Innervated, Self-Sensing Liquid Crystal Elastomer Actuators with Closed Loop Control

Kotikian Arda; Morales Javier M.; Lu Aric; Mueller Jochen; Davidson Zoey S.; Boley J. William; Lewis Jennifer A.

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Innervated, Self-Sensing Liquid Crystal Elastomer Actuators with Closed Loop Control

机译：带闭环控制的接头，自感应液晶弹性体致动器

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The programmable assembly of innervated LCE actuators (iLCEs) with prescribed contractile actuation, self-sensing, and closed loop control via core-shell 3D printing is reported. This extrusion-based direct ink writing method enables coaxial filamentary features composed of pure LM core surrounded by an LCE shell, whose director is aligned along the print path. Specifically, the thermal response of the iLCE fiber-type actuators is programmed, measured, and modeled during Joule heating, including quantifying the concomitant changes in fiber length and resistance that arise during simultaneous heating and self-sensing. Due to their reversible, high-energy actuation and their resistive feedback, it is also demonstrated that iLCEs can be regulated with closed loop control even when perturbed with large bias loads. Finally, iLCE architectures capable of programmed, self-sensing 3D shape change with closed loop control are fabricated.

机译：报道了通过核心壳3D打印的规定的收缩致动，自感和闭环控制的处于规定的收缩致动，自感和闭环控制的可编程组装。这种基于挤出的直接墨水写入方法使由由LCE外壳包围的纯LM芯组成的同轴丝状特征，其导向器沿着打印路径对齐。具体地，ILCE光纤型致动器的热响应被编程，测量和建模在焦耳加热期间，包括量化在同时加热和自感应期间出现的纤维长度和抗性的伴随变化。由于其可逆，高能量的致动及其电阻反馈，也表明，即使在具有大偏置载荷的情况下也可以用闭环控制调节ILCES。最后，制造了能够编程的ILCE架构，自感应与闭环控制的自感应3D形状变化。

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《Advanced Materials》 |2021年第27期|2101814.1-2101814.9|共9页
作者
Kotikian Arda; Morales Javier M.; Lu Aric; Mueller Jochen; Davidson Zoey S.; Boley J. William; Lewis Jennifer A.;
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Harvard Univ John A Paulson Sch Engn & Appl Sci Cambridge MA 02138 USA|Harvard Univ Wyss Inst Biol Inspired Engn Cambridge MA 02138 USA;

Boston Univ Dept Mech Engn Boston MA 02215 USA;

Harvard Univ John A Paulson Sch Engn & Appl Sci Cambridge MA 02138 USA|Harvard Univ Wyss Inst Biol Inspired Engn Cambridge MA 02138 USA|Draper Lab Biol Engn Div Cambridge MA 02139 USA;

Harvard Univ John A Paulson Sch Engn & Appl Sci Cambridge MA 02138 USA|Harvard Univ Wyss Inst Biol Inspired Engn Cambridge MA 02138 USA;

Harvard Univ John A Paulson Sch Engn & Appl Sci Cambridge MA 02138 USA|Harvard Univ Wyss Inst Biol Inspired Engn Cambridge MA 02138 USA;

Boston Univ Dept Mech Engn Boston MA 02215 USA;

Harvard Univ John A Paulson Sch Engn & Appl Sci Cambridge MA 02138 USA|Harvard Univ Wyss Inst Biol Inspired Engn Cambridge MA 02138 USA;

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正文语种 eng
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3D printing; liquid crystal elastomers; actuators; shape morphing;

机译：3D打印;液晶弹性体;执行器;形状变形;

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专利

1. Closed loop control of force operation in a novel self-sensing dielectric elastomer actuator [J] . R Zhang, P Iravani, P Keogh Sensors and Actuators, A. Physical . 2017,第期

机译：一种新型自感应介电弹性体致动器中力操作的闭环控制
2. Closed loop control of dielectric elastomer actuators based on self-sensing displacement feedback [J] . Rizzello G., Naso D., York A., Smart Materials & Structures . 2016,第3期

机译：基于自感应位移反馈的介电弹性体执行器闭环控制
3. Self-sensing dielectric elastomer actuators in closed-loop operation [J] . Rosset S., OBrien B.M., Gisby T., Smart Materials & Structures . 2013,第10期

机译：闭环运行中的自感应介电弹性体执行器
4. Closed loop control of dielectric elastomer actuators [C] . Todd A. Gisby, Benjamin M. OBrien, Sheng Q. Xie, Conference on electroactive polymer actuators and devices;EAPAD . 2011

机译：介电弹性体执行器的闭环控制
5. Soft Gripper and Robotic Hand with Self-Sensing Capability Based on Liquid Crystalline Elastomers (LCEs) [D] . Liu, Yimeng . 2019

机译：软夹具和机器人手具有基于液晶弹性体（LCE）的自感应能力
6. Electrically controlled liquid crystal elastomer–based soft tubular actuator with multimodal actuation [O] . Qiguang He, Zhijian Wang, Yang Wang, 2019

机译：基于电控液晶弹性体的柔性管状执行器具有多模式执行器
7. Photoresponsive Liquid Crystal Elastomers as Feedback Controlled Light-driven Actuators – Theory, Real-time Behaviour, Limitations [O] . Lippenberger Michael, Dengler Philipp, Wandinger Andreas, 2016

机译：光响应液晶弹性体作为反馈控制的光驱动致动器-理论，实时行为，局限性

Innervated, Self-Sensing Liquid Crystal Elastomer Actuators with Closed Loop Control

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