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250102s2025 xx |||||o 00| ||eng c |
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|a 10.1002/adma.202414872
|2 doi
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|a pubmed24n1649.xml
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|a (NLM)39743966
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|a DE-627
|b ger
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|e rakwb
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|a eng
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| 100 |
1 |
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|a Kim, Chong-Chan
|e verfasserin
|4 aut
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| 245 |
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|a Soft, Modular Power for Composing Robots with Embodied Energy
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|c 2025
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|a Text
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|2 rdacontent
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|a ƒaComputermedien
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|2 rdamedia
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|a ƒa Online-Ressource
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|a Date Revised 02.01.2025
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|a published: Print-Electronic
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|a Citation Status Publisher
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|a © 2025 The Author(s). Advanced Materials published by Wiley‐VCH GmbH.
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|a The adaptable, modular structure of muscles, combined with their confluent energy storage allows for numerous architectures found in nature: trunks, tongues, and tentacles to name some more complex ones. To provide an artificial analog to this biological soft muscle, a self-powered, soft hydrostat actuator is presented. As an example of how to use these modules, a worm robot is assembled where the near totality of the body stores electrochemical potential. The robot exhibits an extremely high system energy density (51.3 J g-1), using a redox flow battery motif, with a long theoretical operational range of more than 100 m on a single charge. The innovation lies in the battery pouch, fabricated with a dry-adhesion method, automatically bonding Nafion separators to a silicone-urethane copolymer body. These pouches contain anolyte within a hydrostat pod filled with catholyte, increasing current density per pod. Each pod has a motor and tendon actuator for radial compression and expansion. By linking these self-contained pods in series, the robot worm is created that automatically navigates an enclosed, curved path. This high-capacity soft worm also climbs up and down a vertical pipe, using a two-anchor crawling gait, with an extra payload equivalent to 1.5 times its body weight
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|a Journal Article
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|a 3D printing
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|a dry adhesion
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| 650 |
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|a embodied energy
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| 650 |
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|a modular structure
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| 650 |
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|a redox flow battery
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| 650 |
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4 |
|a untethered soft robots
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|a Ramaswami, Anunth Rao
|e verfasserin
|4 aut
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| 700 |
1 |
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|a Shepherd, Robert F
|e verfasserin
|4 aut
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| 773 |
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|i Enthalten in
|t Advanced materials (Deerfield Beach, Fla.)
|d 1998
|g (2025) vom: 02. Jan., Seite e2414872
|w (DE-627)NLM098206397
|x 1521-4095
|7 nnns
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|g year:2025
|g day:02
|g month:01
|g pages:e2414872
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|u http://dx.doi.org/10.1002/adma.202414872
|3 Volltext
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