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107 results for “Actuators”
Dataset for paper entitled "A Wireless Inductive Sensing Technology for Soft Pneumatic Actuators Using Magnetorheological Elastomers"
<p>This dataset includes all the experimental and FE results presented in the RoboSoft2019 paper "A Wireless Inductive Sensing Technology for Soft Pneumatic Actuators Using Magnetorheological Elastomers" (DOI: <a href="https://doi.org/10.1109/ROBOSOFT.2019.8722800">10.1109/ROBOSOFT.2019.8722800</a>).</p> <p>https://ieeexplore.ieee.org/abstract/document/8722800</p> <p>List of data:</p> <p>Fig.3-EXP_Coil size.xlsx<br> Fig.4-MRE Characterization.xlsx<br> Fig.6-FE modeling results.xlsx<br> Fig.8-Flat SPA Characterization.xlsx<br> Fig.9-EXP-external load.xlsx<br> Fig.10-Exp-Bending SPA.xlsx</p>
Multi-Objective Design of Actuators: Pareto fronts
<p>These are the best-known Pareto fronts for the 20 MODAct benchmark problems. Files are text files where each row is a point and each column an objective.</p> <p>Associated publication is under review.</p>
A soft pneumatic actuator with integrated deformation sensing elements produced exclusively with extrusion based additive manufacturing
<p>In recent years, soft pneumatic actuators have come into the spotlight because of their simple control and the wide range of complex motions. To monitor the deformation of soft robotic systems, elastomer-based sensors are being used. However, the embedding of sensors into soft actuator modules by polymer casting is time consuming and difficult to upscale. In this study, it is shown how a pneumatic bending actuator with an integrated sensing element can be produced using an extrusion-based additive manufacturing method, e.g., fused deposition modeling (FDM). The advantage of FDM against direct printing or robocasting is the significantly higher resolution and the ability to print large objectives in a short amount of time. New, commercial launched, pellet-based FDM printers are able to 3D print thermoplastic elastomers of low shore hardness that are required for soft robotic applications, to avoid high pressure for activation. A soft pneumatic actuator with the in situ integrated piezoresistive sensor element was successfully printed using a commercial styrene-based thermoplastic elastomer (TPS) and a developed TPS/carbon black (CB) sensor composite. It has been demonstrated that the integrated sensing elements could monitor the deformation of the pneumatic soft robotic actuator. The findings of this study contribute to extending the applicability of additive manufacturing for integrated soft sensors in large soft robotic systems.</p>
Large-Eddy Simulation of Wind Turbine Flows: A New Evaluation of Actuator Disk Models - Dataset
<p>Main data used in the following paper: Revaz, T.; Porté-Agel, F. Large-Eddy Simulation of Wind Turbine Flows: A New Evaluation of Actuator Disk Models. <em>Energies</em> <strong>2021</strong>, <em>14</em>, 3745. https://doi.org/10.3390/en14133745</p>
Data set for "Light-driven peristaltic pumping by an actuating splay-bend strip"
<p>Data set for all the experiments included in the main part of the text and in the supplementary information, together with the Mathematica notebook including all the theoretical and numerical calculations.</p>
Dataset for DOI: 10.1109/LRA.2019.2927936. "Multi-DoF Force Characterization of Soft Actuators"
<p>This dataset contains the raw measurement data and MATLAB scripts for the following publication: S. Joshi and J. Paik, "Multi-DoF Force Characterization of Soft Actuators," in <em>IEEE Robotics and Automation Letters</em>, vol. 4, no. 4, pp. 3679-3686, Oct. 2019. doi: 10.1109/LRA.2019.2927936</p> <p><br> The .csv files contain measured values of soft actuator pressure, displacement and force output. The MATLAB scripts help to extract and plot this raw data.</p>
Dataset for: "Additively manufactured degradable piezoelectric microsystems for sensing and actuating"
<h2>Dataset for "Additively manufactured degradable piezoelectric microsystems for sensing and actuating"</h2><p><strong>Morgan Monroe1,2, Nicolas Fumeaux1, L. Guillermo Villanueva2, and Danick Briand1</strong></p><p><strong>1Soft Transducers Laboratory (LMTS), EPFL, Switzerland</strong></p><p><a href="mailto:morgan.monroe@epfl.ch">morgan.monroe@epfl.ch</a>, <a href="mailto:danick.briand@epfl.ch">danick.briand@epfl.ch</a></p><p><strong>2Advanced NEMS Laboratory (A-NEMS), EPFL, Switzerland</strong></p><p> </p><p>This data set contains the data collected during the FNS project Green Piezo (Grant no. 179064) in association with the recent publication entitled "Additively manufactured degradable piezoelectric microsystems for sensing and actuating" </p><p><strong>DOI: 10.1002/admt.202300745</strong></p><p>-------------------------------------------------------------------------------------------------------------------------------</p><h3><strong>Manuscript