An easy to implement toolkit to create HASEL artificial muscles
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- Опубліковано 7 лип 2019
- The Keplinger Research Group at the University of Colorado Boulder has created an easy-to-implement toolkit to design, build, and power HASEL (Hydraulically Amplified Self-healing ELectrostatic) artificial muscles. This toolkit, consisting of only off-the-shelf materials, allows a wide audience of researchers, roboticists, and even hobbyists to explore and push the boundaries of this new technology. To showcase the capabilities of the toolkit, we created bio-inspired soft actuators including an artificial scorpion tail and an untethered continuum robot that mimics an elephant trunk.
Learn more about the publication in Advanced Science: doi.org/10.1002/advs.201900178
Keplinger Research Group:
Commercializing HASEL technology through Artimus Robotics: www.artimusrobotics.com/
Whoever chose the music for this video has excellent taste.
The biggest issue is the huge voltage needed (5KV+), not very safe to operate. I was wondering why not make very thin PDMS-electrode layers, with each layer 1um thick we can apply up to 100 volts before the breakdown. At 70 volts such muscle would produce force of ~20N/cm^2, comparable to the human muscle. The biggest issue is likely to make layers 1um thick, also the dielectric breakdown could also be a problematic due to lack of self healing...
You are forgetting something very important, n a n o m a c h I n e s
@@emperorhadrian6011 Good point, I have researched it a bit, and it seems like molecular nano-machines (eg polymer chains) are much more promising solution long-term.
@@PeterDabkowski
👉😎👉 and with the possibility of making actual carbon nano "TUBES" you can achieve dispersion of coagulant and proteins through itself Instead of having to inject each fluid sack individually.
The big breakthrough will be single strand polymer actuators...
@@ThexBorg ooo
I've been wanting to work with Hasel actuators for over a year to put my love for tinkering to good use making prosthetics but I've been discouraged from even attempting to enter any field that's even remotely connected to robotics. This is an ingenious idea though, hopefully it gets fully utilized.
Beautiful!
Amazing Work!
Awwwww they look so cuteeee
Sehr Innovativ - Danke fürs Teilen ❤️👍
1:16 I really support the direction in which this is going
So do I, so do I.
Nice !
Amazing, I wonder if they are strong, quick and reliable enough to be used for legged locomotion like for a bidep
How quick is the actuating and readback loop? I mean the time between putting volts in it and reading out the precise resulting movement (as demonstrated in other videos)
@@ecicce6749 it also works as a sensor, perfect for biomimicry
@@ecicce6749 I think, based on work my lab does on pneumatic soft robots, the problem is not so much the frequency of the feedback loop but that the dynamics of a device like this are very difficult to model, and so it is very difficult to get good control running on them.
Was that a Wii nunchuck I saw
Sharp eyes, I think so. Good that they're still banging around so to speak.
I think it's actually the Microsoft accessibility joystick (a Wii nunchuk.)
Hello. Applied voltage and current consumption?
5-10kV
Does the controller in the kit allow you to manually dial the voltage? There is a dial on the voltage controller, is that what it's for?
How about the geometry of the plastic tin pocket? Would the stroke increase greatly if you fold the plastic film like the paper flour bag style?
Incredibly impressive, but one concern - (keep in mind I'm definitely not well versed on electronics), but after checking out the research papers, it seems to imply that you'd need a separate high voltage power supply for EACH hasel actuator that you'd want to control separately. The level of voltage determines the actuation force instead of the amount of current, so unlike servos, they couldn't be wired in parallel from a single high voltage power source to control them separately, meaning each hasel actuator would require its own individual high voltage power supply? Which is fine for one or two hasel actuators, but it seems building anything more complicated (like a robot hand where all 5 digits can move separately, or even a head) greatly increases the complexity and number of power supplies. I could be waaaay off-base here since I know little about electronics, but any clarification? About the feasibility of scaling it up for a dozen, or even tens of hasel actuators being controlled individually. Thanks!
