This article presents a self-sensing technique for electroadhesive devices (EAD) based on the capacitance measure. The proposed clutch presents great potential for developing safe, lightweight, and low-power physical human-robot interaction systems, such as exoskeletons and robotic walkers.Įlectroadhesion is a suitable technology for developing grippers for applications where fragile, compliant or variable shape objects need to be grabbed and where a retention action is typically preferred to a compression force. The proposed clutch offers a torque to power consumption ratio that is six times better than commercial magnetic particle clutches. Finally, a time-dependent model for the output torque of the clutch is presented, and the performance of the clutch was evaluated through experiments, including physical human-robot interaction. Moreover, the effect of the activation frequency on the output torque and power consumption of the clutch is investigated. The performance degradation issue due to the polarization of the insulator is addressed through the utilization of an alternating current waveform activation signal. The performance of three different pairs of clutch plates is investigated in the context of the smoothness and quality of output torque. In this paper, for the first time, the design and development of a novel, lightweight, and low-power torque-adjustable rotary clutch using electroadhesive materials is presented. However, the existing clutches suffer from high power consumption and large-weight, which make them undesirable from the design point of view. In this regard, controllable clutches have shown great potential for addressing important safety concerns at the hardware level by separating the high-impedance actuator from the end effector by providing the power transfer from electromagnetic source to the human. The increasing need for sharing workspace and interactive physical tasks between robots and humans has raised concerns regarding safety of such operations. Joint and collaborative efforts are still required to promote the in-depth understanding and mature employment of this promising adhesion and gripping technology in various robotic applications. In this survey, we comprehensively detail the working principle, modeling, design, fabrication, characterization, and applications of EA technologies employed in robotics, aiming to provide guidance and offer potential insights for future EA researchers and applicants. This is because EA technologies, compared to other existing adhesion solutions, facilitate systems with enhanced adaptability (EA is effective on a wide of range of materials and surfaces), reduced system complexity (EA systems are both mechanically and electrically simpler), low energy consumption, and less-damaging to materials (EA, combined with soft materials, can be used to lift delicate objects). Electroadhesion (EA) is an electrically controllable adhesion mechanism that has been studied and used in fields including active adhesion and attachment, robotic gripping, robotic crawling and climbing, and haptics, for over a century.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |