Biologically inspired electrostatic artificial muscles for insect-sized robots

Author:

Wang Hongqiang12ORCID,York Peter34,Chen Yufeng56,Russo Sheila7,Ranzani Tommaso7ORCID,Walsh Conor34,Wood Robert J.34

Affiliation:

1. Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

2. Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

3. John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA

4. Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA

5. Research Laboratory of Electronics, Massachusetts Institute of Technology, Cambridge, MA, USA

6. Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA

7. Department of Mechanical Engineering, Boston University, Boston, MA, USA

Abstract

Millimeter-sized electrostatic film actuators, inspired by the efficient spatial arrangement of insect muscles, achieve a muscle-like power density (61 W kg−1) and enable robotic applications in which agility is needed in confined spaces. Like biological muscles, these actuators incorporate a hierarchical structure, in this case building from electrodes to arrays to laminates, and are composed primarily of flexible materials. So comprised, these actuators can be designed for a wide range of manipulation and locomotion tasks, similar to natural muscle, while being robust and compact. A typical actuator can achieve 85 mN of force with a 15 mm stroke, with a size of [Formula: see text] mm3 and mass of 92 mg. Two millimeter-sized robots, an ultra-thin earthworm-inspired robot and an intestinal-muscle-inspired endoscopic tool for tissue resection, demonstrate the utility of these actuators. The earthworm robot undertakes inspection tasks: the navigation of a 5 mm channel and a 19 mm square tube while carrying an on-board camera. The surgical tool, which conforms to the surface of the distal end of an endoscope, similar to the thin, smooth muscle that covers the intestine, completes tissue cutting and penetrating tasks. Beyond these devices, we anticipate widespread use of these actuators in soft robots, medical robots, wearable robots, and miniature autonomous systems.

Funder

Army Research Office

National Science Foundation

National Natural Science Foundation of China

the Defense Advanced Research Projects Agency

the Wyss Institute for Biologically Inspired Engineering

Natural Science Foundation of Guangdong Province of China

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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