Maybe PWM is suitable here. By using high frequency pulses of high voltage with different inter-pulse pauses it is maybe possible to control position of the muscle between fully relaxed and fully contracted state. This solution is also scalable by parallel connecting to power supply, it will only require small PWM control circuit for each muscle.
I am not an expert myself by you could possibly have one power supply with a High Voltage Convertor and use a control system to supply power to each actuator depending on the needs. You would need to estimate how many actuators could possibly operate simultaneously and make the power supply big enough to handle that. Then when you need less you can always reduce the amount of output power. In any case a full sized android would be carrying VERY high voltage.
I imagine for the purposes of the demonstration they didn't want to invest in custom electronics. I can't see any reason why you couldn't have a single high voltage power supply and a single controller with multiple outputs. If your amp "bandwidth" is high enough, you'll really have no issue whether running one or 5.
@@gormauslander Switching 5KV via semiconductors is really tricky, you'd be better off to drive a piezo transformer...
@@AltMarc I am not an electrical engineer, I will take your word for it
Imagine a new age of robotics with this kind of technology!!
I start my research about artificial muscles. I want to create an artifical biceps braquial.
Sir Have u Made That Artificial Biceps Muscle?
Amazing work, any timeline estimates or pricing ranges for hobbyist?
Can't a hobbyist just make it themselves? This video shows everything you need to know.
It seems that the hot-end of a 3D printer is used to seal 2 pieces of plastic film together to create the initial pocket.
@@roidroid 8kV is a lot
@@jameskoitsky3526 Not a lot for a hobbyist. You can get various kinds of HV arc generators on Ebay(etc) for less than $10, they're pretty scary TBH.
Disclaimer: You could probably die if not sufficiently careful with this HV stuff.
Can I use canola instead of dielectric liquid?
Synthetic materials have greater tolerances than natural muscle fibres. As you mentioned in your research interests about energy harvesting is it possible to harness body heat ? It just dissipates anyway accounting for 30 to 40 percent energy losses. External sources and higher voltages are hazardous.
Do you know what electrodes are used
Matrix...
I know absolutely nothing about how this thing works, I just want a crisis nano suit
I guess it is some oil used as insulant in a capacitor: if you apply voltage to the two armature of the capacitor they will attract moving the oil (liquid) so the whole thing moves
what do you call the yellow plastic used as cover in the sealing process?
kapton sheet
Можно свободно использовать эту технологию?
Carbón ? Or it's other thing?
What specific liquid dielectric is used here?
I guess purified water should do the trick
@@challengepoker Water is a conductor and rip the pouch apart, that's why they use liquid dielectric because it isn't a conductor and an added benefit is it's more slippery.
@@DanielK-vp9cb Water is only a conductor because of dissolved salts (electrolytes). Distilled (or “purified”) water would make a good insulator because it has no dissolved salts.
seems like a hasel to do!
nice pun lol
Does it require a high amount of power to operate or no?
power no, but quite high voltages around 5-10kV
I see a problem:
When the muscle is in the contracted state, there ist no power flowing and when it is relaxed, the power is flowing.
Most of the time in a body or robot, a muscle is in the relaxed state, so it will use a lot of energy. And when the energy is empty, all muscles would contract all of a sudden.
It's probably because of the design, but could that be reversed somehow?
I see application of charge causing electrodes to be attracted to each other, but I see no current path. No current, no power, no heat.
@@burnerjack01 The energy is moving the fluid
Isn't the electricity attracting the layers of conductive material and just sqeezing the liquid in the bag to the outer edge? How can this return to the original evenly distributed liquid state so fast? Is reversing the electric charge some causing it to spread apart pulling the liquid back?
Edit: somehow causing
@kepplingerresearchgroup
I'm trying to make a muscle and I'm using copper tape for electrodes and olive oil as a dielectric but it keeps arcing around the individual cells and burning through the plastic. I've tried a few designs with plenty of space between the edge of the electrode and the edge of the cell but all inevitably arc somewhere and fail. Do I need to use different materials or something?