Abstract: </strong></h3><p>The increasing global overabundance of electronic waste and concerns regarding the energy and material-intensive processes associated with traditional electronics manufacturing is driving the development of solution processed, degradable electronics. In particular, solution processed, degradable piezoelectrics have widespread potential in sustainable electronics, due to their diverse use in both sensing and actuating applications and the current industry predominance of lead-based materials. Yet current eco-friendly multi-material printing processes are limited by both the conventional challenges of multilayer process integration as well as the low-temperature thermal constraints of biodegradable materials. In this study, we present a novel approach to the fabrication of additively manufactured and sustainable piezoelectric devices made with degradable electrode materials on paper substrates. The screen-printed, eco-friendly KNbO3 piezoelectric transducers are combined with degradable carbon- or zinc-based conductive inks. We evaluate the physical, dielectric, and piezoelectric properties of the devices, assessing the influence of electrode material on device performance. We report on effective piezoelectric coefficients as high as 4.6 pC N-1 and 5.1 pC N-1 for printed piezoelectric devices on paper substrates with carbon and zinc electrodes respectively. We then demonstrate the applicability of the developed technology in both sensing and actuating applications. Thus, we present the first instance of sustainable fully additively manufactured piezoelectric force sensors and acoustic speakers. By demonstrating entirely printable piezoelectric devices compatible with various green electrode materials, we work to develop more complex sustainable printed piezoelectric technologies in the future.</p><p> </p><h3>The data set consists of the following folders:</h3><ul><li>Device design files</li><li>Physical characterization data</li><li>Dielectric characterization data</li><li>Force Sensor Demonstrator data</li><li>Speaker Demonstrator data</li></ul><p>Below is a detailed description of the data types and contents of each folder. In many files, the naming convention includes one of two key material indicators. In reference to ink properties, the term "Ink Active Material" indicates the primary ingredient in the ink being characterized. This is either KNbO3, Zinc, or Carbon. The specific ink compositions can be found in the Methods portion of the associated manuscript. In reference to devices being characterized, the term "Electrode Material" indicates the primary component of the printed or deposited electrode layers of the devices (as the piezoelectric layer is always the printed KNbO3 film). The electrode materials are either "Gold" (referring to thermally evaporated Gold of approximately 100nm thickness) which was used as a reference electrode material, "Zinc" (referring to screen printed zinc ink as described in the manuscript), or "Carbon" (Referring to screen printed carbon ink as described in the manuscript).</p><p>-------------------------------------------------------------------------------------------------------------------------------</p><h3><strong>Data types</strong></h3><p>There are 13 file types in this data set: .pdf, .png, .tif, .txt, .dat, .csv, .svg, .stl, .py, .vi, .dwf3work, .aup3, .wav</p><ul><li><strong>.pdf files </strong><ul><li>pdf files in this repository contain summaries of images used in physical characterization, aggregated for ease of visualization. These are exported from Photoshop files and thus include full image information.</li></ul></li><li><strong>.png and .tif files </strong><ul><li>These files contain scanning electron microscopy images of the printed samples on silicon, in cross-section.</li></ul></li><li><strong>.txt, .csv, and .dat files </strong><ul><li>These files contain raw data from device characterization. These file types are comma delimited and the files can be opened with text editors such as Notepad++. Column headers elaborate on the data contained within each file. </li></ul></li><li><strong>.svg files </strong><ul><li>These files contain vector data displaying the full designs of devices fabricated in this study. This data can be opened with a vector graphics editor such as InkScape. The various layers of each file denote a different layer of the device design, and can be treated individually as masks for the relevant layers.</li></ul></li><li><strong>.stl files </strong><ul><li>These files contain design information for 3D components. These files can be opened with any 3D design software such as FreeCAD. All .stl files included in this repository are reproduced from Shannon Ley (<a href="https://pinshape.com/items/36134-3d-printed-3d-printed-headphones">https://pinshape.com/items/36134-3d-printed-3d-printed-headphones</a>).