The rapid increase in the aging population prompts the development of wearable devices and sophisticated robots. With their ability to collect complex information about their surroundings via e-skins, robots could per...The rapid increase in the aging population prompts the development of wearable devices and sophisticated robots. With their ability to collect complex information about their surroundings via e-skins, robots could perform more dynamic and variable tasks such as rescue missions or caring for the elderly. In this paper, we present a new concept of utilizing a very simple, highly flexible and stretchable capacitor sensor array, that can be attached on the surface of a retractable robot hand to realize three functions: determining the location, shape, and pressure of an object. This adaptive sensing system is accomplished using capacitors connected by aligned carbon nanotube(CNT) films constructed on an elastomer dielectric material, which can reduce the requirement on the accuracy of the machine vision system. This study has a very broad application in the manufacture of intelligent software robots.展开更多
For better controllability in actuations,it is desirable to create Functionally Graded Shape Memory Alloys（FG-SMAs）in the actuation direction.It can be achieved by applying different heat treatment processes to crea...For better controllability in actuations,it is desirable to create Functionally Graded Shape Memory Alloys（FG-SMAs）in the actuation direction.It can be achieved by applying different heat treatment processes to create the gradient along the radius of a SMA cylinder.Analytical solutions are derived to predict the macroscopic behaviors of such a functionally graded SMA cylinder.The Tresca yield criterion and linear hardening are used to describe the different phase transformations with different gradient parameters.The numerical results for an example of the model exhibit different pseudo-elastic behaviors from the non-gradient case,as well as a variational hysteresis loop for the transformation,providing a mechanism for easy actuation control.When the gradient disappears,the model can degenerate to the non-gradient case.展开更多
基金supported by the National Key Research and Development Program of China(Grant No.2017YFB0307000-01)the National Natural Science Foundation of China(Grant No.91648109)the Priority Academic Program Development of Jiangsu Higher Education Institutions,333 Project of Jiangsu Province
文摘The rapid increase in the aging population prompts the development of wearable devices and sophisticated robots. With their ability to collect complex information about their surroundings via e-skins, robots could perform more dynamic and variable tasks such as rescue missions or caring for the elderly. In this paper, we present a new concept of utilizing a very simple, highly flexible and stretchable capacitor sensor array, that can be attached on the surface of a retractable robot hand to realize three functions: determining the location, shape, and pressure of an object. This adaptive sensing system is accomplished using capacitors connected by aligned carbon nanotube(CNT) films constructed on an elastomer dielectric material, which can reduce the requirement on the accuracy of the machine vision system. This study has a very broad application in the manufacture of intelligent software robots.
基金the financial support of National Natural Science Foundation of China (no.11502284, 51505483, 11772041)the Fundamental Research Funds for the Central Universities (3122016C006) of China
文摘For better controllability in actuations,it is desirable to create Functionally Graded Shape Memory Alloys（FG-SMAs）in the actuation direction.It can be achieved by applying different heat treatment processes to create the gradient along the radius of a SMA cylinder.Analytical solutions are derived to predict the macroscopic behaviors of such a functionally graded SMA cylinder.The Tresca yield criterion and linear hardening are used to describe the different phase transformations with different gradient parameters.The numerical results for an example of the model exhibit different pseudo-elastic behaviors from the non-gradient case,as well as a variational hysteresis loop for the transformation,providing a mechanism for easy actuation control.When the gradient disappears,the model can degenerate to the non-gradient case.
