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Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications

For the last two decades, the development of conducting polymers (CP) as artificial muscles, by materials researchers and chemists, has made establishing a reliable and repeatable synthesis of such materials possible. CP-based milli-robots were mostly unknown in soft robotics, however, today, they p...

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Autores principales: Benouhiba, Amine, Rougeot, Patrick, Ouisse, Morvan, Clévy, Cédric, Andreff, Nicolas, Rabenorosoa, Kanty
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805686/
https://www.ncbi.nlm.nih.gov/pubmed/33501137
http://dx.doi.org/10.3389/frobt.2019.00122
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author Benouhiba, Amine
Rougeot, Patrick
Ouisse, Morvan
Clévy, Cédric
Andreff, Nicolas
Rabenorosoa, Kanty
author_facet Benouhiba, Amine
Rougeot, Patrick
Ouisse, Morvan
Clévy, Cédric
Andreff, Nicolas
Rabenorosoa, Kanty
author_sort Benouhiba, Amine
collection PubMed
description For the last two decades, the development of conducting polymers (CP) as artificial muscles, by materials researchers and chemists, has made establishing a reliable and repeatable synthesis of such materials possible. CP-based milli-robots were mostly unknown in soft robotics, however, today, they play a vital role in robotics and smart materials forums. Indeed, this subclass of soft robots has reached a crucial moment in their history, a moment where they can display rather interesting features, based on established foundations in terms of modeling, control, sensing, and planning in various applications. The purpose of this paper is to present the potential of conductive polymer-based soft milli-robots as high-performance devices for vacuum applications. To that end, a trilayer polypyrrole-based actuator was first used inside a scanning electron microscope (SEM), characterized for different applied voltages, over a relatively long period. Additionally, the tip positioning of the cantilever was also controlled using a closed-loop control. Furthermore, as a proof of concept for more complex soft milli-robots, an S-shaped soft milli-robot was modeled, using a hybrid model comprised of two models; a multi-physics model and a kinematic model. It was then fabricated using laser machining and finally characterized using its tip displacement. polypyrrole-based soft milli-robots proved to have tremendous potential as high-performance soft robots at the microscale for a wide range of applications, including SEM micro-manipulation as well as biomedical applications.
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spelling pubmed-78056862021-01-25 Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications Benouhiba, Amine Rougeot, Patrick Ouisse, Morvan Clévy, Cédric Andreff, Nicolas Rabenorosoa, Kanty Front Robot AI Robotics and AI For the last two decades, the development of conducting polymers (CP) as artificial muscles, by materials researchers and chemists, has made establishing a reliable and repeatable synthesis of such materials possible. CP-based milli-robots were mostly unknown in soft robotics, however, today, they play a vital role in robotics and smart materials forums. Indeed, this subclass of soft robots has reached a crucial moment in their history, a moment where they can display rather interesting features, based on established foundations in terms of modeling, control, sensing, and planning in various applications. The purpose of this paper is to present the potential of conductive polymer-based soft milli-robots as high-performance devices for vacuum applications. To that end, a trilayer polypyrrole-based actuator was first used inside a scanning electron microscope (SEM), characterized for different applied voltages, over a relatively long period. Additionally, the tip positioning of the cantilever was also controlled using a closed-loop control. Furthermore, as a proof of concept for more complex soft milli-robots, an S-shaped soft milli-robot was modeled, using a hybrid model comprised of two models; a multi-physics model and a kinematic model. It was then fabricated using laser machining and finally characterized using its tip displacement. polypyrrole-based soft milli-robots proved to have tremendous potential as high-performance soft robots at the microscale for a wide range of applications, including SEM micro-manipulation as well as biomedical applications. Frontiers Media S.A. 2019-11-28 /pmc/articles/PMC7805686/ /pubmed/33501137 http://dx.doi.org/10.3389/frobt.2019.00122 Text en Copyright © 2019 Benouhiba, Rougeot, Ouisse, Clévy, Andreff and Rabenorosoa. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Benouhiba, Amine
Rougeot, Patrick
Ouisse, Morvan
Clévy, Cédric
Andreff, Nicolas
Rabenorosoa, Kanty
Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications
title Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications
title_full Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications
title_fullStr Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications
title_full_unstemmed Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications
title_short Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications
title_sort toward conductive polymer-based soft milli-robots for vacuum applications
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805686/
https://www.ncbi.nlm.nih.gov/pubmed/33501137
http://dx.doi.org/10.3389/frobt.2019.00122
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