</li></ul></li><li><strong>.py files </strong><ul><li>These files contain python scripts used to process the raw data after collection. These scripts can be opened and edited with standard python scripting interfaces. Each script is commented with descriptions of the overall file as well as in-line comments for user orientation. </li></ul></li><li><strong>.vi files </strong><ul><li>These files contain LabVIEW scripts used to collect raw data during measurements. These scripts can be opened and edited with LabVIEW from version 2020. The script is commented with descriptions of the overall file as well as in-line comments for user orientation. Only one file in this dataset is of this filetype.</li></ul></li><li><strong>.dwf3work files</strong><ul><li>These files contain Digilent Waveforms workspaces used to collect raw data during measurements. These scripts can be opened using the opensource Digilent Waveforms software (<a href="https://digilent.com/shop/software/digilent-waveforms/">https://digilent.com/shop/software/digilent-waveforms/</a>) to view the recorded data and all relevant recording parameters at time of measurement. </li></ul></li><li><strong>.aup3 files </strong><ul><li>These files contain Audacity workspaces used to collect and process audio data during speaker characterization measurements. These files can be opened using the opensource Audacity software (<a href="https://www.audacityteam.org/">https://www.audacityteam.org/</a>).</li></ul></li><li><strong>.wav files </strong><ul><li>These files are audio files of the data exported from Audacity during speaker device characterization and can be opened with any audio processing software.</li></ul></li></ul><p>-------------------------------------------------------------------------------------------------------------------------------</p><h3><strong>01 Characterization Device Design</strong></h3><p>This folder contains the design files associated with the fabrication of the basic printed devices used for characterization studies.</p><h4><strong>01 CapacitorsALL.svg</strong></h4><p>A vector file containing the whole-device design of the capacitor style devices used in primary characterization. Each layer of the file is a layer of the device, and was used for the ordering and fabrication of associated screen printing meshes and shadowmasks.</p><h4><strong>02 BottomElectrode.svg</strong></h4><p>A vector file containing the design of solely the bottom electrode layer for devices used in primary characterization. This design was used for the ordering and fabrication of associated screen printing meshes and shadowmasks.</p><h4><strong>03 PiezoelectricLayer.svg</strong></h4><p>A vector file containing the design of solely the piezoelectric layer for devices used in primary characterization. This design was used for the ordering and fabrication of associated screen printing meshes and shadowmasks.</p><h4><strong>04 TopElectrode.svg</strong></h4><p>A vector file containing the design of solely the top electrode layer for devices used in primary characterization. This design was used for the ordering and fabrication of associated screen printing meshes and shadowmasks.</p><p>-------------------------------------------------------------------------------------------------------------------------------</p><h3><strong>02 Physical Characteristics</strong></h3><p>This folder contains all the data associated with characterizing the physical properties of the piezoelectric devices in this manuscript.</p><h4><strong>01 Particle Size Analysis</strong></h4><p><strong>01 Images</strong>: A folder of SEM images as .png files. These images are cross-sectional SEM images of samples used to evaluate the particle size distribution for the KNbO3, Zinc, and carbon powders using in device fabrication. A second set of images with an appended filename ("traces") in the same folder portrays the sizing lines used to randomly sample particles for sizing.</p><p><strong>02 ParticleSizeDistribution_RAW.csv</strong>: A data file containing the raw measurements collected using the above images in tandem with ImageJ processing software. Data was used to produce histograms of particle size distributions for the KNbO3, Zinc, and Carbon particles.</p><p> </p><h4><strong>02 Profilometry</strong></h4><p><strong>01 Profilometry Data</strong>: A folder of raw data collected as profilometry measurements in the form of .dat files. Data files are labelled using the convention "Profile_[Electrode Material]_DeviceStack_Sample[#].dat" (Ex: "Profile_Carbon_DeviceStack_Sample2.dat"). All measurements begin with a measure of the paper substrate as reference before approaching the sample, where it crosses all 3 layers of the sample before returning to the paper substrate, creating a series of layer-cake-like steps from which layer thicknesses can be determined.