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229 results for “pneumaticity”
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>
Data and code related to the paper: "Integrated stretchable pneumatic strain gauges for electronics-free soft robots"
<p>This folder contains the raw data and Matlab scripts to reproduce the plots and supplementary movies for the paper:</p> <p>Anastasia Koivikko, Vilma Lampinen, Mika Pihlajamäki, Kyriacos Yiannacou, Vipul Sharma & Veikko Sariola, "Integrated Stretchable Pneumatic Strain Gauges for Electronics-Free Soft Robots", Communications Engineering, 1, 14 (2022).</p> <p><a href="https://doi.org/10.1038/s44172-022-00015-6">Link to the paper</a>.</p> <p>The scripts were tested on Matlab R2021a on Windows.</p> <p>Generally speaking, there is a folder containing the plotting scripts for each figure. In most cases, the folder contains scripts named <strong>plot<...>.m</strong> that recreate the actual plots. Some folders also have a scripts <strong>analyze<...>.m</strong> to analyze the data; these need to be run before the actual plotting.</p> <p>For more details, please see the paper.</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>
Room Temperature Self-Healing in Soft Pneumatic Robotics: Autonomous Self-Healing in a Diels-Alder Polymer Network
<p>Healable soft robotic systems have been developed by constructing flexible membranes out of Diels?Alder (DA) polymer networks. In these components, relatively large amounts of damage, on the centimeter scale, can be healed, provided that the temperature is increased to 80?90 ?C. This article presents a new DA polymer network that can heal at room temperature through a smart design of the network that increases the molecular mobility in the material. This new material is used to develop the first healable soft robotic prototype that can autonomously recover from severe, realistic damage. The soft pneumatic hand can recover from various types of injuries, including being cut completely in half, without the need for a temperature increase. After healing, the performance of the soft robotic prototype is recovered.</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>
Pneumatic elastostatics of multi-functional inflatable lattices: Realization of extreme specific stiffness with active modulation and deployability
<p>Supplementary codes and data: Elastostatics of multi-functional inflatable lattices: Realization of extreme specific stiffness with active modulation and deployability</p>
Fig. 3 in A well-preserved vertebra provides new insights into rebbachisaurid sauropod caudal anatomical and pneumatic features
Fig. 3. Three-dimensional reconstruction of Rebbachisauridae indet. (MDPA-Pv 007) from the Sierra Chata locality (Candeleros Formation) Cenomanian (Upper Cretaceous). Vertebra in lateral view (A1), parasagittal sections (A2, A3), transverse sections (A4–A6), frontal sections (A7–A9). Arrowheads show the presence of pneumatic internal cameras.
Fig. 2 in A well-preserved vertebra provides new insights into rebbachisaurid sauropod caudal anatomical and pneumatic features
Fig. 2. Rebbachisauridae indet. (MDPA-Pv 007) from the Sierra Chata locality (Candeleros Formation) Cenomanian (Upper Cretaceous). Anterior caudal vertebra in anterior (A1, A3), posterior (A4, A6), and left lateral (A7, A9) views. Close ups showing lateral spinal laminae (A2), accessory bony lamina located inside of spof (A5), foramina in the lateral surface of the centrum, arrowheads indicate the presence of foramina (A8). Abbreviations: acdl, anterior centrodiapophyseal lamina; amedl, anterior medial lamina; cdf, centrodiapophyseal fossa; cpol, centropostzygapophyseal lamina; cprl, centroprezygapophyseal laminae; nc, neural canal; pcdl, posterior centrodiapophyseal lamina; pmedl, posterior medial lamina; pocdf, postzygapophyseal centrodiapophyseal fossa; pocdf-l, postzygapophyseal centrodiapophyseal fossa lamina; posdf, postzygapophyseal spinodiapophyseal fossa; prcdf, prezygapophyseal centrodiapophyseal fossa; prcdf-l, prezygapophyseal centrodiapophyseal fossa lamina; prdl, prezygodiapophyseal lamina; prsdf, prezygapophyseal spinodiapophyseal fossa; pz, postzygapophyses; spof, spinopostzygapophyseal fossa; spdl, spinodiapophyseal lamina; spol-f, spinopostzygapophyseal lamina fossa; sprl, spinoprezygapophyseal laminae; sprl-f, spinoprezygapophyseal lamina fossa.
Fig. 5 in A well-preserved vertebra provides new insights into rebbachisaurid sauropod caudal anatomical and pneumatic features
Fig. 5. Simplified strict consensus showing the position of new specimen MDPA-Pv 007 among rebbachisaurids coded in: Bellardini et al. 2022 (A) and Windholz et al. 2022b (B).
Fig. 4 in A well-preserved vertebra provides new insights into rebbachisaurid sauropod caudal anatomical and pneumatic features
Fig. 4. Selected computed tomographic sections of Rebbachisauridae indet. (MDPA-Pv 007) from the Sierra Chata locality (Candeleros Formation) Cenomanian (Upper Cretaceous). Vertebra in anterior view (A1), transverse section taken at mid-length of the element (A1), parasagittal section (A3), frontal sections (A4–A10). Abbreviations: cdf, centrodiapophyseal fossa; nc, neural canal; pocdf, postzygapophyseal centrodiapophyseal fossa; prcdf, prezygapophyseal centrodiapophyseal fossa; spol-f, spinopostzygapophyseal lamina fossa; sprl-f, spinoprezygapophyseal lamina fossa.
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>
Fig. 2. Sauropod dinosaur Brachiosaurus altithorax Riggs, 1903 in Novel pneumatic features in the ribs of the sauropod dinosaur Brachiosaurus altithorax
Fig. 2. Sauropod dinosaur Brachiosaurus altithorax Riggs, 1903, holotype FMNH PR 25107 from Dinosaur Quarry No. 13 near Grand Junction, Colorado, dating to the Kimmeridgian–Tithonian ages of the Late Jurassic, right dorsal rib "Rib A" in posterior view with proximal to the left. A1, the whole proximal half of the rib; a distal portion also exists, of similar length but without features relevant to this study; A2, close-up of the tuberculum, highlighting the complex network of support structures that show signs of speculative reconstruction. Circles highlight two possible sites of the "second tubercle" referred to by Riggs (1901: 549, 1903: 303, 1904: 239) based on Marsh's illustration (1896: figs. 7, 8), reproduced here in Fig. 4; A3, close-up of the pneumatic foramen in the shaft of the rib, showing natural bone texture around the margin and no indication of breakage. Scale bars provide only a rough indication of the size of the elements: see the text for measurements.
Fig. 1 in Novel pneumatic features in the ribs of the sauropod dinosaur Brachiosaurus altithorax
Fig. 1. Schematic illustration of a sauropod dorsal rib. A. Representative dorsal vertebra, in anterior view, with diapophysis and parapophysis labeled: these are the part of the vertebra that the rib articulates with; modified from dorsal vertebra 4 of Camarasaurus supremus Cope 1877, AMNH 5760'/D-X-131 in anterior view (Osborn and Mook 1921: pl. 70). B. Representative dorsal rib, shown in "anterior view" as described in the Anatomical Nomenclature section, with the capitulum, tuberculum and shaft labeled. The principal directions are illustrated: proximal towards the articulation with the vertebra and distal away from it along the shaft; medial towards the body core and lateral towards skin; modified from left rib 4 of Camarasaurus supremus AMNH 5761/R-A-24 in anterior view (Osborn and Mook 1921: fig. 71). C. The articulated rib cage of a mounted sauropod in left dorsolateral view with a single dorsal rib highlighted to emphasize that, due to the parapophyses being located more anteriorly than the diapophyses, the ribs do not lie in a plane perpendicular to the longitudinal axis of the torso; photograph by MPT of the mounted skeleton of the Apatosaurus louisae Holland 1915, holotype CM 3018 in the public gallery of the Carnegie Museum, in right dorsolateral view, reversed.
