Compliant, Large-Strain, and Self-Sensing Twisted String Actuators

Soft Robotics
David BombaraJun Zhang

Abstract

Twisted string actuators (TSAs) convert rotational motion from twisting into linear motion. They are known for high energy efficiency, and large linear strain and stress outputs. Although they have been successfully applied as the moving mechanism for different robot applications, their potential in soft robotics is mainly challenged by two aspects: First, the conventional strings of TSAs are stiff and strong but not compliant. Second, precise control of TSAs predominantly relies on external position or force sensors. Because of these, TSA-driven robots are often rigid and bulky. In this study, we propose the design, modeling, and robotic application of TSAs that are compliant, can produce large strain, and are capable of self-sensing during twisting-induced actuation. The design is realized by replacing conventional stiff strings with compliant, thermally activated, and conductive supercoiled polymer strings. Experiments show that the developed TSAs have normalized stiffness of <50 N, strain >30%, and position self-sensing capability during twisting. The quasi-static actuation and self-sensing properties are accurately captured by the Preisach hysteresis operators. In particular, both the twisting-induced actuation and thermal...Continue Reading

References

Feb 22, 2014·Science·Carter S HainesRay H Baughman
Nov 5, 2016·Scientific Reports·Maki HiraokaAtsushi Omote
Jan 20, 2017·Science Translational Medicine·Ellen T RocheConor J Walsh
Feb 6, 2017·Bioinspiration & Biomimetics·Lianjun WuYonas Tadesse
Dec 1, 2017·Soft Robotics·Tuan Anh LuongHyungpil Moon
Dec 19, 2017·Advanced Materials·Seyed M Mirvakili, Ian W Hunter
May 31, 2019·Soft Robotics·Joost van der WeijdeRobert Babuška

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