</p><p><strong>02 ProfilometeryDataPlotter.py</strong>: a python script to batch import and plot the above collected raw profilometry data. </p><p> </p><h4><strong>03 Cross-section Optical Images</strong></h4><p>A folder containing optical microscopy images of the printed devices in cross-section when printed on paper substrates. The naming convention used is "Optical_[Electrode Material]_[microscope Magnification]_[Image number in that condition].tif" (Ex: "Optical_Carbon_x50_01.tif").</p><p> </p><h4><strong>04 Cross-section SEM Images</strong></h4><p>A folder containing scanning electron microscopy ("SEM") images of the printed devices in cross-section when printed on silicon substrates. The naming convention used is "SEM_[Electrode Material]_[microscope Magnification]_[Image number in that condition].tif" (Ex: "SEM_Carbon_1k_01.tif").</p><p> </p><h4><strong>05 Ink Rheology </strong></h4><p>Summary data collected during rheological measurements of the KNbO3, Zinc, and Carbon inks, as .txt files. The naming convention is "Viscosity_[Ink Primary Component]Ink.txt" (Ex: "Viscosity_ZincInk.txt")</p><p> </p><h4><strong>06 Degradation Study </strong></h4><p><strong>01 DegradationStudy_MassChange.csv</strong>: A data file containing the raw measurements collected during the degradation studies. Data includes the specific samples under test and their measured mass at specific dates, as measured after drying.</p><p><strong>02 Degradation Study Images.pdf</strong>: a .pdf file containing the raw degradation images used in this study, correlated to the dates of imaging and text conditions. </p><p>-------------------------------------------------------------------------------------------------------------------------------</p><h3><strong>03 Electrical Characteristics</strong></h3><p>This folder contains all the data associated with characterizing the dielectric and piezoelectric properties of the piezoelectric devices in this paper.</p><h4><strong>01 Impedance Data</strong></h4><p><strong>01</strong> <strong>ImpedanceDataAnalysis.py </strong></p><p>The python analysis script used to batch analyze and plot the raw impedance data collected for these samples. Takes the files in the associated folder as input and outputs arrays of measured capacitance and permittivity values for the data analyzed, as well as plots of the processed impedance data as a function of frequency.</p><p><strong>02 Raw Impedance Data</strong></p><p>The raw impedance data used to evaluate the dielectric properties of the devices, including two file types: </p><p><strong>".csv"</strong>: Impedance data collected for capacitor style devices of each electrode type, in the after exporting the relevant impedance, phase, and capacitance data from the raw collection file format. Naming convention is "Impedance_[electrode material]_ALL.csv" (Ex: "Impedance_Carbon_ALL.csv").</p><p><strong> ".dwf3work"</strong>: Raw Impedance data collected for capacitor style devices of each electrode type, in the original files as collected using Digilent Waveforms Software (open source). Data is split into two files based on the size of the capacitors being measured, (either 5 and 10 mm2 devices, or 20 and 30mm2 devices). The naming convention used is "Impedance_[Electrode Material]__[capacitor surface areas tested].dwf3work" (Ex: "Impedance_Zinc_5&10mm2.dwf3work").</p><p> </p><h4><strong>02 Berlincourt Data</strong></h4><p>This folder contains all the data associated with characterizing the piezoelectric properties of the devices in this manuscript. It includes 3 files, sorted by the electrode material of the devices under test, and reports the average d33,eff values (over 3 repetitions) measured for those devices based on the applied poling Voltage and field. The naming convention used is "BerlincourtData_[Electrode Material].csv" (Ex: "BerlincourtData_Carbon.csv").</p><p>-------------------------------------------------------------------------------------------------------------------------------</p><h3><strong>04 Force Sensor Demonstrator</strong></h3><p>This folder contains all the data associated with force sensor demonstrator reported on in the associated manuscript.</p><h4><strong>01 TouchGrid.svg</strong></h4><p>A vector file containing the whole-device design of the force sensor device used in this sensing demonstration. Each layer of the file is a layer of the device, and was used for the ordering and fabrication of associated screen printing meshes.</p><p> </p><h4><strong>02 VoltageMeasurement.vi</strong></h4><p>A LabView script file used for recording the output voltage of the piezoelectric devices as a function of time. To be used in combination with an Agilent 34410A or 34411A Multimeter. Outputs Voltage response as a function of time from the initiation of the recorded measurement.