Instrumentation for Characterization and Fabrication of Electro-Hydraulic HASEL Transducers: High-Performance Adaptive Materials for Distributed Actuation, Sensing and Control
Abstract
The development of adaptable intelligent systems with distributed actuation, control, and sensing is a newly-identified and major directive within current army research. This directive emphasizes novel forms of efficient energetic transduction for agile motion and force generation (ARO BAA W911NF-17-S-0002). In addition, a recently released army report (A Report on Army Science Planning and Strategy 2016 ARL-SR-0375) selected the need for Òscalable, tunable, highly-efficient actuators supporting complex articulation, with potential for integrated sense and controlÓ as a topic with the ability to dramatically impact military capabilities in the long term. We strongly believe that such technologies will not come from conventional rigid mechanical systems containing pistons and motors Ð these excel at precise and repetitive motion, but lack adaptability. Instead, we look to nature, which predominantly uses soft materials, to produce versatile systems that can easily conform to their environment. Using this bio-inspiration, the Keplinger Lab has developed Hydraulically Amplified Self-healing ELectrostatic (HASEL) transducers Ð a new class of soft, muscle-mimetic actuators that demonstrate significant promise for applications relevant to DoD and ARO research. HASEL actuators are electrically powered through capacitive charging, which gives them fast, efficient, and silent operation. In addition, they are capable of autonomous self-healing from electrical and mechanical damage, making them robust and reliable enough to be scaled up to deliver large forces. Finally, they are a valuable platform for studies and applications in distributed sensing Ð with the ability to self-sense their own deformation state using capacitive measurements. These versatile actuators can be constructed with geometries and materials that allow for modes of actuation such as elongation, contraction, bending, and tilting. To date, only a small fraction of potential HASEL designs have been explored, due to limitations imposed by manual fabrication techniques and incomplete knowledge of the underlying physical and mechanical principles at play in these devices. Therefore, the purpose of this DURIP proposal is to request a system of instrumentation that will have a transformative impact on the fabrication and characterization capabilities of HASEL actuators in the Keplinger Lab, resulting in substantial theoretical and practical value. Fabrication equipment will include a planetary mixer, automatic film applicator, laser cutter, and pad-printing machine; characterization equipment will include a thermal imaging camera, high voltage meter, and confocal displacement sensor. This system will enable research investigating the mechanical and physical principles governing complex, nonlinear electromechanical transduction in electroactive, soft hydraulic structures. This information, along with improved fabrication techniques, will result in rapid development of practical applications such as prosthetics, versatile grippers for manufacturing and automation, and powerful bio-inspired robotic systems Ð presenting significant benefit to the public and to army technologies. Additionally, the equipment purchased through this initiative will facilitate the education of a future generation of scientists and engineers with interdisciplinary training in the emerging area between robotics and materials science.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Mar 18, 2019
- Source ID
- W911NF1810203
Entities
People
- Christoph Keplinger
Organizations
- Army Contracting Command
- United States Army
- University of Colorado Boulder