Biodegradable Electrohydraulic Soft Actuators
Biodegradable materials decompose and return to nature. This functionality can be applied to derive robotic systems that are environmentally friendly. This study presents a fully biodegradable soft actuator, which is one of the key elements in “green” soft robotics. The working of the actuator is ba...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-09-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200239 |
| _version_ | 1827808637357129728 |
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| author | Ryo Kanno Fabio Caruso Kazuma Takai Yegor Piskarev Vito Cacucciolo Jun Shintake |
| author_facet | Ryo Kanno Fabio Caruso Kazuma Takai Yegor Piskarev Vito Cacucciolo Jun Shintake |
| author_sort | Ryo Kanno |
| collection | DOAJ |
| description | Biodegradable materials decompose and return to nature. This functionality can be applied to derive robotic systems that are environmentally friendly. This study presents a fully biodegradable soft actuator, which is one of the key elements in “green” soft robotics. The working of the actuator is based on an electrohydraulic principle, which is similar to that of hydraulically amplified self‐healing electrostatic actuators. The actuator developed in this study consists of a dielectric film made of polylactic acid (PLA) and polybutylene adipate‐co‐terephthalate (PBAT), with soybean oil as the dielectric liquid and electrodes made from a mixture of gelatin, glycerol, and sodium chloride (NaCl). The synthesized biodegradable electrode material exhibits a Young's modulus of 0.06 MPa and resistivity of 258 Ω·m when the mass fraction of NaCl relative to the amount of gelatin and glycerol is 10 wt%. The softness and resistivity of the electrode material results in actuation strain values of 3.2% (at 1 kV, corresponding to 1.2 kV mm−1) and 18.6% (at 10 kV, corresponding to 9.6 kV mm−1) for the linear‐type and circular‐type actuators, respectively. These values obtained for the biodegradable electrohydraulic soft actuators are comparable to those of nonbiodegradable actuators of the same type, representing the successful implementation of the concept. |
| first_indexed | 2024-03-11T22:30:05Z |
| format | Article |
| id | doaj.art-9a88768e77ba4f5e8e880048aae3d041 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-11T22:30:05Z |
| publishDate | 2023-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-9a88768e77ba4f5e8e880048aae3d0412023-09-23T07:09:23ZengWileyAdvanced Intelligent Systems2640-45672023-09-0159n/an/a10.1002/aisy.202200239Biodegradable Electrohydraulic Soft ActuatorsRyo Kanno0Fabio Caruso1Kazuma Takai2Yegor Piskarev3Vito Cacucciolo4Jun Shintake5Department of Mechanical and Intelligent Systems Engineering The University of Electro-communications 1-5-1 Chofugaoka Chofu Tokyo 182-8585 JapanDepartment of Mechanics, Mathematics and Management Politecnico di Bari via E. Orabona n. 4 70125 Bari ItalyDepartment of Mechanical and Intelligent Systems Engineering The University of Electro-communications 1-5-1 Chofugaoka Chofu Tokyo 182-8585 JapanLaboratory of Intelligent Systems Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne 1015 Lausanne SwitzerlandDepartment of Mechanics, Mathematics and Management Politecnico di Bari via E. Orabona n. 4 70125 Bari ItalyDepartment of Mechanical and Intelligent Systems Engineering The University of Electro-communications 1-5-1 Chofugaoka Chofu Tokyo 182-8585 JapanBiodegradable materials decompose and return to nature. This functionality can be applied to derive robotic systems that are environmentally friendly. This study presents a fully biodegradable soft actuator, which is one of the key elements in “green” soft robotics. The working of the actuator is based on an electrohydraulic principle, which is similar to that of hydraulically amplified self‐healing electrostatic actuators. The actuator developed in this study consists of a dielectric film made of polylactic acid (PLA) and polybutylene adipate‐co‐terephthalate (PBAT), with soybean oil as the dielectric liquid and electrodes made from a mixture of gelatin, glycerol, and sodium chloride (NaCl). The synthesized biodegradable electrode material exhibits a Young's modulus of 0.06 MPa and resistivity of 258 Ω·m when the mass fraction of NaCl relative to the amount of gelatin and glycerol is 10 wt%. The softness and resistivity of the electrode material results in actuation strain values of 3.2% (at 1 kV, corresponding to 1.2 kV mm−1) and 18.6% (at 10 kV, corresponding to 9.6 kV mm−1) for the linear‐type and circular‐type actuators, respectively. These values obtained for the biodegradable electrohydraulic soft actuators are comparable to those of nonbiodegradable actuators of the same type, representing the successful implementation of the concept.https://doi.org/10.1002/aisy.202200239biodegradableelectrohydraulic soft actuatorshydraulically amplified self-healing electrostatic actuatorssoft robotics |
| spellingShingle | Ryo Kanno Fabio Caruso Kazuma Takai Yegor Piskarev Vito Cacucciolo Jun Shintake Biodegradable Electrohydraulic Soft Actuators Advanced Intelligent Systems biodegradable electrohydraulic soft actuators hydraulically amplified self-healing electrostatic actuators soft robotics |
| title | Biodegradable Electrohydraulic Soft Actuators |
| title_full | Biodegradable Electrohydraulic Soft Actuators |
| title_fullStr | Biodegradable Electrohydraulic Soft Actuators |
| title_full_unstemmed | Biodegradable Electrohydraulic Soft Actuators |
| title_short | Biodegradable Electrohydraulic Soft Actuators |
| title_sort | biodegradable electrohydraulic soft actuators |
| topic | biodegradable electrohydraulic soft actuators hydraulically amplified self-healing electrostatic actuators soft robotics |
| url | https://doi.org/10.1002/aisy.202200239 |
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