Monolithic electrostatic actuators with independent stiffness modulation
File(s)
Published version
Author(s)
Xu, Yuejun
Wen, Jian
Burdet, Etienne
Taghavi, Majid
Type
Journal Article
Abstract
Robotic artificial muscles, inspired by the adaptability of biological muscles, outperform rigid robots in dynamic environments due to their flexibility. However, the intrinsic compliance of the soft actuators restricts force transmission capacity and dynamic response. Biological muscle modulates their stiffness and damping, varying viscoelastic properties and force in interaction with the surroundings. Here we replicate this function in the electro-stiffened ribbon actuator, a monolithic strong actuator capable of high contraction and stiffness modulation. electro-stiffened ribbon actuator employs dielectric-liquid-amplified electrostatic forces for contraction, and electrorheological fluid for rapid (<10 ms) stiffness and damping adjustments. This seamless integration enables contractile force modulation, extending its capability as a lightweight variable resistance passive spring by over 2.5 times, and improves its dynamic responses, with faster contractions and rapid attenuation of oscillations by more than 50%. We demonstrate electro-stiffened ribbon actuator’s versatility in active, passive and dual connection functions, including arm-bending wearable robotics, robotic arms with variable impact resistance and muscle-like stiffness and damping modulation.
Date Issued
2025-01-30
Date Acceptance
2025-01-19
Citation
Nature Communications, 2025, 16
ISSN
2041-1723
Publisher
Nature Portfolio
Journal / Book Title
Nature Communications
Volume
16
Copyright Statement
© The Author(s) 2025 Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.
License URL
Identifier
https://www.ncbi.nlm.nih.gov/pubmed/39885138
PII: 10.1038/s41467-025-56455-z
Subjects
Static Electricity
Robotics
Humans
Equipment Design
Muscle Contraction
Muscle, Skeletal
Elasticity
Biomechanical Phenomena
Wearable Electronic Devices
Publication Status
Published
Coverage Spatial
England
Article Number
1174
Date Publish Online
2025-01-30