Monolithic electrostatic actuators with independent stiffness modulation
Abstract Robotic artificial muscles, inspired by the adaptability of biological muscles, outperform rigid robots in dynamic environments due to their flexibility. However, the intrinsic compliance of the soft actuators restricts force transmission capacity and dynamic response. Biological muscle mod...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-01-01
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| Series: | Nature Communications |
| Online Access: | https://doi.org/10.1038/s41467-025-56455-z |
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| _version_ | 1832571528111194112 |
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| author | Yuejun Xu Jian Wen Etienne Burdet Majid Taghavi |
| author_facet | Yuejun Xu Jian Wen Etienne Burdet Majid Taghavi |
| author_sort | Yuejun Xu |
| collection | DOAJ |
| description | Abstract Robotic artificial muscles, inspired by the adaptability of biological muscles, outperform rigid robots in dynamic environments due to their flexibility. However, the intrinsic compliance of the soft actuators restricts force transmission capacity and dynamic response. Biological muscle modulates their stiffness and damping, varying viscoelastic properties and force in interaction with the surroundings. Here we replicate this function in the electro-stiffened ribbon actuator, a monolithic strong actuator capable of high contraction and stiffness modulation. electro-stiffened ribbon actuator employs dielectric-liquid-amplified electrostatic forces for contraction, and electrorheological fluid for rapid (<10 ms) stiffness and damping adjustments. This seamless integration enables contractile force modulation, extending its capability as a lightweight variable resistance passive spring by over 2.5 times, and improves its dynamic responses, with faster contractions and rapid attenuation of oscillations by more than 50%. We demonstrate electro-stiffened ribbon actuator’s versatility in active, passive and dual connection functions, including arm-bending wearable robotics, robotic arms with variable impact resistance and muscle-like stiffness and damping modulation. |
| format | Article |
| id | doaj-art-8751d9d226f948c6b8c839a53195fc78 |
| institution | Kabale University |
| issn | 2041-1723 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Nature Communications |
| spelling | doaj-art-8751d9d226f948c6b8c839a53195fc782025-02-02T12:33:32ZengNature PortfolioNature Communications2041-17232025-01-0116111510.1038/s41467-025-56455-zMonolithic electrostatic actuators with independent stiffness modulationYuejun Xu0Jian Wen1Etienne Burdet2Majid Taghavi3Department of Bioengineering, Imperial College LondonDepartment of Bioengineering, Imperial College LondonDepartment of Bioengineering, Imperial College LondonDepartment of Bioengineering, Imperial College LondonAbstract Robotic artificial muscles, inspired by the adaptability of biological muscles, outperform rigid robots in dynamic environments due to their flexibility. However, the intrinsic compliance of the soft actuators restricts force transmission capacity and dynamic response. Biological muscle modulates their stiffness and damping, varying viscoelastic properties and force in interaction with the surroundings. Here we replicate this function in the electro-stiffened ribbon actuator, a monolithic strong actuator capable of high contraction and stiffness modulation. electro-stiffened ribbon actuator employs dielectric-liquid-amplified electrostatic forces for contraction, and electrorheological fluid for rapid (<10 ms) stiffness and damping adjustments. This seamless integration enables contractile force modulation, extending its capability as a lightweight variable resistance passive spring by over 2.5 times, and improves its dynamic responses, with faster contractions and rapid attenuation of oscillations by more than 50%. We demonstrate electro-stiffened ribbon actuator’s versatility in active, passive and dual connection functions, including arm-bending wearable robotics, robotic arms with variable impact resistance and muscle-like stiffness and damping modulation.https://doi.org/10.1038/s41467-025-56455-z |
| spellingShingle | Yuejun Xu Jian Wen Etienne Burdet Majid Taghavi Monolithic electrostatic actuators with independent stiffness modulation Nature Communications |
| title | Monolithic electrostatic actuators with independent stiffness modulation |
| title_full | Monolithic electrostatic actuators with independent stiffness modulation |
| title_fullStr | Monolithic electrostatic actuators with independent stiffness modulation |
| title_full_unstemmed | Monolithic electrostatic actuators with independent stiffness modulation |
| title_short | Monolithic electrostatic actuators with independent stiffness modulation |
| title_sort | monolithic electrostatic actuators with independent stiffness modulation |
| url | https://doi.org/10.1038/s41467-025-56455-z |
| work_keys_str_mv | AT yuejunxu monolithicelectrostaticactuatorswithindependentstiffnessmodulation AT jianwen monolithicelectrostaticactuatorswithindependentstiffnessmodulation AT etienneburdet monolithicelectrostaticactuatorswithindependentstiffnessmodulation AT majidtaghavi monolithicelectrostaticactuatorswithindependentstiffnessmodulation |