Modeling of dielectric elastomer oscillators for soft biomimetic applications

Bioinspiration & Biomimetics
E-F Markus HenkeIain A Anderson

Abstract

Biomimetic, entirely soft robots with animal-like behavior and integrated artificial nervous systems will open up totally new perspectives and applications. However, until now, most presented studies on soft robots were limited to only partly soft designs, since all solutions at least needed conventional, stiff electronics to sense, process signals and activate actuators. We present a novel approach for a set up and the experimental validation of an artificial pace maker that is able to drive basic robotic structures and act as artificial central pattern generator. The structure is based on multi-functional dielectric elastomers (DEs). DE actuators, DE switches and DE resistors are combined to create complex DE oscillators (DEOs). Supplied with only one external DC voltage, the DEO autonomously generates oscillating signals that can be used to clock a robotic structure, control the cyclic motion of artificial muscles in bionic robots or make a whole robotic structure move. We present the basic functionality, derive a mathematical model for predicting the generated signal waveform and verify the model experimentally.

References

Dec 1, 2001·Current Biology : CB·E Marder, D Bucher
Mar 27, 2010·Science·John A RogersYonggang Huang
Jun 15, 2011·Bioinspiration & Biomimetics·M CalistiP Dario
Nov 30, 2011·Proceedings of the National Academy of Sciences of the United States of America·Robert F ShepherdGeorge M Whitesides
Nov 4, 2015·Frontiers in Cellular Neuroscience·Gemma Mazzuoli-Weber, Michael Schemann
Nov 10, 2011·Science and Technology of Advanced Materials·Jonas LoskyllWilhelm F Maier
Dec 19, 2017·Soft Robotics·E-F Markus HenkeIain A Anderson

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Citations

Feb 28, 2020·Polymers·Ebrahim YaraliMostafa Baghani
Jan 28, 2021·Frontiers in Robotics and AI·Sascha PfeilGerald Gerlach
Sep 17, 2021·Bioinspiration & Biomimetics·Luca CiarellaE-F M Henke
Mar 13, 2019··Alexandre PoulinHerbert R. Shea

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