A Review of Smart Materials in Tactile Actuators for Information Delivery

As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of objects, like weight, temperature, textures, and motion, etc. In fact, those properties are nerve stimuli to our brain received by different kinds of receptors in the skin. Mechanical, electrical, and thermal stimuli can stimulate these receptors and cause different information to be conveyed through the nerves. Technologies for actuators to provide mechanical, electrical or thermal stimuli have been developed. These include static or vibrational actuation, electrostatic stimulation, focused ultrasound, and more. Smart materials, such as piezoelectric materials, carbon nanotubes, and shape memory alloys, play important roles in providing actuation for tactile sensation. This paper aims to review the background biological knowledge of human tactile sensing, to give an understanding of how we sense and interact with the world through the sense of touch, as well as the conventional and state-of-the-art technologies of tactile actuators for tactile feedback delivery

Micro Motion Amplifiers for Compact Out-of-Plane Actuation

Small-scale, out-of-plane actuators can enable tactile interfaces; however, achieving sufficient actuator force and displacement can require larger actuators. In this work, 2-mm2 out-of-plane microactuators were created, and were demonstrated to output up to 6.3 µm of displacement and 16 mN of blocking force at 170 V. The actuators converted in-plane force and displacement from a piezoelectric extensional actuator into out-of-plane force and displacement using robust, microelectromechanical systems (MEMS)-enabled, half-scissor amplifiers. The microscissors employed two layers of lithographically patterned SU-8 epoxy microstructures, laminated with a thin film of structural polyimide and adhesive to form compact flexural hinges that enabled the actuators’ small area. The self-aligned manufacture minimized assembly error and fabrication complexity. The scissor design dominated the actuators’ performance, and the effects of varying scissor angle, flexure thickness, and adhesive type were characterized to optimize the actuators' output. Reducing the microscissor angle yielded the highest actuator performance, as it maximized the amplification of the half-scissor's displacement and minimized scissor deformation under externally applied loads. The actuators' simultaneously large displacements and blocking forces for their size were quantified by a high displacement-blocking force product per unit area of up to 50 mN·µm/mm². For a linear force–displacement relationship, this corresponds to a work done per unit area of 25 mN·µm/mm². Keywords: microactuators; tactile actuators; piezoelectric actuators; scissor mechanism; motion amplifier; out-of-plane actuato

Skin friction measuring device for aircraft

A skin friction measuring device for measuring the resistance of an aerodynamic surface to an airstream is described. It was adapted to be mounted on an aircraft and is characterized by a friction plate adapted to be disposed in a flush relationship with the external surface of the aircraft and be displaced in response to skin friction drag. As an airstream is caused to flow over the surface, a potentiometer connected to the plate for providing an electrical output indicates the magnitude of the drag

Multi-objective optimal design of inerter-based vibration absorbers for earthquake protection of multi-storey building structures

In recent years different inerter - based vibration absorbers (IVAs) emerged for the earthquake protection of building structures coupling viscous and tuned - mass dampers with an inerter device . In the three most popular IVAs the inerter is functioning either as a motion amplifier [tuned - viscous - mass - damper (TVMD) configuration], mass amplifier [tuned - mass - damper - inerter (T MDI) configuration], or mass substitute [tuned - inerter - damper (TID) configuration]. Previous work has shown that through proper tuning , IVAs achieve enhanced earthquake - induced vibration suppression and/or weight reduction compared to conventional dampers/absorbers , but at the expense of increased control forces exerted from the IVA to the host building structure . These potentially large forces are typically not accounted for by current IVA tuning approaches. In this regard, a multi-objective IVA design approach is herein developed to identify the compromise between the competing objectives of (i) suppressing earthquake-induced vibrations in buildings, and (ii) avoiding development of excessive IVA (control) forces, while, simultaneously, assessing the appropriateness of different modeling assumptions for practical design of IVAs for earthquake engineering applications . The potential of the approach to pinpoint Pareto optimal IVA designs against the above objectives is illustrated for different IVA placements along the height of a benchmark 9-storey steel frame structure. Objective (i) is quantified according to current performanc e-based seismic design trends using first-passage reliability criteria associated with the probability of exceeding pre-specified thresholds of storey drifts and/or floor accelerations being the engineering demand parameters (EDPs) of interest . A variant, simpler, formulation is also considered using as performance quantification the sum of EDPs variances in accordance to traditional tuning methods for dynamic vibration absorbers. Objective (ii) is quantified through the variance of the IVA force. It is found that reduction of IVA control force of up to 3 times can be achieved with insignificant deterioration of building performance com pared to the extreme Pareto optimal IVA design targeting maximum vibration suppression , while TID and TMDI a chieve practically the same building performance and significantly outperform the TVMD. Moreover, it is shown that the simpler variant formulation may provide significantly suboptimal reliability performance . Lastly, it is verified that the efficacy of optimal IVA designs for stationary conditions is maintained for non-stationary stochastic excitation model capturing typical evolutionary features of earthquake excitations