</p><p> </p><h4><strong>03 Single Force Data</strong></h4><p>This folder contains data associated with characterizing the force sensor demonstrators reported on in this manuscript. It includes 3 sub-folders, sorted by the electrode material of the devices under test. The naming convention used for the sub-folders is "SingleForce_[Electrode Material]" (Ex: "SingleForce_Zinc"). Within each sub-folder is a series of data files (.csv) detailing the test and data conditions. Each sample was compressed with a set force in a series of pulses. The naming convention used for the files in the sub-folders is "[Electrode Material]_[Max Applied Force]_[MeasuredData].csv" (Ex: "Gold_12.5N_MM.csv"), where the measured data is either "_F" or "_MM" for Force data or Multimeter data respectively.</p><p><strong>"_F.csv": </strong>The files include data recorded by the Instron Pull tester of the force applied to the sample as a function of time. This data is associated with the measured voltage in the paired "_MM.csv" file. </p><p><strong>"_MM.csv": </strong>The files include data recorded by a LabVIEW script in tandem with an Agilent multimeter of the voltage produced by the sample associated with the incident force in the paired "_F.csv" file. </p><p> </p><h4><strong>04 Stepped Force Data</strong></h4><p>This folder contains data associated with characterizing the force sensor demonstrators reported on in this manuscript. It includes 3 sub-folders, sorted by the electrode material of the devices under test. The naming convention used for the sub-folders is "SteppedMeasurements_[Electrode Material]" (Ex: "SteppedMeasurements_Gold"). Within each sub-folder is a series of data files (.csv) detailing the test and data conditions. Each sample was compressed with a series of pulses successively increasing in applied force. The naming convention used for the files in the sub-folders is "[Electrode MaterialSteppedSweep[#]_[MeasuredData].csv" (Ex: "Carbon_SteppedSweep1_F.csv"), where the measured data is either "_F" or "_MM" for Force data or Multimeter data respectively, and the # indicates the repetition number of that specific measurement. Other details are the same as those described above for the subfolder data of 03 Single Force Data.</p><p>-------------------------------------------------------------------------------------------------------------------------------</p><h3><strong>05 Speaker Demonstrator</strong></h3><p>This folder contains all the data associated with speaker demonstrator reported on in the associated manuscript.</p><h4><strong>01 Speaker Design</strong></h4><p><strong>01</strong> <strong>SpeakersBuzzers.svg </strong></p><p>A vector file containing the design of the components used to fabricate the piezoelectric buzzer for the speaker demonstrator. This includes a baseplate onto which the piezoelectric devices were adhered, two rings as standoffs, and two long traces used for the "contact wires". All components were lasercut from cardboard or cardstock components.</p><p><strong>02</strong> <strong>3D Design Files </strong></p><p>A folder containing the design files (.stl) for 3D printing of the headphone chassis, including the headband, ear cans, and baffles. All designs were provided open source by Shannon Ley (https://pinshape.com/items/36134-3d-printed-3d-printed-headphones).</p><p> </p><h4><strong>02 Speaker Data</strong></h4><p><strong>01</strong> <strong>RawAudioRecordings </strong></p><p>A folder containing the raw audio recordings used in speaker characterization, in the form of .aup3 files, directly from the recording software (Audacity). File naming convention is "[Electrode Material]_[Device Size used]_[Recording sampling rate]_RAW.aup3" (Ex: "Zinc_5x30mm2_44.1khz_RAW.aup3").</p><p><strong>02</strong> <strong>Exported Audio </strong></p><p>A folder containing the exported audio recordings used in speaker characterization after trimming to a consistent length of 15s, and exporting from the recording software (Audacity) in the form of .wav files. Each sub-folder has naming convention of "[Electrode Material]_[Device Size used]_[Recording sampling rate]_export" (Ex: "Zinc_5x30mm2_44.1khz_export"), and contains a number of files. Each file within these folders is labelled with the frequency at which the speaker was actuated for that recording data. These files were then imported into Origin, where an FFT was used to extract the amplitude of the recorded data at that specific actuating frequency.</p><p> </p><h4><strong>03 Speaker LDV</strong></h4><p>A folder containing the laser doppler vibrometry data collected for speakers with either Zinc or Carbon-electroded piezoelectric actuators. The data comes in two formats: as-produced from Digilent Waveforms (.dwf3work), or exported (.csv) files. The naming convention for the raw data is "[Electrode Material]_[Speaker active area]_LDV_Raw.dwf3work" (Ex: "Zinc_5x30mm2_LDV_Raw.dwf3work"). The naming convention for the exported data is "[Electrode Material]_[Speaker active area]_LDV_Export.csv" (Ex: "Zinc_5x30mm2_LDV_Export.csv").</p>