Yeah you probably need to
Hello Sir Hi Have u made that Muscle with Polymer sheet shell filled with oil and you have used plastic Tape for Electrodes ?
from the article they announced, BOPP sheet is used due to its high dielectric strength (700kV/mm). I wonder not all BOPP sheets have such high dielectric strength. BOPP that is used in food packaging usually won't announce the dielectric strength, except BOPP capacitor film. So I guess the BOPP sheet mention in the article actually is capacitor film.
@@foochuangye5497 may be
@@foochuangye5497 basically I am Going to Work On This Project So That's Why I need Little bit help That What Kind of Voltage would we use and How we will Use Electrode Carbon Paint and Oil
Sad that those actuators have something in the middle, else this would make for a nice onahole base.
🤣
They probably also don't make as much noise as robots with motor actuators,do they?
i think you are correct, these artificial muscles can easily be used to bridge the gaps between robots and humans, if someone with proper anatomical knowledge of the human body can put these together in a bot, it may make it possible to make an android so similar that a normal person may not even be able to tell the difference!
What about power efficiency? how much energy does it require?
I'm wondering that as well, how does it compare to a servo?
It only uses up to 5VDC input and maximum output power of 5W. But it does require a $400 High Voltage Converter www.picoelectronics.com/node/13288
Where do you get them?
artimusrobotics.com
wow this looks extremely unsafe to touch because to produce such strong forces you'd need crazy potential differentials. i used to play lots with homemade high voltage capacitors that exhibit this behaviour and I know firsthand how much it hurts when it discharges 10kV into you :D
They're using a wii nunchuck lol
I think it's actually the Microsoft accessibility joystick (a Wii nunchuk.)
Can this scale up to allow me to jump over skyscrapers and uproot trees?
Wish they replaced plastic with collagen or celulose...
I have some cellulite they can have.
can i buy the material ?
please see artimusrobotics.com
Bro Have U Buyed The material ?
How to make it in home ?
You can do everything in the video at home. Which part can't you do at home?
You need to buy some parts the most expensive seems to be www.picoelectronics.com/node/13288 but be very careful because this is a high voltage application with up to 10.000 Volts output
@@roidroid What kind of liquid and plastic works best?
@@danielcepeda4313 i only know what the videos show, further experimenting to find out what is "BEST" can be done by you, YES YES :)
@@roidroid It dielectric liquid so silicone oil or caster oil, etc. will work. The plastic is the same plastic used in chip bags. It's so simple a 5 year old can do it.
I'm gonna craft a girlfriend
I as a hobbyist and this as a side project for a full blown sex robot is also something I’m taking up. RealBotics isn’t looking into this level of tech so I take it upon myself. These muscles are already available for purchase and using the open source robot inmovve project and a silicon sex doll wrap think it can be done quit quickly. Are you serious about this?
@@danielcepeda4313 Dude, it was a joke
@@Yowax Why? You should pursue it. I'm going to open source the AI api on Github. I'll give you the link soon should you reconsider. Have a good day.
I've devised almost the exact same thing in my mind years ago.
havent we all.The thing that makes it impressive is that they have done it
That's a Wii numbchuck...
Some articles published the these HASEL muscles as "This new artificial muscles costs just 10 pennies to be produce" or similar things, but the commercialized one costs up to $2000, I know you need to get some profit, but isn't the difference between pennies and thousands of dollars too much?
Don't you have lower cost kits, of just some hundreds of dollars to permit then be acquired by none empresarial persons, as just hobyist? I think that would you to get more visibility.
Has anybody tried to mimic an entire muscle system of an actual animal?
Now get experts to make a complex musculature, cover it in flexible/detailed skin and use it for more convincing animatronic effects in movies.
...I'm sick of this stagnant videogame-ey CGI.
that would be soo cool! i love this idea!
I would rather stick with servo motors...
1:19 who wants this muscle to play osu!?
Why youtube, why?