Fig. 4. A in Novel pneumatic features in the ribs of the sauropod dinosaur Brachiosaurus altithorax
Fig. 4. A cervical rib of sauropod dinosaur Apatosaurus ajax Marsh, 1877 (specimen number unknown), as illustrated by Marsh (1896: figs. 7, 8), including the original caption. Note the "posterior process" marked as "r" in the illustration. This is probably the "second tubercle" referred to by Riggs (1901: 549, 1903: 303, 1904: 239), which he considered some part of one or more of the Brachiosaurus ribs to be homologous with.
Fig. 5 in Novel pneumatic features in the ribs of the sauropod dinosaur Brachiosaurus altithorax
Fig. 5. Gallery of pneumatic features in a selection of dorsal ribs of sauropods, showing a range of pneumatic morphologies from most (A) to least (G) typical. A. Brontosaurus excelsus Marsh, 1879, specimen not indicated but likely the holotype YPM 1980 from Como Bluff, Wyoming; Kimmeridgian– Tithonian (Late Jurassic). A1, unspecified right dorsal rib in anterior view showing pneumatic fossa in tuberculum (modified from Marsh 1896: fig. 9); A2, same rib in posterior view showing a corresponding fossa in the tuberculum, traversed by an accessory lamina (modified from Marsh 1896: fig. 10). B. Giraffatitan brancai (Janensch, 1914), specimen not indicated but likely MB.R.2181 from Tendaguru, Tanzania; Kimmeridgian–Tithonian (Late Jurassic), that forms the core of the mounted skeleton in the atrium of the Museum für Naturkunde Berlin. B1, 2nd left dorsal rib in posterior view, showing pneumatic fossa in tuberculum (modified from Janensch 1950b: fig. 108); B2, same rib in anterior view, showing corresponding fossa in the tuberculum (modified from Janensch 1950b: fig. 107). C. Apatosaurus louisae Holland 1915, holotype CM 3018 from Dinosaur National Monument, Utah; Kimmeridgian–Tithonian (Late Jurassic), 2nd right dorsal rib in anterior view, showing pneumatic fossa between capitulum and tuberculum (modified from Gilmore 1936: pl. 29). D. Malawisaurus dixeyi (Haughton, 1928), Mal-282-2 from Karonga District, northern Malawi; Aptian (Early Cretaceous), left dorsal rib in posterior view, showing pneumatic foramen between capitulum and tuberculum, and fossa below capitulum. Photograph by Eric Gorscak. E. Brontomerus mcintoshi Taylor, Wedel, and Cifelli, 2011, OMNH 27766 from Grand County, eastern Utah; Aptian–Albian (Early Cretaceous), right dorsal rib 1 in posterior view, showing a narrow sheet of bone connecting capitulum and tuberculum and a pneumatic space entering the shaft in front of it. Photograph by MPT, used in Taylor et al. (2011: fig. 7). F. Rapetosaurus krausei Curry Rogers and Forster, 2001, SMM P2007.4.1 from Mahajanga basin, northwestern Madagascar; Maastrichtian (latest Cretaceous), dorsal rib, position and orientation unknown, showing a complex set of pneumatic features in the tuberculum and between it and the capitulum. Photograph by Kristina Curry Rogers. G. Rukwatitan bisepultus Gorscak, O'Connor, Stevens, and Roberts, 2014, holotype RRBP 07409 from Rukwa Rift Basin, southwestern Tanzania; Aptian–Cenomanian (Middle Cretaceous). G1, anterior?left dorsal rib in posterior view; G2, close-up with highlights indication the locations of thin ridges described as a "capitulotubercular web" and interpreted as pneumatic by Gorscak et al. (2014: 1142–1143). Not to scale. Photograph by Eric Gorscak and Pat O'Connor.
