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1. 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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2. Sensitive and robust electroactive polymer tactile pressure sensors and shape-morphing actuation for robotic grippers

   https://doi.org/10.1117/12.2607779  

   Briggs, Calum R. ; Kaiser, Greg H. ; Sporidis, Yanni ; Vicars, Peter N. ; Rasmussen, Lenore ; Bowers, Matthew P. ; Dogrucu, Ada ; Popovic, Marko ; Zhong, Alexander ( April 2022 , Proc. SPIE 12042, Electroactive Polymer Actuators and Devices (EAPAD) XXIV)

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

   Current 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. Human grasp is gentle yet firm, with integrated tactile touch feedback. Ras Labs makes Synthetic Muscle™, which is a class of electroactive polymer (EAP) based materials and actuators that sense pressure from gentle touch to high impact, controllably contract and expand at low voltage (battery levels), and attenuate force. The development of this technology towards sensing has provided for fingertip-like sensors that were able to detect very light pressures down to 0.01 N and even 0.005 N, with a wide pressure range to 25 N and more and with high linearity. By using these soft yet robust Tactile Fingertip™ sensors, immediate feedback was generated at the first point of contact. Because these elastomeric pads provided a soft compliant interface, the first point of contact did not apply excessive force, allowing for gentle object handling and control of the force applied to the object. The Tactile Fingertip could also detect a change in pressure location on its surface, i.e., directional glide provided real time feedback, making it possible to detect and prevent slippage by then adjusting the grip strength. Machine learning (ML) and artificial intelligence (AI) were integrated into these sensors for object identification along with the determination of good grip (position, grip force, no slip, no wobble) for pick-and-place and other applications. Synthetic Muscle™ is also being retrofitted as actuators into a human hand-like biomimetic gripper. The combination of EAP shape-morphing and sensing promises the potential for robotic grippers with human hand-like control and tactile sensing. This is expected to advance 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, as well as for collaborative robotics to allow humans and robots to intuitively work safely and effectively together. 

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3. ROV Teleoperation based on Sensory Augmentation and Digital Twins

   https://doi.org/10.4043/32376-MS  

   Xia, Pengxiang ; McSweeney, Kevin P. ; Song, Zhuoyuan ; Du, Eric ( April 2023 , OTC)

   ROV operations are mainly performed via a traditional control kiosk and limited data feedback methods, such as the use of joysticks and camera view displays equipped on a surface vessel. This traditional setup requires significant personnel on board (POB) time and imposes high requirements for personnel training. This paper proposes a virtual reality (VR) based haptic-visual ROV teleoperation system that can substantially simplify ROV teleoperation and enhance the remote operator's situational awareness.

   This study leverages the recent development in Mixed Reality (MR) technologies, sensory augmentation, sensing technologies, and closed-loop control, to visualize and render complex underwater environmental data in an intuitive and immersive way. The raw sensor data will be processed with physics engine systems and rendered as a high-fidelity digital twin model in game engines. Certain features will be visualized and displayed via the VR headset, whereas others will be manifested as haptic and tactile cues via our haptic feedback systems. We applied a simulation approach to test the developed system.

   With our developed system, a high-fidelity subsea environment is reconstructed based on the sensor data collected from an ROV including the bathymetric, hydrodynamic, visual, and vehicle navigational measurements. Specifically, the vehicle is equipped with a navigation sensor system for real-time state estimation, an acoustic Doppler current profiler for far-field flow measurement, and a bio-inspired artificial literal-line hydrodynamic sensor system for near-field small-scale hydrodynamics. Optimized game engine rendering algorithms then visualize key environmental features as augmented user interface elements in a VR headset, such as color-coded vectors, to indicate the environmental impact on the performance and function of the ROV. In addition, augmenting environmental feedback such as hydrodynamic forces are translated into patterned haptic stimuli via a haptic suit for indicating drift-inducing flows in the near field. A pilot case study was performed to verify the feasibility and effectiveness of the system design in a series of simulated ROV operation tasks.

   ROVs are widely used in subsea exploration and intervention tasks, playing a critical role in offshore inspection, installation, and maintenance activities. The innovative ROV teleoperation feedback and control system will lower the barrier for ROV pilot jobs.

    

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4. Deformation and Frictional Failure of Granular Media in 3D Analog and Numerical Experiments

   https://doi.org/10.1007/s00024-024-03464-6  

   Ioannidi, P. I. ; McLafferty, S. ; Reber, J. E. ; Morra, G. ; Weatherley, D. ( April 2024 , Pure and Applied Geophysics)

   Frictional sliding along grain boundaries in brittle shear zones can result in the fragmentation of individual grains, which ultimately can impact slip dynamics. During deformation at small scales, stick–slip motion can occur between grains when existing force chains break due to grain rearrangement or failure, resulting in frictional sliding of granular material. The rearrangement of the grains leads to dilation of the granular package, reducing the shear stress and subsequently leading to slip. Here, we conduct physical experiments employing HydroOrbs, an elasto-plastic material, to investigate grain comminution in granular media under simple shear conditions. Our findings demonstrate that the degree of grain comminution is dependent on both the normal force and the size of the grains. Using the experimental setup, we benchmark Discrete Element Method (DEM) numerical models, which are capable of simulating the movement, rotation, and fracturing of elasto-plastic grains subjected to simple shear. The DEM models successfully replicate both grain comminution patterns and horizontal force fluctuations observed in our physical experiments. They show that increasing normal forces correlate with higher horizontal forces and more fractured grains. The ability of our DEM models to accurately reproduce experimental results opens up new avenues for investigating various parameter spaces that may not be accessible through traditional laboratory experiments, for example, in assessing how internal friction or cohesion affect deformation in granular systems.

    

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5. Tidal Modulation of Ice Streams: Effect of Periodic Sliding Velocity on Ice Friction and Healing

   https://doi.org/10.3389/feart.2022.719074  

   McCarthy, Christine ; Skarbek, Rob M. ; Savage, Heather M. ( April 2022 , Frontiers in Earth Science)

   Basal slip along glaciers and ice streams can be significantly modified by external time-dependent forcing, although it is not clear why some systems are more sensitive to tidal stresses. We have conducted a series of laboratory experiments to explore the effect of time varying load point velocity on ice-on-rock friction. Varying the load point velocity induces shear stress forcing, making this an analogous simulation of aspects of ice stream tidal modulation. Ambient pressure, double-direct shear experiments were conducted in a cryogenic servo-controlled biaxial deformation apparatus at temperatures between −2°C and −16°C. In addition to a background, median velocity (1 and 10 μm/s), a sinusoidal velocity was applied to the central sliding sample over a range of periods and amplitudes. Normal stress was held constant over each run (0.1, 0.5 or 1 MPa) and the shear stress was measured. Over the range of parameters studied, the full spectrum of slip behavior from creeping to slow-slip to stick-slip was observed, similar to the diversity of sliding styles observed in Antarctic and Greenland ice streams. Under conditions in which the amplitude of oscillation is equal to the median velocity, significant healing occurs as velocity approaches zero, causing a high-amplitude change in friction. The amplitude of the event increases with increasing period (i.e. hold time). At high normal stress, velocity oscillations force an otherwise stable system to behave unstably, with consistently-timed events during every cycle. Rate-state friction parameters determined from velocity steps show that the ice-rock interface is velocity strengthening. A companion paper describes a method of analyzing the oscillatory data directly. Forward modeling of a sinusoidally-driven slider block, using rate-and-state dependent friction formulation and experimentally derived parameters, successfully predicts the experimental output in all but a few cases. 

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