On the control and properties of supercoiled polymer artificial muscles

IEEE Transactions on Robotics, 2017

Michael C Yip, Gunter Niemeyer

Publisher Link: http://ieeexplore.ieee.org/abstract/document/7864464/

Abstract: Robotics have long sought an actuation technology comparable to or as capable as biological muscle tissue. Natural muscles exhibit a high power-to-weight ratio, inherent compliance and damping, fast action, and a high dynamic range. They also produce joint displacements and forces without the need for gearing or additional hardware. Recently, supercoiled commercially available polymer threads (sewing thread or nylon fishing lines) have been used to create significant mechanical power in a muscle-like form factor. Heating and cooling the polymer threads causes contraction and expansion, which can be utilized for actuation. In this paper, we describe the working principle of supercoiled polymer (SCP) actuation and explore the controllability and properties of these threads. We show that under appropriate environmental conditions, the threads are suitable as a building block for a controllable artificial muscle …

Yip et al. (2017) On the control and properties of supercoiled polymer artificial muscles, IEEE Transactions on Robotics, vol. 33, no. 3, pp. 689-699.