Thermally controlled three-dimensional seamless textile actuators for soft robotic applications

Abstract

The present invention relates to three-dimensional (3D) seamless textile actuators based on the working principle of thermal activation, developed for soft robotic applications.

Description

[0001] THERMALLY CONTROLLED THREE-DIMENSIONAL SEAMLESS TEXTILE ACTUATORS FOR SOFT ROBOTIC APPLICATIONS

[0002] Technical Field

[0003] The present invention relates to three-dimensional (3D) seamless textile actuators based on the working principle of thermal activation, developed for soft robotic applications.

[0004] Prior Art

[0005] In the state of the art, pneumatic or hydraulic systems are used for actuator applications. Existing soft robotic devices typically employ systems that drive actuators using air or fluid pressure. Pneumatic actuators are fabricated from elastomeric materials, and various motions are achieved by inflation via air pressure. These systems are generally heavy, noisy, expensive, and limited in daily life activities in terms of portability. In addition to pneumatic and hydraulic systems, textile-based sensors and heaters integrated with electronic components are also available; however, these are generally produced as separate components and subsequently assembled, which leads to integration issues and reliability problems.

[0006] Systems existing in the state of the art inflate actuators made of elastomeric materials using air or fluid pressure and provide the desired movements. Large and heavy compressors or pumps are required for the operation of these systems, which restricts portability. Furthermore, these systems are noisy and have low energy efficiency.

[0007] Some of the technical problems encountered in the prior systems are stated below.

[0008] Weight and volume: The large and heavy components of pneumatic and hydraulic systems restrict their portability and wearability.Noise: The noise generated during the operation of compressors and pumps used in pneumatic and hydraulic systems negatively affects user comfort.

[0009] Energy efficiency: The high energy requirement for the operation of pneumatic and hydraulic systems shortens battery life and reduces efficiency.

[0010] Integration challenges: Electronic components, sensors, and heaters are generally produced separately and subsequently assembled, which leads to integration issues and reliability problems.

[0011] High cost: The production and maintenance costs of pneumatic and hydraulic systems are high, which hinders their widespread use.

[0012] Limited area of use: Pneumatic and hydraulic systems are generally limited to clinical settings, and their use in daily life activities is difficult.

[0013] In the patent document numbered JPH0893721A, a micro-actuator having a working fluid area wherein the height of the working fluid depends on the temperature change of a photothermal conversion material in the working fluid is mentioned.

[0014] Upon examining the studies existing in the state of the art, a need has arisen for the development of three-dimensional (3D) seamless textile actuators based on the working principle of thermal activation, developed for soft robotic applications.

[0015] Objectives of the Invention

[0016] The object of the present invention is to develop a three-dimensional (3D) seamless textile actuators based on the working principle of thermal activation, developed for soft robotic applications.

[0017] Another object of the present invention is to develop a three-dimensional (3D) seamless textile actuators having increased portability and wearability due to being produced from lightweight and flexible materials.Another object of the present invention is to develop a three-dimensional (3D) seamless textile actuators providing high performance with low energy consumption.

[0018] Another object of the present invention is to develop a three-dimensional (3D) seamless textile actuators that combine sensors, heaters, and actuators in a single seamless textile structure (in the actuator), thereby eliminating integration issues and durability problems.

[0019] Detailed Description of the Invention

[0020] The visuals of the three-dimensional (3D) seamless textile actuator based on the working principle of thermal activation, developed to achieve the objects of the invention, are illustrated in the attached figures.

[0021] These figures;

[0022] Figure 1: A schematic view of the actuator of the invention.

[0023] Figure 2: A schematic view of the actuator of the invention in a different state and a detailed view of its tip portion.

[0024] Figure 3: A schematic view of the layered structure within the actuator of the invention.

[0025] Figure 4: A schematic view of the yarn structure in the body of the actuator of the invention.

[0026] The parts shown in the figures are numbered individually, and the corresponding descriptions are given below.

[0027] 1. Body

[0028] 2. Conductive yarn

[0029] 3. Air bladderA three-dimensional (3D) seamless textile actuator based on the working principle of thermal activation, developed for soft robotic applications, and comprises;

[0030] a body (1) manufactured from seamless textile material, knitted in a tubular shape and consisting of a double layer,

[0031] silver-coated conductive yarns (2) integrated into the body (1),

[0032] an air bladder (3) located between the layers of the body (1), containing a liquid that creates pressure by evaporating when heated and enables the actuator to move.

[0033] The body (1) of the actuator of the invention is formed from flexible and durable textile materials and provides both flexibility and durability. It is the main structure into which the entire system is integrated and enables movement. The performance of the actuator depends on factors such as the yarn type and knitting structure used in the body (1). Anisotropy arises from the different mechanical properties of the lower and upper layers of the actuator, and this enables the desired movement. The accumulations located on the upper part of the actuator body (1) are an important factor affecting the behavior of the actuator.

