The high cost of powerful, large-stroke, high-stress artificial muscles has combined with performance limitations such as low cycle life, hysteresis, and low efficiency to restrict applications. We demonstrated that inexpensive high-strength polymer fibers used for fishing line and sewing thread can be easily transformed by twist insertion to provide fast, scalable, nonhysteretic, long-life tensile and torsional muscles. Extreme twisting produces coiled muscles that can contract by 49%, lift loads over 100 times heavier than can human muscle of the same length and weight, and generate 5.3 kilowatts of mechanical work per kilogram of muscle weight, similar to that produced by a jet engine. Woven textiles that change porosity in response to temperature and actuating window shutters that could help conserve energy were also demonstrated. Large-stroke tensile actuation was theoretically and experimentally shown to result from torsional actuation.

Artificial Muscles from Fishing Line and Sewing Thread

Haines et al Science 2014 SM - Artificial Muscles from Fishing Line and Sewing Thread

In this paper, a physics-based model is proposed for a biomimetic robotic fish propelled by an ionic polymer-metal composite (IPMC) actuator. Inspired by the biological fin structure, a passive plastic fin is further attached to the IPMC beam. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state cruising speed of the robot under a given periodic actuation voltage. The interactions between the plastic fin and the IPMC actuator are also captured in the model. Experimental results have shown that the proposed model is able to predict the motion of robotic fish for different tail dimensions. Since most of the model parameters are expressed in terms of fundamental physical properties and geometric dimensions, the model is expected to be instrumental in optimal design of the robotic fish.

Modeling of Biomimetic Robotic Fish Propelled by An Ionic Polymer–Metal Composite Caudal Fin

A method for controlling vehicle systems includes receiving monitoring information from one or more monitoring systems and determining a plurality of driver states based on the monitoring information from the one or more monitoring systems. The method includes determining a combined driver state based on the plurality of driver states and modifying control of one or more vehicle systems based on the combined driver state.

System and method for responding to driver state

A method of determining an eye gaze direction of an observer is disclosed comprising the steps of: (a) capturing at least one image of the observer and determining a head pose angle of the observer; (b) utilizing the head pose angle to locate an expected eye position of the observer, and (c) analyzing the expected eye position to locate at least one eye of the observer and observing the location of the eye to determine the gaze direction.

Facial image processing system

As a result of years of research on the comparative biomechanics and physiology of moving through water, biologists and engineers have made considerable progress in understanding how animals moving underwater use their muscles to power movement, in describing body and appendage motion during propulsion, and in conducting experimental and computational analyses of fluid movement and attendant forces. But it is clear that substantial future progress in understanding aquatic propulsion will require new lines of attack. Recent years have seen the advent of one such new avenue that promises to greatly broaden the scope of intellectual opportunity available to researchers: the use of biorobotic models. In this paper we discuss, using aquatic propulsion in fishes as our focal example, how using robotic models can lead to new insights in the study of aquatic propulsion. We use two examples: (1) pectoral fin function, and (2) hydrodynamic interactions between dorsal and caudal fins. Pectoral fin function is characterized by considerable deformation of individual fin rays, as well as spanwise (along the length) and chordwise (across the fin) deformation and area change. The pectoral fin can generate thrust on both the outstroke and instroke. A robotic model of the pectoral fin replicates this result, and demonstrates the effect of altering stroke kinematics on the pattern of force production. The soft dorsal fin of fishes sheds a distinct vortex wake that dramatically alters incoming flow to the tail: the dorsal fin and caudal fin act as dual flapping foils in series. This design can be replicated with a dual-foil flapping robotic device that demonstrates this phenomenon and allows examination of regions of the flapping performance space not available to fishes. We show how the robotic flapping foil device can also be used to better understand the significance of flexible propulsive surfaces for locomotor performance. Finally we emphasize the utility of self-propelled robotic devices as a means of understanding how locomotor forces are generated, and review different conceptual designs for robotic models of aquatic propulsion.

Fish biorobotics: kinematics and hydrodynamics of self-propulsion

Fish are remarkable in their ability to maneuver and to control their body position. This ability is the result of the coordinated movement of fins which extend from the body and form control surfaces that can create and vector forces in 3-D. We have embarked on a research program designed to develop a maneuvering propulsor for unmanned undersea vehicles (UUVs) that is based on the pectoral fin of the bluegill sunfish. For this, the anatomy, kinematics, and hydrodynamics of the sunfish pectoral fin were investigated experimentally and through the use of computational fluid dynamics (CFD) simulations. These studies identified that the kinematics of the sunfish pectoral fin are very complex and are not easily described by traditional ldquorowingrdquo- and ldquoflappingrdquo-type kinematics. A consequence of the complex motion is that the pectoral fin can produce forward thrust during both its outstroke (abduction) and instroke (adduction), and while doing so generates only small lateral and lift forces. The results of the biological studies were used to guide the design of robotic pectoral fins which were built as experimental devices and used to investigate the mechanisms of thrust production and control. Because of a design that was based heavily on the anatomy of the sunfish fin, the robotic pectoral fins had the level of control and degrees of freedom necessary to reproduce many of the complex fin motions used by the sunfish during steady swimming. These robotic fins are excellent experimental tools, and are an important first step towards developing propulsive devices that will give the next generation of UUVs the ability to produce and control thrust like highly maneuverable fish.

The Development of a Biologically Inspired Propulsor for Unmanned Underwater Vehicles

A method and apparatus for analyzing drowsiness of a subject. The monitor measures motion of the head of the subject and of one or both eyes of the subject in at least one dimension and derives at least one physiological indication such as gaze stability, saccade speed, saccade frequency, blink duration, and instrument-world scanning performance of the subject. The physiological indicator or indicators are compared with predetermined ranges of acceptable values in such a manner as to determine an onset of drowsiness in the subject.

Drowsiness/alertness monitor

Conducting polymer actuators based on polypyrrole are being developed for use in biorobotic fins that are designed to create and control forces like the pectoral fin of the bluegill sunfish (Lepomis macrochirus). It is envisioned that trilayer bending actuators will be used within, and as, the fin's webbing to create a highly controllable, shape morphing, flexible fin surface, and that linear conducting polymer actuators will be used to actuate the bases of the fin's fin-rays, like an agonist-antagonist muscle pair, and control the fin's stiffness. For this application, trilayer bending actuators were used successfully to reproduce the cupping motion of the sunfish pectoral fin by controlling the curvature of the fin's surface and the motion of its dorsal and ventral edges. However, the speed of these large polymer films was slow, and must be increased if the fin's shape is to be modulated synchronously with the fin's flapping motion. Free standing linear conducting polymer films can generate large stresses and strains, but there are many engineering obstacles that must be resolved in order to create linear polymer actuators that generate simultaneously the forces, displacements and actuation rates required by the fin. We present two approaches that are being used to solve the engineering challenges involved in utilizing conducting polymer linear actuators: the manufacture of long, uniform ribbons of polymer and gold film, and the parallel actuation of multiple conducting polymer films.

https://iopscience.iop.org/article/10.1088/1748-3182/2/2/S02/pdf

The application of conducting polymers to a biorobotic fin propulsor.

An apparatus and method for analyzing visual and vestibular responses of a subject. One or more targets undergoing slow random motion are presented to the subject while the head of the subject is simultaneous perturbed with perturbations statistically uncorrelated with the random motion of the target. The response of the motion of the head of the subject and the motion of the subject's eyes is measured and the visual and vestibular system response dynamics are estimated based on the measured response.

James Tangorra

Papers

Fish biorobotics: kinematics and hydrodynamics of self-propulsion

The Development of a Biologically Inspired Propulsor for Unmanned Underwater Vehicles

Drowsiness/alertness monitor

The application of conducting polymers to a biorobotic fin propulsor.

Apparatus and method for measuring vestibular ocular reflex function