Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 3, Issue 1, Pages 16-21Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2017.2724140
Keywords
Biologically-inspired robots; compliant joint/mechanism; self-healing robotics; soft material robotics
Categories
Funding
- European Commission ERC Starting grant SPEAR [337596]
- Research Foundation Flanders
Ask authors/readers for more resources
Pneumatic muscles are mostly constructed out of flexible membranes and are implemented in a wide range of robotic applications. In these soft materials, perforations are often caused by overpressuring of the muscles and wear. In many cases, this leads to limited numbers of actuation cycles. In this letter, pleated pneumatic artificial muscles were developed, whose membrane is constructed out of self-healing polymer. This allows for the complete healing of microscopic and macroscopic damages through a mild heat treatment. Two prototypes were designed, manufactured, and experimentally characterized. The self-healing was validated by repairing large realistic cuts in the muscle membrane completely. Even when repeatedly damaging and healing the muscles, the mechanical properties were recovered in a reversible and repeatable fashion through the self-healing procedure.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available