Fig. 4 in A novel form of postcranial skeletal pneumaticity in a sauropod dinosaur: Implications for the paleobiology of Rebbachisauridae
Fig. 4. Detail of the right transverse process of a middle or posterior dorsal vertebra (UNPSJB-PV 1007/5) of the rebbachisaurid sauropod Katepensaurus goicoecheai Ibiricu, Casal, Martínez, Lamanna, Luna, and Salgado, 2013a from the Cenomanian–Turonian Bajo Barreal Formation of Chubut Province, Argentina. A. Computed tomography (CT)-based reconstruction of the transverse process and diapophysis in posterior view, with black rectangle indicating location of axial CT "slice" shown in B. B. Axial CT "slice" showing intradiapophyseal chamber, with black and white arrowheads indicating cortical and trabecular tissues, respectively. Reconstruction of the transverse process and diapophysis in medial (C) and posterior (D) views. Black rectangle indicates location of sagittal CT "slice" shown in E. E. Sagittal CT "slice" through intradiapophyseal chamber.
Fig. 3 in A novel form of postcranial skeletal pneumaticity in a sauropod dinosaur: Implications for the paleobiology of Rebbachisauridae
Fig. 3. Partial anterior to middle dorsal vertebra (UNPSJB-PV 1007/12) of the rebbachisaurid sauropod Katepensaurus goicoecheai Ibiricu, Casal, Martínez, Lamanna, Luna, and Salgado, 2013a from the Cenomanian–Turonian Bajo Barreal Formation of Chubut Province, Argentina. A. Computed tomography (CT)-based digital reconstruction in left anterolateral view. B. Axial CT "slice" in anterior view, with hypothesized pneumatic structures indicated by arrows. Note internal cavity in left diapophysis.
Fig. 7 in A novel form of postcranial skeletal pneumaticity in a sauropod dinosaur: Implications for the paleobiology of Rebbachisauridae
Fig. 7. Cervical vertebrae of rebbachisaurid sauropod Katepensaurus goicoecheai Ibiricu, Casal, Martínez, Lamanna, Luna, and Salgado, 2013a from the Cenomanian–Turonian Bajo Barreal Formation of Chubut Province, Argentina. A. UNPSJB-PV 1007/1, anterior cervical vertebra in anterior (A1) and right ventrolateral (A2) views. B. UNPSJB-PV 1007/2, anterior cervical vertebra in right lateral view. C. UNPSJB-PV 1007/3, middle cervical vertebra in right lateral view. Lateral fossae of the centrum (hypothesized as pneumatic in origin) indicated by arrows.
Fig. 9 in A novel form of postcranial skeletal pneumaticity in a sauropod dinosaur: Implications for the paleobiology of Rebbachisauridae
Fig. 9. Comparison of the reconstructed pulmonary systems of the sauropod clades Rebbachisauridae (Diplodocoidea) and Saltasaurinae (Titanosauria) in right lateral view. A. Reconstructed pulmonary anatomy of a generalized rebbachisaurid. Skeletal reconstruction based largely on Nigersaurus taqueti (Sereno et al. 2007: fig. 3a); pulmonary anatomy based on data presented herein, i.e., hypothesized osteological correlates of pneumaticity described in multiple rebbachisaurids, but primarily Katepensaurus goicoecheai (cervical and dorsal pneumaticity) and Tataouinea hannibalis (sacral, caudal, and pelvic pneumaticity). B. Reconstructed pulmonary anatomy of a saltasaurine (after Cerda et al. 2012: fig. 4a). Color coding of pulmonary structures is as follows: orange, lung; green, cervical air sac system; yellow, clavicular air sac system; blue, abdominal air sac system. Postcranial skeletal elements that are known to have been pneumatized are shown in gray; bones that were either apneumatic or for which this condition is uncertain are in white.
Fig. 1. A in A novel form of postcranial skeletal pneumaticity in a sauropod dinosaur: Implications for the paleobiology of Rebbachisauridae
Fig. 1. A. Simplified phylogeny of Diapsida showing position of Rebbachisauridae and both components of the rebbachisaurid Extant Phylogenetic Bracket sensu Witmer 1995 (Crocodylia and Aves). Rectangle indicates absence of postcranial pneumaticity; triangles indicate presence of postcranial pneumaticity. B. Hypothesized osteological correlates of pneumatic and other soft tissue structures in archosaurian vertebrae (based on O'Connor 2006).
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