Linear displacement and force characterisation of a 3D-printed flexure-based delta actuator

Piezoelectric beams provide a fast, high-force and scalable actuation mechanism that could offer precise motion control to medical microdevices including invasive micromanipulators, catheters and diagnosis tools. Their small displacement range can be addressed by motion amplification mechanisms. In this paper, a piezoelectric-actuated delta-robot actuator is proposed for probe-based confocal laser endomicroscopy (pCLE) microsystems. A prototype is designed and fabricated using three-dimensional (3D) polymer compound printing for a multi-flexure compliant motion amplifier and commercial piezoelectric beams. The flexure material is optimised for maximum linear output motion. The overall robot length is 76 mm and its maximum lateral dimension is 32 mm, with 10 g overall mass, including three piezoelectric beams. An axial motion control range of 0.70 mm and a maximum axial force of 20 mN are demonstrated, at 140 V actuation voltage. The proposed actuator architecture is promising for controlling lens, fibre and micromanipulator components for medical microrobotic applications

Remote photothermal actuation for calibration of in-phase and quadrature readout in a mechanically amplified Fabry-Pérot accelerometer

A mechanically amplified Fabry-Pérot optical accelerometer is reported in which photothermal actuation is used to calibrate the in-phase and quadrature (I&Q) readout. The Fabry-Pérot interferometer (FPI) is formed between a gold-coated silicon mirror, situated in the middle of a V-beam amplifier, and the end surface of a cleaved optical fiber. On the opposite side of the silicon mirror, a further cleaved optical fiber transmits near-infrared laser light (λ = 785 nm), which is absorbed by the uncoated silicon causing heating. The thermal expansion of the V-beam is translated into an amplified change in cavity length of the FPI, large enough for the 2π-phase variation necessary for I&Q calibration. A simple 1D thermal analysis of the structure has been developed to predict the relationship between laser power and change in cavity length. A device having a V-beam of length 1.8 mm, width 20 μm, and angle 2 ° was found to undergo a cavity length change of 785 nm at 30 mW input power. The device response was approximately linear for input accelerations from 0.01 to 15 g. The noise was measured to be ~ 60 μg/√Hz from 100 Hz to 3.0 kHz, whereas the limit of detection was 47.7 mg from dc to 3.0 kHz

Lunar module voice recorder

A feasibility unit suitable for use as a voice recorder on the space shuttle was developed. A modification, development, and test program is described. A LM-DSEA recorder was modified to achieve the following goals: (1) redesign case to allow in-flight cartridge change; (2) time code change from LM code to IRIG-B 100 pps code; (3) delete cold plate requirements (also requires deletion of long-term thermal vacuum operation at 0.00001 MMHg); (4) implement track sequence reset during cartridge change; (5) reduce record time per cartridge because of unavailability of LM thin-base tape; and (6) add an internal Vox key circuit to turn on/off transport and electronics with voice data input signal. The recorder was tested at both the LM and shuttle vibration levels. The modified recorder achieved the same level of flutter during vibration as the DSEA recorder prior to modification. Several improvements were made over the specification requirements. The high manufacturing cost is discussed

Gravity-Off-loading System for Large-Displacement Ground Testing of Spacecraft Mechanisms

Gravity-off-loading of deployable spacecraft mechanisms during ground testing is a long-standing problem. Deployable structures which are usually too weak to support their own weight under gravity require a means of gravity-off-loading as they unfurl. Conventional solutions to this problem have been helium-filled balloons or mechanical pulley/counterweight systems. These approaches, however, suffer from the deleterious effects of added inertia or friction forces. The changing form factor of the deployable structure itself and the need to track the trajectory of the center of gravity also pose a challenge to these conventional technologies. This paper presents a novel testing apparatus for high-fidelity zero-gravity simulation for special application to deployable space structures such as solar arrays, magnetometer booms, and robotic arms in class 100,000 clean room environment

Longitudinal distribution of virtual mass and damping forces on a pitching and heaving ship

CER59EFS28.Prepared for the S-3 Panel, Hull Structure Committee, Society of Naval Architects and Marine Engineers.August 28, 1959