3D‐printed phase‐change artificial muscles with autonomous vibration control

Mohammadi, M., Kouzani, A.Z., Bodaghi, M. ORCID: 0000-0002-0707-944X, Xiang, Y. and Zolfagharian, A., 2023. 3D‐printed phase‐change artificial muscles with autonomous vibration control. Advanced Materials Technologies. ISSN 2365-709X

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Currently, additive manufacturing is utilized to fabricate many different actuators suited for soft robots. However, an effective controller paradigm is essential to benefit from the advantages of soft robots in terms of power consumption, production costs, weight, and safety while operating near living systems. In this work, an artificial muscle is additively manufactured with soft silicone elastomer material capable of demonstrating several levels of stiffness. The 3D-printed muscle is equipped with carbon fibers to receive a stimulus signal and develop a programmable joint that can present different stiffnesses. A nonlinear controller is developed to autonomously control the variable stiffness joint based on a reinforcement learning algorithm. The controller exhibits a slight increase in settling time; however, it demonstrates a decrease in fluctuation amplitude by 33% and a substantial reduction in power consumption by 41% in comparison to the optimized proportional integral derivative controller. At the same time, it is adaptable to and reliable in new conditions. The variable stiffness muscle is also used as a controllable mechanism to suppress the low frequency vibration. The study shows that the muscle can successfully attenuate the vibration autonomously when it is increased.

Item Type: Journal article
Publication Title: Advanced Materials Technologies
Creators: Mohammadi, M., Kouzani, A.Z., Bodaghi, M., Xiang, Y. and Zolfagharian, A.
Publisher: Wiley
Date: 4 May 2023
ISSN: 2365-709X
Rights: © 2023 the authors. Advanced Materials Technologies published by Wiley-VCH GmbH. This is an open access article under the terms of the Creative Commons Attribution-NonCommercial License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited and is not used for commercial purposes.
Divisions: Schools > School of Science and Technology
Record created by: Jonathan Gallacher
Date Added: 09 May 2023 10:32
Last Modified: 09 May 2023 10:32
URI: https://irep.ntu.ac.uk/id/eprint/48901

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