscle type that provides higher performance, in which the guest that drives actuation is a sheath on a twisted or coiled core that can be an inexpensive yarn. This change from guest-filled to sheath-run artificial muscles increases the maximum work capacity by factors of 1.70 to 2.15 for tensile muscles driven electrothermally or by vapor absorption. A sheath-run electrochemical muscle generates 1.98 watts per gram of average contractile power—40 times that for human muscle and 9.0 times that of the highest power alternative electrochemical muscle.Theory predicts the observed performance advantages of sheath-run muscles. 

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2. Moisture Sensitive Smart Yarns and Textiles from Self‐Balanced Silk Fiber Muscles

   https://doi.org/10.1002/adfm.201808241  

   Jia, Tianjiao ; Wang, Yang ; Dou, Yuanyuan ; Li, Yaowang ; Jung de Andrade, Monica ; Wang, Run ; Fang, Shaoli ; Li, Jingjing ; Yu, Zhou ; Qiao, Rui ; et al ( March 2019 , Advanced Functional Materials)

   Smart textiles that sense, interact, and adapt to environmental stimuli have provided exciting new opportunities for a variety of applications. However, current advances have largely remained at the research stage due to the high cost, complexity of manufacturing, and uncomfortableness of environment‐sensitive materials. In contrast, natural textile materials are more attractive for smart textiles due to their merits in terms of low cost and comfortability. Here, water fog and humidity‐driven torsional and tensile actuation of thermally set twisted, coiled, plied silk fibers, and weave textiles from these silk fibers are reported. When exposed to water fog, the torsional silk fiber provides a fully reversible torsional stroke of 547° mm⁻¹. Coiled‐and‐thermoset silk yarns provide a 70% contraction when the relative humidity is changed from 20% to 80%. Such an excellent actuation behavior originates from water absorption‐induced loss of hydrogen bonds within the silk proteins and the associated structural transformation, which are corroborated by atomistic and macroscopic characterization of silk and molecular dynamics simulations. With its large abundance, cost‐effectiveness, and comfortability for wearing, the silk muscles will open up additional possibilities in industrial applications, such as smart textiles and soft robotics.

    

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3. Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation

   https://doi.org/10.3390/act11030082  

   Duan, Emily ; Bryant, Matthew ( March 2022 , Actuators)

   In this paper, we investigate the design of pennate topology fluidic artificial muscle bundles under spatial constraints. Soft fluidic actuators are of great interest to roboticists and engineers, due to their potential for inherent compliance and safe human–robot interaction. McKibben fluidic artificial muscles are an especially attractive type of soft fluidic actuator, due to their high force-to-weight ratio, inherent flexibility, inexpensive construction, and muscle-like force-contraction behavior. The examination of natural muscles has shown that those with pennate fiber topology can achieve higher output force per geometric cross-sectional area. Yet, this is not universally true for fluidic artificial muscle bundles, because the contraction and rotation behavior of individual actuator units (fibers) are both key factors contributing to situations where bipennate muscle topologies are advantageous, as compared to parallel muscle topologies. This paper analytically explores the implications of pennation angle on pennate fluidic artificial muscle bundle performance with spatial bounds. A method for muscle bundle parameterization as a function of desired bundle spatial envelope dimensions has been developed. An analysis of actuation performance metrics for bipennate and parallel topologies shows that bipennate artificial muscle bundles can be designed to amplify the muscle contraction, output force, stiffness, or work output capacity, as compared to a parallel bundle with the same envelope dimensions. In addition to quantifying the performance trade space associated with different pennate topologies, analyzing bundles with different fiber boundary conditions reveals how bipennate fluidic artificial muscle bundles can be designed for extensile motion and negative stiffness behaviors. This study, therefore, enables tailoring the muscle bundle parameters for custom compliant actuation applications. 

