LABORATORY FOR SOFT ACTUATION & BIOMIMETIC SYSTEMS
Biological muscles operate through complex molecular interactions that provide fluid, linear motion. Traditional engineering has relied on servos and hydraulics, which lack the compliance of organic tissue. Artificial muscles seek to bridge this gap, offering actuators that can expand, contract, and rotate with the flexibility of natural organisms.
Often referred to as the standard for artificial muscles, DEAs utilize a soft elastomer membrane sandwiched between two compliant electrodes. When high voltage is applied, electrostatic pressure compresses the membrane, causing it to expand in area. This technology offers high strain (over 300%) and rapid response times comparable to mammalian muscles.
SMAs, such as Nickel-Titanium (Nitinol), function on thermal activation. The material remembers a specific shape and returns to it when heated. While offering immense force density, SMAs typically suffer from hysteresis and slower cycle times compared to electrostatic solutions.
McKibben muscles utilize pressurized air within a braided mesh to generate contraction. While powerful and robust, they require bulky external compressors, limiting their application in untethered mobile robotics.
Our current analysis focuses on reducing the actuation voltage required for DEAs and improving the thermodynamic efficiency of SMAs. By integrating machine learning models into the control loop, we aim to predict non-linear behaviors in soft actuators, enabling precise control without rigid sensors.