Spider-Inspired Electrohydraulic Actuators for Fast, Soft-Actuated Joints.

ABSTRACT: The impressive locomotion and manipulation capabilities of spiders have led to a host of bioinspired robotic designs aiming to reproduce their functionalities; however, current actuation mechanisms are deficient in either speed, force output, displacement, or efficiency. Here-using inspiration from the hydraulic mechanism used in spider legs-soft-actuated joints are developed that use electrostatic forces to locally pressurize a hydraulic fluid, and cause flexion of a segmented structure. The result is a lightweight, low-profile articulating mechanism capable of fast operation, high forces, and large displacement; these devices are termed spider-inspired electrohydraulic soft-actuated (SES) joints. SES joints with rotation angles up to 70°, blocked torques up to 70 mN m, and specific torqu

SUBMITTER: Kellaris N 

PROVIDER: S-EPMC8292915 | biostudies-literature | 2021 Jul

REPOSITORIES: biostudies-literature