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4. Realizing the potential of dielectric elastomer artificial muscles

   https://doi.org/10.1073/pnas.1815053116  

   Duduta, Mihai ; Hajiesmaili, Ehsan ; Zhao, Huichan ; Wood, Robert J. ; Clarke, David R. ( February 2019 , Proceedings of the National Academy of Sciences)

   Soft robotics represents a new set of technologies aimed at operating in natural environments and near the human body. To interact with their environment, soft robots require artificial muscles to actuate movement. These artificial muscles need to be as strong, fast, and robust as their natural counterparts. Dielectric elastomer actuators (DEAs) are promising soft transducers, but typically exhibit low output forces and low energy densities when used without rigid supports. Here, we report a soft composite DEA made of strain-stiffening elastomers and carbon nanotube electrodes, which demonstrates a peak energy density of 19.8 J/kg. The result is close to the upper limit for natural muscle (0.4–40 J/kg), making these DEAs the highest-performance electrically driven soft artificial muscles demonstrated to date. To obtain high forces and displacements, we used low-density, ultrathin carbon nanotube electrodes which can sustain applied electric fields upward of 100 V/μm without suffering from dielectric breakdown. Potential applications include prosthetics, surgical robots, and wearable devices, as well as soft robots capable of locomotion and manipulation in natural or human-centric environments.

    

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5. Synthetic Muscle Electroactive Polymer (EAP) pressure sensing and controlled shape-morphing for robotic grippers

   https://doi.org/10.1117/12.2583295  

   Briggs, Calum ; Cheng, Tianyu ; Meredith, Margot ; Vicars, Peter N. ; Rasmussen, Lenore ; Zhong, Alexander ( March 2021 , Proc. SPIE 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII,)

   Madden, John D. ; Anderson, Iain A. ; Shea, Herbert R. (Ed.)

   Ras Labs makes Synthetic Muscle™, which is a class of electroactive polymer (EAP) based materials and actuators that sense pressure (gentle touch to high impact), controllably contract and expand at low voltage (1.5 V to 50 V, including use of batteries), and attenuate force. We are in the robotics era, but robots do have their challenges. Currently, robotic sensing is mainly visual, which is useful up until the point of contact. To understand how an object is being gripped, tactile feedback is needed. For handling fragile objects, if the grip is too tight, breakage occurs, and if the grip is too loose, the object will slip out of the grasp, also leading to breakage. Rigid robotic grippers using a visual feedback loop can struggle to determine the exact point and quality of contact. Robotic grippers can also get a stuttering effect in the visual feedback loop. By using soft Synthetic Muscle™ based EAP pads as the sensors, immediate feedback was generated at the first point of contact. Because these pads provided a soft, compliant interface, the first point of contact did not apply excessive force, allowing the force applied to the object to be controlled. The EAP sensor could also detect a change in pressure location on its surface, making it possible to detect and prevent slippage by then adjusting the grip strength. In other words, directional glide provided feedback for the presence of possible slippage to then be able to control a slightly tighter grip, without stutter, due to both the feedback and the soft gentleness of the fingertip-like EAP pads themselves. The soft nature of the EAP fingertip pad also naturally held the gripped object, improving the gripping quality over rigid grippers without an increase in applied force. Analogous to finger-like tactile touch, the EAPs with appropriate coatings and electronics were positioned as pressure sensors in the fingertip or end effector regions of robotic grippers. This development of using Synthetic Muscle™ based EAPs as soft sensors provided for sensors that feel like the pads of human fingertips. Basic pressure position and magnitude tests have been successful, with pressure sensitivity down to 0.05 N. Most automation and robots are very strong, very fast, and usually need to be partitioned away from humans for safety reasons. For many repetitive tasks that humans do with delicate or fragile objects, it would be beneficial to use robotics; whether it is for agriculture, medical surgery, therapeutic or personal care, or in extreme environments where humans cannot enter, including with contagions that have no cure. Synthetic Muscle™ was also retrofitted as actuator systems into off-the-shelf robotic grippers and is being considered in novel biomimetic gripper designs, operating at low voltages (less than 50 V). This offers biomimetic movement by contracting like human muscles, but also exceeds natural biological capabilities by expanding under reversed electric polarity. Human grasp is gentle yet firm, with tactile touch feedback. In conjunction with shape-morphing abilities, these EAPs also are being explored to intrinsically sense pressure due to the correlation between mechanical force applied to the EAP and its electronic signature. The robotic field is experiencing phenomenal growth in this fourth phase of the industrial revolution, the robotics era. The combination of Ras Labs’ EAP shape-morphing and sensing features promises the potential for robotic grippers with human hand-like control and tactile sensing. This work is expected to advance both robotics and prosthetics, particularly for collaborative robotics to allow humans and robots to intuitively work safely and effectively together. 

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