Dataset Information

Miniaturized and untethered McKibben muscles based on photothermal-induced gas-liquid transformation.

ABSTRACT: Pneumatic artificial muscles can move continuously under the power support of air pumps, and their flexibility also provides the possibility for applications in complex environments. However, in order to achieve operation in confined spaces, the miniaturization of artificial muscles becomes crucial. Since external attachment devices greatly hinder the miniaturization and use of artificial muscles, we propose a light-driven approach to get rid of these limitations. In this study, we report a miniaturized fiber-reinforced artificial muscle based on mold editing, capable of bending and axial elongation using gas-liquid conversion in visible light. The minimum volume of the artificial muscle prepared using this method was 15.7 mm³ (d = 2 mm, l = 5 mm), which was smaller than those of other fiber-reinforced pneumatic actuators. This research can promote the development of non-tethered pneumatic actuators for rescue and exploration, and create the possibility of miniaturization of actuators.

SUBMITTER: Ai W

PROVIDER: S-EPMC10864313 | biostudies-literature | 2024 Feb

REPOSITORIES: biostudies-literature

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Miniaturized and untethered McKibben muscles based on photothermal-induced gas-liquid transformation.

Ai Wenfei W Hou Kai K Wu Jiaxin J Long Yue Y Song Kai K

Nature communications 20240213 1

Pneumatic artificial muscles can move continuously under the power support of air pumps, and their flexibility also provides the possibility for applications in complex environments. However, in order to achieve operation in confined spaces, the miniaturization of artificial muscles becomes crucial. Since external attachment devices greatly hinder the miniaturization and use of artificial muscles, we propose a light-driven approach to get rid of these limitations. In this study, we report a mini ...[more]

PMID: 38351311

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Project description:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enable humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative micro teleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic grippers in 2-D space. The soft grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment, as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks. Note to Practitioners-The ability to accurately and intuitively control the motion of miniaturized grippers in remote environments can open new exciting possibilities in the fields of minimally-invasive surgery, micromanipulation, biopsy, and drug delivery. This paper presents a micro teleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft grippers. It introduces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world scenarios: following of a predetermined trajectory, and pick-and-place of a microscopic object.

Project description:NDIR CO2 gas sensors using a 10-cm-long gas channel and CMOS-compatible 12% doped ScAlN pyroelectric detector have previously demonstrated detection limits down to 25 ppm and fast response time of ∼2 s. Here, we increase the doping concentration of Sc to 20% in our ScAlN-based pyroelectric detector and miniaturize the gas channel by ∼65× volume with length reduction from 10 to 4 cm and diameter reduction from 5 to 1 mm. The CMOS-compatible 20% ScAlN-based pyroelectric detectors are fabricated over 8-in. wafers, allowing cost reduction leveraging on semiconductor manufacturing. Cross-sectional TEM images show the presence of abnormally oriented grains in the 20% ScAlN sensing layer in the pyroelectric detector stack. Optically, the absorption spectrum of the pyroelectric detector stack across the mid-infrared wavelength region shows ∼50% absorption at the CO2 absorption wavelength of 4.26 μm. The pyroelectric coefficient of these 20% ScAlN with abnormally oriented grains shows, in general, a higher value compared to that for 12% ScAlN. While keeping the temperature variation constant at 2 °C, we note that the pyroelectric coefficient seems to increase with background temperature. CO2 gas responses are measured for 20% ScAlN-based pyroelectric detectors in both 10-cm-long and 4-cm-long gas channels, respectively. The results show that for the miniaturized CO2 gas sensor, we are able to measure the gas response from 5000 ppm down to 100 ppm of CO2 gas concentration with CO2 gas response time of ∼5 s, sufficient for practical applications as the average outdoor CO2 level is ∼400 ppm. The selectivity of this miniaturized CO2 gas sensor is also tested by mixing CO2 with nitrogen and 49% sulfur hexafluoride, respectively. The results show high selectivity to CO2 with nitrogen and 49% sulfur hexafluoride each causing a minimum ∼0.39% and ∼0.36% signal voltage change, respectively. These results bring promise to compact and miniature low cost CO2 gas sensors based on pyroelectric detectors, which could possibly be integrated with consumer electronics for real-time air quality monitoring.

Dataset Information

Miniaturized and untethered McKibben muscles based on photothermal-induced gas-liquid transformation.

Publications

Miniaturized and untethered McKibben muscles based on photothermal-induced gas-liquid transformation.

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