Dynamic Tuning of Instabilities for High Power Movements in Deformable Structures
Abstract
The objective of this research is to establish the mechanisms of rapid movement by flexible and pressurized structures. The PIs will conduct experiments on fish c-start behavior, caterpillar strike responses, and synthetic soft devices to examine how structural instabilities can extend the range of dynamic performance by compliant systems. There are two underlying hypotheses regarding such soft systems, that: (1) they exploit mechanical buckling instabilities at many scales, and (2) they control power delivery by changing the local mechanical properties of the body. The PIs will approach the objectives with a multidisciplinary team comprised of a neuroscientist, control theorist, and a materials scientist. They will examine the strike reflex of the caterpillar, the escape reflex of fishes, and rapid movements in synthetic soft systems that emulate them. Pathways to mechanical instability stemming from combinations of muscle activity and elastic energy storage in a soft body will be determined by measuring muscle activity, internal pressure, and 3D kinematics during behaviors of different strengths and with different trajectories. The PIs will test their instability hypothesis by adding perturbations (either mechanical or through muscle stimulation) that trigger ballistic movement. For the fish, the PIs will test how they recover from rapid ballistic movement and transition to feedback-controlled behavior. The underlying structural and material basis of these movements will be investigated by building soft moving systems with inherent instability.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 12, 2017
- Source ID
- W911NF1610095
Entities
People
- Barry Trimmer
Organizations
- Army Contracting Command
- Tufts University
- United States Army