There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

An analyte monitor includes a sensor, a sensor control unit, and a display unit. The sensor has, for example, a substrate, a recessed channel formed in the substrate, and conductive material disposed in the recessed channel to form a working electrode. The sensor control unit typically has a housing adapted for placement on skin and is adapted to receive a portion of an electrochemical sensor. The sensor control unit also includes two or more conductive contacts disposed on the housing and configured for coupling to two or more contact pads on the sensor. A transmitter is disposed in the housing and coupled to the plurality of conductive contacts for transmitting data obtained using the sensor. The display unit has a receiver for receiving data transmitted by the transmitter of the sensor control unit and a display coupled to the receiver for displaying an indication of a level of an analyte. The analyte monitor may also be part of a drug delivery system to alter the level of the analyte based on the data obtained using the sensor.

Analyte Monitoring Device And Methods Of Use

A number of materials have been explored for their use as artificial muscles Among these, dielectric elastomers (DEs) appear to provide the best combination of properties for true muscle-like actuation DEs behave as compliant capacitors, expanding in area and shrinking in thickness when a voltage is applied Materials combining very high energy densities, strains, and efficiencies have been known for some time To date, however, the widespread adoption of DEs has been hindered by premature breakdown and the requirement for high voltages and bulky support frames Recent advances seem poised to remove these restrictions and allow for the production of highly reliable, high-performance transducers for artificial muscle applications

Advances in dielectric elastomers for actuators and artificial muscles.

Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats e.g. octopus arms and elephant trunks are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.

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Soft robotics: Biological inspiration, state of the art, and future research

The increasing understanding of the advantages offered by fish and insect-like locomotion is creating a demand for muscle-like materials capable of mimicking nature's mechanisms. Actuator materials that employ voltage, field, light, or temperature driven dimensional changes to produce forces and displacements are suggesting new approaches to propulsion and maneuverability. Fundamental properties of these new materials are presented, and examples of potential undersea applications are examined in order to assist those involved in device design and in actuator research to evaluate the current status and the developing potential of these artificial muscle technologies. Technologies described are based on newly explored materials developed over the past decade, and also on older materials whose properties are not widely known. The materials are dielectric elastomers, ferroelectric polymers, liquid crystal elastomers, thermal and ferroelectric shape memory alloys, ionic polymer/metal composites, conducting polymers, and carbon nanotubes. Relative merits and challenges associated with the artificial muscle technologies are elucidated in two case studies. A summary table provides a quick guide to all technologies that are discussed.

Artificial muscle technology: physical principles and naval prospects

Electroelastomers (electroactive elastomers) such as the 3M VHB 4910 acrylic adhesive films have exhibited up to 380% strain in area expansion at 5?6?kV when they are highly prestrained. By rolling highly prestrained electroelastomer films around a compression spring, we have demonstrated multifunctional electroelastomer rolls (MERs, or spring rolls) that combine load bearing, actuation, and sensing functions. We extended the design to two-degree-of-freedom (2-DOF) and 3-DOF spring rolls by patterning the electrodes to align radially on two and four circumferential spans of the rolls, respectively. Multiple-DOF spring rolls retain the linear actuation of 1-DOF spring rolls with additional bending actuation. Mathematical equations are derived to correlate the bending angle and lateral force of the rolls with the actuated stroke in one of the electroded spans. Two-DOF spring rolls with a 1.4?cm outside diameter, 6.8?cm axial length, and 11?g weight have been fabricated; these rolls have a 90? maximum actuation bending angle, 0.7?N maximum lateral force, and up to 15?N blocked axial force. Three-DOF spring rolls with a 2.3?cm outside diameter, 9.0?cm axial length, and 29?g weight exhibit a 35? maximum bending angle and 1.0?N maximum lateral force. These specifications can be modified by variations in roll parameters according to the equations. Multi-DOF spring rolls are easy to fabricate, compact, multifunctional, and mechanically robust. They represent a radically new actuation technology and may enable a number of unique applications. We have demonstrated a small walking robot, MERbot, with one 2-DOF spring roll as each of its six legs. The robot's speed is as high as 13.6?cm?s?1 or two-thirds of its length per second. 'Sushi rolls' have also been fabricated: these consist of six 2-DOF springs connected in series and monolithic in structure. The sushi rolls can be driven so as to generate wavelike or serpentine motion.

https://iopscience.iop.org/article/10.1088/0964-1726/13/5/N03/pdf

Multiple-degrees-of-freedom electroelastomer roll actuators

The invention describes rolled electroactive polymer devices. The invention also describes employment of these devices in a wide array of applications and methods for their fabrication. A rolled electroactive polymer device converts between electrical and mechanical energy; and includes a rolled electroactive polymer and at least two electrodes to provide the mechanical/electrical energy conversion. Prestrain is typically applied to the polymer. In one embodiment, a rolled electroactive polymer device employs a mechanism, such as a spring, that provides a force to prestrain the polymer. Since prestrain improves mechanical/electrical energy conversion for many electroactive polymers, the mechanism thus improves performance of the rolled electroactive polymer device.

Rolled electroactive polymers

Electroelastomer rolls and their application for biomimetic walking robots

The invention describes devices for controlling fluid flow, such as valves. The devices may include one or more electroactive polymer transducers with an electroactive polymer that deflects in response to an application of an electric field. The electroactive polymer may be in contact with a fluid where the deflection of the electroactive polymer may be used to change a characteristic of the fluid. Some of the characteristic of the fluid that may be changed include but are not limited to 1) a flow rate, 2) a flow direction, 3) a flow vorticity, 4) a flow momentum, 5) a flow mixing rate, 6) a flow turbulence rate, 7) a flow energy, 8) a flow thermodynamic property. The electroactive polymer may be a portion of a surface of a structure that is immersed in an external fluid flow, such as the surface of an airplane wing or the electroactive polymer may be a portion of a surface of a structure used in an internal flow, such as a bounding surface of a fluid conduit.

Electroactive polymer devices for controlling fluid flow

Electroelastomers (also called dielectric elastomer artificial muscles) have been shown to exhibit excellent performance in a variety of actuator configurations, but making a compact, free-standing, muscle-like actuator capable of obtaining good performance has been a challenge. By rolling highly prestrained electroelastomer films around a compression spring, we have demonstrated Multifunctional Electroelastomer Rolls (MERs) that combine load bearing, actuation, and sensing functions. The MER spring rolls are compact, have a potentially high electroelastomer-to-structure weight ratio, and can be configured to actuate in several ways, including axial extension, bending, and as multiple degree-of-freedom actuators that combine both extension and bending. One degree-of-freedom (1-DOF), 2-DOF, and 3-DOF MERs have all been demonstrated through suitable electrode patterning on a single monolithic substrate. A 1-DOF MER with 9.6 g weight, 12 mm diameter, and 65 mm total length can deliver up to 15 N force and 12 mm stroke. Its capacitance is around 13 nF and changes linearly with strain during axial tension or compression. The MERs are useful in a number of applications where compact and high-stroke actuation is required. The applications as artificial muscles are particularly appealing, as multifunctionality prevails in natural muscles.

Marcus A. Rosenthal

Papers

Multiple-degrees-of-freedom electroelastomer roll actuators

Rolled electroactive polymers

Electroelastomer rolls and their application for biomimetic walking robots

Electroactive polymer devices for controlling fluid flow

Multifunctional Electroelastomer Roll Actuators and Their Application for Biomimetic Walking Robots