Data from: 3D printed digital pneumatic logic for the control of soft robotic actuators
<p>Soft robots are paving their way to catch up with the application range of metal-based machines and to occupy fields which are challenging for traditional machines. Pneumatic actuators play an important role in this development, allowing the construction of bioinspired motion systems. Pneumatic logic gates provide a powerful alternative for controlling pressure-activated soft robots, which are often controlled by metallic valves and electric circuits. Many existing approaches for fully compliant pneumatic control logic suffer from high manual effort and low pressure tolerance. In our work, we invented 3D printable, pneumatic logic gates that perform Boolean operations and imitate electric circuits. Within 7 hours, an FDM printer is able to produce a module that serves as either an OR, AND or NOT gate; the logic function is defined by the assigned input signals. The gate contains two alternately acting pneumatic valves, whose work principle is based on the interaction of pressurized chambers and a 3D printed 1 mm tube inside. The gate design does not require any kind of support material for its hollow parts, which makes the modules ready to use directly after printing. Depending on the chosen material, the modules can operate on a pressure supply between 80 and over 750 kPa. The capabilities of the invented gates were verified by implementing an electronics-free drink dispenser based on a pneumatic ring oscillator and a 1-bit memory. Their high compliance is demonstrated by driving a car over a fully flexible, 3D printed robotic walker controlled by an integrated circuit.</p>
Mechanochemical induced swelling-activation of a gastric-deployable 4D printed polypill inspired by natural hygromorphic actuators - Underlying data
<p>Underloying microfocus CT data of <em><strong>Mechanochemical induced swelling-activation of a gastric-deployable 4D printed polypill inspired by natural hygromorphic actuators</strong></em> by Konstantina Chachlioutaki, Nikolaos Papas, Zisis Chatzis, Orestis L. Katsamenis, Stephanie K. Robinson, Konstantinos Tsongas, Nikolaos Bouropoulos, Dimitrios G. Fatouros, Dimitrios Tzetzis, Christina Karavasili</p> <ul> <li>K. Chachlioutaki, Z. Chatzis, D.G. Fatouros, C. Karavasili<br>Laboratory of Pharmaceutical Technology, Department of Pharmacy, Aristotle University of Thessaloniki, 54124 Thessaloniki, Greece</li> <li>N. Papas, D. Tzetzis, C. Karavasili<br>Digital Manufacturing and Materials Characterization Laboratory, School of Science and Technology, International Hellenic University, 57001 Thermi, Greece</li> <li>O.L. Katsamenis, S.K. Robinson<br>μ-VIS X-Ray Imaging Centre, Faculty of Engineering and Physical Sciences, University road, Highfield campus, Southampton, SO17 1BJ, UK<br>Institute for Life Sciences, University of Southampton, University road, Highfield campus, Southampton, SO17 1BJ, UK</li> <li>K. Tsongas<br>Department of Industrial Engineering and Management, School of Engineering, International Hellenic University, 57001 Thessaloniki, Greece</li> <li>N. Bouropoulos<br>Department of Materials Science, University of Patras, 26504 Patras, Greece</li> </ul> <p> </p>
Phase optimization of thermally actuated piezoresistive resonant MEMS cantilever sensors (Data)
<p>Origin projects, figures and COMSOL simulation used for the article "Phase optimization of thermally actuated piezoresistive resonant MEMS cantilever sensors", published in <em>Journal of Sensors and Sensor Systems </em>on 14 Jan 2019.</p>
Enhancement of real-time resonance tracking in electro-thermally actuated cantilever sensor with optimized phase characteristic (Data)
<p>Origin projects and figures used for the article "Enhancement of real-time resonance tracking in electro-thermally actuated cantilever sensor with optimized phase characteristic", published in the proceedings of the 29th Micromechanics and Microsystems Europe Workshop; 26.08.2018 to 29.08.2018; Smolenice Castle, Slovakia.</p>
A Sensorized Soft Pneumatic Actuator Fabricated with Extrusion-Based Additive Manufacturing
