One Soft Step: Bio-Inspired Artificial Muscle Mechanisms for Space Applications

Ashby, Joseph and Rosset, Samuel and Henke, E.-F. Markus and Anderson, Iain A. (2022) One Soft Step: Bio-Inspired Artificial Muscle Mechanisms for Space Applications. Frontiers in Robotics and AI, 8. ISSN 2296-9144

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Abstract

Soft robots, devices with deformable bodies and powered by soft actuators, may fill a hitherto unexplored niche in outer space. All space-bound payloads are heavily limited in terms of mass and volume, due to the cost of launch and the size of spacecraft. Being constructed from stretchable materials allows many possibilities for compacting soft robots for launch and later deploying into a much larger volume, through folding, rolling, and inflation. This morphability can also be beneficial for adapting to operation in different environments, providing versatility, and robustness. To be truly soft, a robot must be powered by soft actuators. Dielectric elastomer transducers (DETs) offer many advantages as artificial muscles. They are lightweight, have a high work density, and are capable of artificial proprioception. Taking inspiration from nature, in particular the starfish podia, we present here bio-inspired inflatable DET actuators powering low-mass robots capable of performing complex motion that can be compacted to a fraction of their operating size.

Item Type: Article
Subjects: STM Library Press > Mathematical Science
Depositing User: Unnamed user with email support@stmlibrarypress.com
Date Deposited: 23 Jun 2023 05:53
Last Modified: 08 Jun 2024 08:01
URI: http://journal.scienceopenlibraries.com/id/eprint/1645

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