Ms. Shannon Carey Profile

Shannon Carey

at Worcester Polytechnic Institute

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Proceedings Article | 21 May 2020 Presentation + Paper

Synthetic Muscle electroactive polymer (EAP) shape-morphing and pressure sensing for robotic grippers

Lenore Rasmussen, Peter Vicars, Calum Briggs, Tianyu Cheng, Edward Clancy, Shannon Carey, Benjamin Secino

Proceedings Volume 11375, 1137505 (2020) https://doi.org/10.1117/12.2558965

KEYWORDS: Electroactive polymers, Robotics, Sensors, Resistance, Electrodes, Actuators, Feedback loops, Radium, Mechanical sensors, Robots

Read Abstract +

Ras Labs makes Synthetic Muscle™, which is a class of electroactive polymer (EAP) based materials and actuators that controllably contract and expand at low voltage (1.5 V to 50 V, including use of batteries), potentially sense pressure (gentle touch to high impact), and attenuate force. This offers biomimetic movement by contracting similar to human muscles, but also exceeds natural biological capabilities by expanding under reversed electric polarity. These EAPs are affordable and robust. They have been tested in many harsh environments, including extreme temperatures, high pressure underwater environments, and in space on the International Space Station. Potential load bearing applications are feasible, with significant mechanical strength when tested in compression. Selected EAP samples were tested and survived 3,000,000 cycles at 4 Hz from 5 psi to 30 psi, followed by a 50-psi compression. Human grasp is gentle yet firm, with tactile touch feedback. In conjunction with shape-morphing abilities, these EAPs also are being explored to intrinsically sense pressure due to the correlation between mechanical force applied to the EAP and its electronic signature. We are continuing to advance EAP technology and apply this technology towards robotic grippers. The robotic field is experiencing phenomenal growth in this fourth phase of the industrial revolution, the robotics era. The combination of Ras Labs’ EAP shapemorphing and sensing features promises the potential for robotic grippers with human hand-like control and tactile sensing. This work is expected to advance both robotics and prosthetics, particularly for collaborative robotics to allow humans and robots to intuitively work safely and effectively together.

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