<p>Soft pneumatic actuators with a channel network (pneu-net) based on thermoplastic elastomers are compatible with fused deposition modeling (FDM). However, conventional filament-based fused deposition modeling (FDM) printers are not well suited for thermoplastic elastomers with a shore hardness (Sh < 70A). Therefore, in this study, a pellet-based FDM printer was used to print pneumatic actuators with a shore hardness of Sh18A. Additionally, the method allowed the in situ integration of soft piezoresistive sensing elements during the fabrication. The integrated piezoresistive elements were based on conductive composites made of three different styrene-ethylene-butylene-styrene (SEBS) thermoplastic elastomers, each with a carbon black (CB) filler with a ratio of 1:1. The best sensor behavior was achieved by the SEBS material with a shore hardness of Sh50A. The dynamic and quasi-static sensor behavior were investigated on SEBS strips with integrated piezoresistive sensor composite material, and the results were compared with TPU strips from a previous study. Finally, the piezoresistive composite was used for the FDM printing of soft pneumatic actuators with a shore hardness of 18 A. It is worth mentioning that 3 h were needed for the fabrication of the soft pneumatic actuator with an integrated strain sensing element. In comparison to classical mold casting method, this is faster, since curing post-processing is not required and will help the industrialization of pneumatic actuator-based soft robotics</p>
A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots
<p>This dataset contains data and code to replicate main and supplemental figures for the related article published in Matter:</p> <p>Title: A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots</p> <p>DOI: 10.1016/j.matt.2022.06.002</p> <p>In the article we introduce a simple and compact soft valve with intentional hysteresis, analogous to an electronic relaxation oscillator. By integrating the valve with a soft actuator, we transform a continuous inflow to cyclic activation. Importantly, we show that our circuits can activate up to five actuators in various sequences, and that we can physically reprogram the activation order by varying the (initial) conditions in the fluidic circuit. Moreover, we show the feasibility of our approach under more realistic conditions by building a four-legged robot.</p> <p>This dataset contains measurement data and simulation files.</p> <p>The data are recorded (in human-readable format) from experiments on our fluidic circuits (e.g., pressure, flow data), and are accompanied by MATLAB scripts for data processing as well as generating figures.</p> <p>The simulation files are MATLAB and LTspice files for simulating our fluidic circuits making use of the analogy with electronic circuits. For more involved parameter sweeps we generate, run, and post-process LTspice input and result files using MATLAB. More details and instruction for use are provided in the included readme.txt files.</p>
Dataset related to "Atomic Force Microscope with an Adjustable Probe Direction and Integrated Sensing and Actuation"
<p>These original measurement data relate to the publication: J. Schaude, T. Hausotte: Atomic Force Microscope with an Adjustable Probe Direction and Integrated Sensing and Actuation, Nanomanufacturing and Metrology 5, pp. 519-148, <a href="https://doi.org/10.1007/s41871-022-00143-9">https://doi.org/10.1007/s41871-022-00143-9</a>. Please refer to this open access publication for a detailed description of the measurement setup and procedure.</p> <p>All data are in ASCII-format. Each file contains six columns, where column one to three are the <em>x</em>, <em>y</em>, and <em>z</em>-coordinates of the positioning system, column four is the demodulated signal of the AFM (<em>R</em><sub>AFM</sub>) and columns five and six are the raw signals of the <em>z</em>-interferometer (<em>Q</em><sub>A</sub> and <em>Q</em><sub>B</sub>).</p> <p><strong>Content of the folders</strong></p> <p>10_Calibrations: Repeated calibration of the AFM against the <em>z</em>-interferometer of the NMM-1.</p> <p>20_Standstill-Measurements: Three standstill measurements for 90 s each.</p> <p>30_Long-Term-Precision: Standstill measurements for 15 s every 10 min for in sum 18 hours.</p> <p>40_Scans: Repeated closed-loop scans on a calibration grating.</p> <p>50_SINCOS: Repeated movement of the stage in z-direction for 2 µm with the cantilever being in free air just before the sample.</p> <p><strong>Acknowledgement</strong></p> <p>This project was funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) –TRR 285 -Project-ID 418701707, subproject C05</p>
Raw measurements data of piezo actuator displacements, in a form of a groove pattern, obtained with a laser interferometer and a roundness instrument
<p><strong>A brief description of the repository content</strong></p> <p>The data presented here were obtained during an experimental calibration of the Taylor Hobson 130 (Leicester, UK) roundness instrument with the Thorlabs LPS710M (Thorlabs, Newton, NJ, USA) piezo actuator driven by Thorlabs PPC001 Piezo Controller and controlled with Kinesis® (Thorlabs) software. Before the calibration, the piezo actuator itself was calibrated with the Renishaw XL-80 interferometer system (Renishaw, Wotton-under-Edge, UK) along with the Renishaw small optics kit (A-8003-3244). These data are included in the repository as well.