Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation

Biodegradability is an important property for soft robots that makes them environmentally friendly. Many biodegradable materials have natural origins, and creating robots using these materials ensures sustainability. Hence, researchers have fabricated biodegradable soft actuators of various material...

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Autores principales:	Toshiaki Nagai, Ashitaka Kurita, Jun Shintake
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	soft robotics green robotics sustainable biodegradable soft actuators finite element analysis Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/e6c8427133b84a1ca3f5012c868dedcc
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id	oai:doaj.org-article:e6c8427133b84a1ca3f5012c868dedcc
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spelling	oai:doaj.org-article:e6c8427133b84a1ca3f5012c868dedcc2021-11-30T17:42:50ZCharacterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation2296-914410.3389/frobt.2021.760485https://doaj.org/article/e6c8427133b84a1ca3f5012c868dedcc2021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.760485/fullhttps://doaj.org/toc/2296-9144Biodegradability is an important property for soft robots that makes them environmentally friendly. Many biodegradable materials have natural origins, and creating robots using these materials ensures sustainability. Hence, researchers have fabricated biodegradable soft actuators of various materials. During microbial degradation, the mechanical properties of biodegradable materials change; these cause changes in the behaviors of the actuators depending on the progression of degradation, where the outputs do not always remain the same against identical inputs. Therefore, to achieve appropriate operation with biodegradable soft actuators and robots, it is necessary to reflect the changes in the material properties in their design and control. However, there is a lack of insight on how biodegradable actuators change their actuation characteristics and how to identify them. In this study, we build and validate a framework that clarifies changes in the mechanical properties of biodegradable materials; further, it allows prediction of the actuation characteristics of degraded soft actuators through simulations incorporating the properties of the materials as functions of the degradation rates. As a biodegradable material, we use a mixture of gelatin and glycerol, which is fabricated in the form of a pneumatic soft actuator. The experimental results show that the actuation performance of the physical actuator reduces with the progression of biodegradation. The experimental data and simulations are in good agreement (R2 value up to 0.997), thus illustrating the applicability of our framework for designing and controlling biodegradable soft actuators and robots.Toshiaki NagaiAshitaka KuritaJun ShintakeFrontiers Media S.A.articlesoft roboticsgreen roboticssustainablebiodegradablesoft actuatorsfinite element analysisMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	soft robotics green robotics sustainable biodegradable soft actuators finite element analysis Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	soft robotics green robotics sustainable biodegradable soft actuators finite element analysis Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Toshiaki Nagai Ashitaka Kurita Jun Shintake Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation
description	Biodegradability is an important property for soft robots that makes them environmentally friendly. Many biodegradable materials have natural origins, and creating robots using these materials ensures sustainability. Hence, researchers have fabricated biodegradable soft actuators of various materials. During microbial degradation, the mechanical properties of biodegradable materials change; these cause changes in the behaviors of the actuators depending on the progression of degradation, where the outputs do not always remain the same against identical inputs. Therefore, to achieve appropriate operation with biodegradable soft actuators and robots, it is necessary to reflect the changes in the material properties in their design and control. However, there is a lack of insight on how biodegradable actuators change their actuation characteristics and how to identify them. In this study, we build and validate a framework that clarifies changes in the mechanical properties of biodegradable materials; further, it allows prediction of the actuation characteristics of degraded soft actuators through simulations incorporating the properties of the materials as functions of the degradation rates. As a biodegradable material, we use a mixture of gelatin and glycerol, which is fabricated in the form of a pneumatic soft actuator. The experimental results show that the actuation performance of the physical actuator reduces with the progression of biodegradation. The experimental data and simulations are in good agreement (R2 value up to 0.997), thus illustrating the applicability of our framework for designing and controlling biodegradable soft actuators and robots.
format	article
author	Toshiaki Nagai Ashitaka Kurita Jun Shintake
author_facet	Toshiaki Nagai Ashitaka Kurita Jun Shintake
author_sort	Toshiaki Nagai
title	Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation
title_short	Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation
title_full	Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation
title_fullStr	Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation
title_full_unstemmed	Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation
title_sort	characterization of sustainable robotic materials and finite element analysis of soft actuators under biodegradation
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/e6c8427133b84a1ca3f5012c868dedcc
work_keys_str_mv	AT toshiakinagai characterizationofsustainableroboticmaterialsandfiniteelementanalysisofsoftactuatorsunderbiodegradation AT ashitakakurita characterizationofsustainableroboticmaterialsandfiniteelementanalysisofsoftactuatorsunderbiodegradation AT junshintake characterizationofsustainableroboticmaterialsandfiniteelementanalysisofsoftactuatorsunderbiodegradation
_version_	1718406417463902208

Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation

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