Session: 01-02 Sensor and Actuator Materials 1

Paper Number: 172377

172377 - Design Principles for the Use of Artificial Muscles in Soft and Miniature Robotics 

In this talk I will describe the design motif known as “antagonistic pairs”, commonly observed in skeletal muscles. This arrangement enables the reversible, cyclic, contractions necessary for motion. Antagonistic arrangement may initially appear inefficient, since the contraction of a muscle group stretches the antagonist one at each cycle, increasing resistance and energy consumption. We show that the nonlinear muscle mechanics is critical to the high efficiency of natural antagonistic muscle pairs, and we aim to mimic this nonlinearity via hierarchical muscle microstructure.

This talk will focus on twisted and coiled polymer actuators (TCPA). First, I will describe intriguing hierarchical super-, and hyper-coiled artificial muscles which, inspired by natural muscles, result in nonlinear J-shaped force-displacement behavior. Next, I will describe design rules to systematically select muscles for robotic mechanisms. Finally, I will describe their use to build work accumulating mechanics such as vertical rope-climbing robots.

Presenting Author: Sameh Tawfick University of Illinois

Presenting Author Biography: Sameh Tawfick is a Ralph A. Andersen Scholar and Associate Professor of Mechanical Science and Engineering at the University of Illinois. He studies advanced materials, nonlinear mechanics, and manufacturing processes. Sam obtained his PhD from the University of Michigan, was a Postdoctoral Associate at the Massachusetts Institute of Technology, and a Beaufort Visiting Fellow in St. John’s College at the University of Cambridge in 2023. He is the recipient of young investigator awards from the US Air Force, ASME, SME, and The Dean’s Award for Excellence in Research at Illinois. His teaching awards at the University of Illinois include The Everitt Award for Teaching Excellence, The Two-year Alumni Teaching Award, and The Engineering Council Stanley H. Pierce Award for Empathetic Student-faculty Cooperation.