Dataset Information

Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids.

ABSTRACT: Soft robotic systems generally require both soft actuators and soft sensors to perform complex functions. Separate actuators and sensors are often combined into one composite device when proprioception (self-sensing) is required. In this article, we introduce the concept of using a conductive liquid to perform both the sensing and actuation functions of a proprioceptive soft actuator. The working fluid drives actuator deformation while simultaneously acting as a strain-sensing component for detecting actuator deformation. The concept is examined and demonstrated in two proprioceptive flexible fluidic actuators (FFAs) that use conductive liquids as their working fluids: a linear actuator and a bending actuator. In both cases, we show that resistance can be used to infer strain. Some hysteresis and nonlinearity are present, but repeatability is high. The bandwidth of resistance as a sensing variable in the bending FFA is tested and found to be ?3.665?Hz. Resistance is demonstrated as a feedback variable in a control loop, and the proprioceptive bending FFA is controlled to respond to step input and sinusoidal target functions. The effect of temperature on resistance-strain behavior is also examined, and we demonstrate how measurement of volume and resistance can be used to detect when the actuator is constrained. Biocompatible proprioceptive soft actuators such as those presented in this article are ideal for use in low-cost bionic healthcare components such as orthotics, prosthetics, or even replacement muscles.

SUBMITTER: Helps T

PROVIDER: S-EPMC5905876 | biostudies-other | 2018 Apr

REPOSITORIES: biostudies-other

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Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids.

Helps Tim T Rossiter Jonathan J

Soft robotics 20171206 2

Soft robotic systems generally require both soft actuators and soft sensors to perform complex functions. Separate actuators and sensors are often combined into one composite device when proprioception (self-sensing) is required. In this article, we introduce the concept of using a conductive liquid to perform both the sensing and actuation functions of a proprioceptive soft actuator. The working fluid drives actuator deformation while simultaneously acting as a strain-sensing component for dete ...[more]

PMID: 29211627

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Project description:Soft and conductive nanomaterials like carbon nanotubes, graphene, and nanowire scaffolds have expanded the family of ultraflexible microelectrodes that can bend and flex with the natural movement of the brain, reduce the inflammatory response, and improve the stability of long-term neural recordings. However, current methods to implant these highly flexible electrodes rely on temporary stiffening agents that temporarily increase the electrode size and stiffness thus aggravating neural damage during implantation, which can lead to cell loss and glial activation that persists even after the stiffening agents are removed or dissolve. A method to deliver thin, ultraflexible electrodes deep into neural tissue without increasing the stiffness or size of the electrodes will enable minimally invasive electrical recordings from within the brain. Here we show that specially designed microfluidic devices can apply a tension force to ultraflexible electrodes that prevents buckling without increasing the thickness or stiffness of the electrode during implantation. Additionally, these "fluidic microdrives" allow us to precisely actuate the electrode position with micron-scale accuracy. To demonstrate the efficacy of our fluidic microdrives, we used them to actuate highly flexible carbon nanotube fiber (CNTf) microelectrodes for electrophysiology. We used this approach in three proof-of-concept experiments. First, we recorded compound action potentials in a soft model organism, the small cnidarian Hydra. Second, we targeted electrodes precisely to the thalamic reticular nucleus in brain slices and recorded spontaneous and optogenetically evoked extracellular action potentials. Finally, we inserted electrodes more than 4 mm deep into the brain of rats and detected spontaneous individual unit activity in both cortical and subcortical regions. Compared to syringe injection, fluidic microdrives do not penetrate the brain and prevent changes in intracranial pressure by diverting fluid away from the implantation site during insertion and actuation. Overall, the fluidic microdrive technology provides a robust new method to implant and actuate ultraflexible neural electrodes.

Dataset Information

Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids.

Publications

Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids.

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