</p> <p><strong>Description of the dataset</strong></p> <p>Inside the .zip file, the data obtained with the Renishaw XL-80 laser interferometer and the Taylor Hobson 130 roundness instrument are stored in the “Renishaw_XL-80” and “Taylor_Hobson_130” folders, respectively. Each of these folders contains six subfolders: “0.24um”, “0.75um”, “2.4um”, “7.5um”, “24um”, and “75um”, which include the measurements data obtained with these devices (not simultaneously) while Thorlabs LPS710M piezo actuator was performing displacements simulating a groove pattern. The names of subfolders correspond to the groove’s depth.</p> <p>The data from the measurements performed with the Renishaw XL-80 interferometer were exported with the Laser XL system’s software and are saved with the extension “.RTX”. Two data files are available for each depth being considered that correspond to two measurement series. Inside each file, 40 s recording is stored. Eight grooves should be visible (nominal values: 1.5 s groove width, 3 s distance between subsequent grooves). The data were acquired with a 50 kS/s sampling rate.</p> <p>The data from the measurements performed with the Taylor Hobson 130 roundness instrument were exported with the Ultra® (Taylor Hobson) software and are saved with the extension “.SBF”. 30 data files are available for each depth being considered - 15 files for each of two measurement series. Inside each file, 10 s recording is stored. Two grooves should be visible (nominal values: 1 s groove width, 4 s distance between subsequent grooves). The data were acquired with a 360 S/s sampling rate.</p> <p>Caution:</p> <ul> <li>No synchronisation between the piezo actuator and XL-80 interferometer or Taylor Hobson 130 roundness instrument was used. Thus, the first or the last groove within the response to the simulated pattern might be too short to be considered valid.</li> <li>The square excitation of the piezo actuator was used. Thus, ringing oscillations near the grooves’ edges are present.</li> <li>The motion of the piezo actuator might happen to be initiated while the acquisition already had started. Thus, the first response inside each file should be analysed carefully.</li> <li>The piezo actuator did not hold time dependencies properly. The widths of simulated grooves usually differ from their nominal values to some extent.</li> </ul> <p><strong>Acknowledgement</strong></p> <p>This dataset was obtained within the 18RP01 ProbeTrace project. This project (18RP01 – ProbeTrace) has received funding from the EMPIR programme co-financed by the Participating States and from the European Union's Horizon 2020 research and innovation programme.</p> <p>Project title: Traceability for contact probe and stylus instrument measurements<br> Funder name: European Metrology Programme for Innovation and Research (EMPIR)<br> Funder ID: 10.13039/100014132<br> Grant number: 18RP01 ProbeTrace<br> Link to project homepage: http://probetrace.org/</p>
Dataset for manuscript "Responses to single and multiple temperature-, medium-, and pH-stimuli triggering reversible shape shifts in hydrogel actuators"
<p>The dataset includes data for the article "Responses to single and multiple temperature-, medium-, and pH-stimuli triggering reversible shape shifts in hydrogel actuators", https://doi.org/10.1016/j.matdes.2022.111511</p>
Dataset for manuscript "Plants as inspiration for material‑based sensing and actuation in soft robots and machines"
<p>The dataset includes data for Figure 2 in the article "Plants as inspiration for material-based sensing and actuation in soft robots and machines<em>" MRS Bulletin</em> (2023). https://doi.org/10.1557/s43577-022-00470-8</p>
Datasets for article "Robot Self-Calibration Using Actuated 3D Sensors"
<p>Real and sythetic datasets used in artilcle "Robot Self-Calibration Using Actuated 3D Sensors". For each recodring of a calibration scene is there is a ROS bag file holding a single message of type vision_3d_msgs/Actuated3dRecording.</p>
Magnetic elastomers as specific soft actuators – predicting particular modes of deformation from selected configurations of magnetizable inclusions
<p>This dataset contains the underlying data and python programs to generate the plots in the manuscript</p> <p><em>L. Fischer and Andreas M. Menzel</em><br>Magnetic elastomers as specific soft actuators – predicting particular modes of deformation from selected configurations of magnetizable inclusions<br>J. Magn. Magn. Mater. <strong>591</strong>, 171695 (2024) (DOI: <a href="https://doi.org/10.1016/j.jmmm.2023.171695" target="_blank" rel="noopener">10.1016/j.jmmm.2023.171695</a>).<br>Part of the special issue "ICMF 2023".</p> <p>arXiv Version: <a href="https://arxiv.org/abs/2310.16833" target="_blank" rel="noopener">arXiv:2310.16833</a>.</p> <p>For more information, please see the included "Readme.txt" in the dataset "Zenodo.zip".</p>
Data from: 3D printed digital pneumatic logic for the control of soft robotic actuators
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