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Assisted damage closure and healing in soft robots by shape memory alloy wires
Self-healing soft robots show enormous potential to recover functional performance after healing the damages. However, healing in these systems is limited by the recontact of the fracture surfaces. This paper presents for the first time a shape memory alloy (SMA) wire-reinforced soft bending actuato...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Nature Publishing Group UK
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10232441/ https://www.ncbi.nlm.nih.gov/pubmed/37258618 http://dx.doi.org/10.1038/s41598-023-35943-6 |
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author | Kashef Tabrizian, Seyedreza Terryn, Seppe Cornellà, Aleix Costa Brancart, Joost Legrand, Julie Van Assche, Guy Vanderborght, Bram |
author_facet | Kashef Tabrizian, Seyedreza Terryn, Seppe Cornellà, Aleix Costa Brancart, Joost Legrand, Julie Van Assche, Guy Vanderborght, Bram |
author_sort | Kashef Tabrizian, Seyedreza |
collection | PubMed |
description | Self-healing soft robots show enormous potential to recover functional performance after healing the damages. However, healing in these systems is limited by the recontact of the fracture surfaces. This paper presents for the first time a shape memory alloy (SMA) wire-reinforced soft bending actuator made out of a castor oil-based self-healing polymer, with the incorporated ability to recover from large incisions via shape memory assisted healing. The integrated SMA wires serve three major purposes; (i) Large incisions are closed by contraction of the current-activated SMA wires that are integrated into the chamber. These pull the fracture surfaces into contact, enabling the healing. (ii) The heat generated during the activation of the SMA wires is synergistically exploited for accelerating the healing. (iii) Lastly, during pneumatic actuation, the wires constrain radial expansion and one-side longitudinal extension of the soft chamber, effectuating the desired actuator bending motion. This novel approach of healing is studied via mechanical and ultrasound tests on the specimen level, as well as via bending characterization of the pneumatic robot in multiple damage healing cycles. This technology allows soft robots to become more independent in terms of their self-healing capabilities from human intervention. |
format | Online Article Text |
id | pubmed-10232441 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Nature Publishing Group UK |
record_format | MEDLINE/PubMed |
spelling | pubmed-102324412023-06-02 Assisted damage closure and healing in soft robots by shape memory alloy wires Kashef Tabrizian, Seyedreza Terryn, Seppe Cornellà, Aleix Costa Brancart, Joost Legrand, Julie Van Assche, Guy Vanderborght, Bram Sci Rep Article Self-healing soft robots show enormous potential to recover functional performance after healing the damages. However, healing in these systems is limited by the recontact of the fracture surfaces. This paper presents for the first time a shape memory alloy (SMA) wire-reinforced soft bending actuator made out of a castor oil-based self-healing polymer, with the incorporated ability to recover from large incisions via shape memory assisted healing. The integrated SMA wires serve three major purposes; (i) Large incisions are closed by contraction of the current-activated SMA wires that are integrated into the chamber. These pull the fracture surfaces into contact, enabling the healing. (ii) The heat generated during the activation of the SMA wires is synergistically exploited for accelerating the healing. (iii) Lastly, during pneumatic actuation, the wires constrain radial expansion and one-side longitudinal extension of the soft chamber, effectuating the desired actuator bending motion. This novel approach of healing is studied via mechanical and ultrasound tests on the specimen level, as well as via bending characterization of the pneumatic robot in multiple damage healing cycles. This technology allows soft robots to become more independent in terms of their self-healing capabilities from human intervention. Nature Publishing Group UK 2023-05-31 /pmc/articles/PMC10232441/ /pubmed/37258618 http://dx.doi.org/10.1038/s41598-023-35943-6 Text en © The Author(s) 2023 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) . |
spellingShingle | Article Kashef Tabrizian, Seyedreza Terryn, Seppe Cornellà, Aleix Costa Brancart, Joost Legrand, Julie Van Assche, Guy Vanderborght, Bram Assisted damage closure and healing in soft robots by shape memory alloy wires |
title | Assisted damage closure and healing in soft robots by shape memory alloy wires |
title_full | Assisted damage closure and healing in soft robots by shape memory alloy wires |
title_fullStr | Assisted damage closure and healing in soft robots by shape memory alloy wires |
title_full_unstemmed | Assisted damage closure and healing in soft robots by shape memory alloy wires |
title_short | Assisted damage closure and healing in soft robots by shape memory alloy wires |
title_sort | assisted damage closure and healing in soft robots by shape memory alloy wires |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10232441/ https://www.ncbi.nlm.nih.gov/pubmed/37258618 http://dx.doi.org/10.1038/s41598-023-35943-6 |
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