Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 34 for “"artificial muscle"”.
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Artificial muscle morphology : structure/property relationships in polypyrrole actuators
We seek to improve polypyrrole and other conducting polymer actuators by discovering and exploiting the connection between nanoscale transport events and macroscale active strain. To this end we have used diffraction and electron microscopy to investigate the microstructure of polypyrrole. and …
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The Exploration of KNN-based Neural Control of Pneumatically Actuated Artificial Muscle
… a biomimetic actuator in the form of Pneumatic Artificial Muscles (PAMs). KNN classification is a lightweight non-parametric learning algorithm that can rapidly identify and sort an input into pre-determined categories given initial training data sets. In this thesis, I present a method of using …
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Aerodynamic Flow Control through Adapted Leading Edge Enabled by Pneumatic Artificial Muscle Actuators
… leading-edge fairing actuated by pneumatic artificial muscles (PAMs). The compliant fairing, cast from Ecoflex® 00–31 silicone and embedded with a McKibben-type PAM actuator, was designed to dynamically reshape the junction surface and influence local flow behavior. Experiments were …
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Design and application of a cellular, piezoelectric, artificial muscle actuator for biorobotic systems
… challenges in robotics is the development of muscle-like actuators that have the capability to reproduce the smooth motions observed in animals. Biological muscles have a unique cellular structure that departs from traditional electromechanical actuators in several ways. A muscle consists of a …
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Modeling and Analysis of a Novel Pneumatic Artificial Muscle and Pneumatic Arm Exoskeleton
… and simple. In this paper, a novel pneumatic artificial muscle using soft materials including integrated electronics for wearable exoskeletons is proposed. We describe the design, fabrication, and evaluation of the actuator, as well as the manufacturing process used to create it. Compared to …
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Artificial muscle technology applied towards treating ischemic mitral regurgitation caused by left ventricular remodeling
… This remodeling displaces the papillary muscles inside of the ventricle and tethers the mitral valve, preventing it from closing properly. Current treatments attempt to either repair or replace the valve. These treatments require the heart be stopped and the patient be placed on a …
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Fatigue Characteristics of Pressurized Artificial Muscles
Pressurized artificial muscles show promise in both standard aircraft actuation operations and in morphing structures as an alternative to currently used actuation systems due to their high power-to-weight ratio. Pressurized artificial muscles have already demonstrated the necessary force …
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The Future is Now in Twisted Coil Polymer Actuators (TCPA)
… the mechanical and thermal aspects of this artificial muscle fiber. The purpose of this thesis was to find a linear relationship using the LVDT sensor, fabricating TCPA fibers, and interpreting the data. The project tested whether nylon/polymer could be used as a better artificial muscle …
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An artificial skeletal muscle for use in pediatric rehabilitation robotics
… for a “natural” look and feel, to make the artificial or assisted limb feel integrated with the body, is limited by current technology. Bulky, heavy, noisy electrical motors are typically used, which substantially reduce user compliance of powered orthoses. For greater acceptance of such …
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Healing-on-Demand Polymer Composites Based on Shape Memory Polyurethane Fibers and Polymeric Artificial Muscles
… based on shape memory polyurethane fibers and artificial muscles are investigated, for understanding and developing a novel healing-on-demand composite so that it would be used for industrial applications that could heal structural-length scale damage and leaking autonomously, repeatedly, …
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Large Deformable Soft Actuators Using Dielectric Elastomer and Origami Inspired Structures
… idea of developing actuators that are like human muscle and are known as ‘artificial muscle’. Among different materials suitable for the development of artificial muscle, the dielectric elastomer actuator (DEA) is capable of large deformation by applying an electric field. Theoretical formulation …
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Design, fabrication, and characterization of controllable conducting polymer actuation systems
… composition of mammalian skeletal muscle and the neuromuscular system consists of actuation elements, length sensors, force sensors, localized energy storage, controlled energy delivery, computational components, and intercommunication pathways. Conducting polymer materials are …
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Reduction of dimensionality of a cellular actuator array for driving a robotic hand
… to today's robot actuators, a new approach to artificial muscle actuator design and control is presented. The objective of this research is to coordinate the multitude of artificial muscle actuator axes for a large DOF (degree of freedom) robotic system based on dimensionality reduction. An …
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Distributed force model for arbitrarily shaped IMPC actuators
… the relationship of an arbitrarily shaped artificial muscle to the force it produces does not currently exist for actuators made of ionic polymer-metal composites (IPMC), a type of electroactive smart material. The model in this thesis couples a finite element force simulation for IPMC with …
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Functionalized Shape Memory Alloy Microfilament Twisted Yarn Structures
… SMA systems have immense potential in artificial muscle, energy absorbing, tactile surface, and wearable applications, but remain limited by obstacles in manufacturing, wearability, and tunability. This thesis provides the fundamental understanding of SMA microfilament twisted yarns to …
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A novel video game peripheral for detecting fine hand motion and providing haptic feedback
… from a preexisting library. A Vivitouch artificial muscle module is also mounted to the top of the glove to provide vibratory haptic feedback to the user. The system has been user tested and a number of potential use scenarios have been conceived for integration of the controller in …
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Design, fabrication and characterization of polypyrrole trilayer actuators
Conducting polymers are currently studied as artificial muscle materials. They are used instead of traditional actuators because they mimic the movements of animal muscles. They can generate larger active stresses than real muscles as well as generate small strains which can be amplified to cause …
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Design and implementation of balance control in a humanoid robot
… of achieving balance in a humanoid robot. An artificial muscle model was adapted which modified physiological parameters for the purpose of controlling a lightweight robot skeleton. Gains were modified as a function of joint angles to permit low gain near the equilibrium point, and …
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Optimisation of silicone-based dielectric elastomer transducers by means of block copolymers – synthesis and compounding
Emerging artificial muscle technology has developed from metal-based robotics to softtype robotics made from soft matter. Research into artificial muscle technology based on soft matter has been conducted mainly in order to mimic soft and robust human muscle. In this regard, dielectric elastomers …
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Continuous production of conducting polymer
… is a conducting polymer which has potential artificial muscle applications. The objective of continuous production was to produce both larger films and films with more consistent properties than the films produced by the current batch-production method. The mechanical properties of polymers …
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