[0034] The conductive yarns (2) are integrated into the body (1). The conductive yam (2) can serve as both a sensor and a heater. In case of need, heating can be performed bilaterally by applying current to the upper conductive yarn (2) as well. In the realized embodiment, the upper conductive yarn (2) structure is used as a sensor because bending and elongation occur in this area. When the liquid accumulates at the bottom due to gravity, the conductive yarns (2) in the lower part are used as heaters. The conductive yarns (2) generate heat with electrical energy. They cause the actuator to move by enabling the evaporation of the low boiling point liquid. Silver-coated yarns such as Shieldex® 235 / 36 HC+B are used as the conductive yarn (2). These yarns provide the necessary heat by operating with high resistance.

[0035] When the conductive yarn (2) is used as a sensor, it monitors the movement of the actuator and provides feedback. It gives feedback regarding the movement by measuring the change in electrical resistance. The sensor monitors the change in resistance depending on the bending angle of the actuator, which helps to optimizethe performance of the actuator. The air bladder (3) enables the expansion and bending of the actuator by retaining the pressure created by the evaporating liquid. The air bladder (3) holds the pressure generated when the liquid evaporates, and this pressure provides the movement of the actuator.

[0036] Novec 7100 fluid with a low boiling point (61 °C) is used within the actuator. The fluid creates pressure by evaporating when heated and enables the actuator to move. When the fluid evaporates, it increases the pressure inside the actuator and provides the movement. The cycle of evaporation and condensation of the fluid controls the motion of the actuator.

[0037] The seamless nature of the subject actuators allows for the simultaneous production of all components in a single step, providing ease of integration and durability. The loop structures of different densities constituting the actuator offer different flexibility and movement characteristics in different regions of the actuator.

[0038] A computerized jacquard flat knitting machine (V-bed) was used for the production of the actuator of the invention. This machine operates at a 14-gauge specification and is ideal for creating complex seamless structures. Ne 30 / 2 cotton yarn was preferred due to its low elasticity and compatibility with the knitting machine. Shieldex® 235 / 36 HC+B silver-coated polyamide yarn was used in regions where electrical conductivity is desired. This yam possesses a high conductivity (< 600 Q / m) property and was used in the sensor and heater regions. The actuators operate using textile-based heaters working with low voltage (12.5 V). Using thermal actuators instead of pneumatic or hydraulic systems offers a quieter and more energy-efficient solution. These heaters provide high performance with low energy consumption. Conductive yarns (2) are integrated into the seamless textile structure. The actuator is filled with a low boiling point liquid. This liquid creates pressure by evaporating when heated and enables the actuator to move. The fact that the liquid has a low boiling point allows for effective movement to be achieved with lower energy.

[0039] The invention plays an important role in the development of soft wearable robotic structures, specifically for the purpose of movement support during daily lifeactivities. Moreover, it can be used in physical rehabilitation processes to increase the mobility of patients and to support recovery processes. Furthermore, it can also be used in industrial robotic grippers in grasping, carrying, and repositioning operations. This technology aims to increase the integration, mobility, and reliability of wearable robotic devices by overcoming the limitations of existing technologies.

[0040] The actuators of the subject invention reduce costs by utilizing low-cost textile materials and production techniques, become accessible to a wider user base, and offer an economically more sustainable solution. Being suitable for home use as well, they provide movement assistance and rehabilitation during the daily activities of users. Thus, users become self-sufficient, and rehabilitation processes are accelerated.

[0041] It offers advantages such as light weight, portability, silent operation, energy efficiency, ease of integration, low cost, and a broad area of use. It aims to assist users in performing their daily life activities more independently and comfortably, to support rehabilitation processes, and to increase the widespread use of soft robotic devices.

[0042] These benefits are highly effective for people in need, increasing their quality of daily life and providing significant advantages in rehabilitation processes. The actuators of the subject invention aim to make soft robotic technologies more accessible and practical.

[0043] The invention can be used in grasping, carrying, and repositioning operations of industrial robots. In particular, the lightweight and flexible actuators can be used in the end-effectors (grippers) of robotic arms. Thereby, it is ensured that the robots perform precise grasping, and a noiseless working environment is created.

[0044] Soft robotic actuators can be used in automation systems employed in assembly lines, packaging systems, and the logistics sector.They can be used in the harvesting of delicate plants and fruits. Soft robotic actuators ensure that delicate products are collected without being damaged. They increase efficiency, provide labor savings, and preserve the quality of the harvested products.

[0045] The actuators can be used for the care and monitoring of plants. For example, integrated sensors and actuators can be used to monitor the growth process of plants and to perform maintenance operations. It increases plant health and productivity, and provides precise control for automatic irrigation and fertilization operations.

Claims

CLAIMS1. A three-dimensional (3D) seamless textile actuator based on the working principle of thermal activation for soft robotic applications, characterized in that it comprises;- a body (1) manufactured from seamless textile material, knitted in a tubular shape and consisting of a double layer;silver-coated conductive yams (2) integrated into the body (1); an air bladder (3) located between the layers of the body (1), containing a liquid that creates pressure by evaporating when heated and enables the actuator to move.

2. The actuator according to Claim 1, characterized in that the air bladder (3) preferably contains Novec 7100 liquid.

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