Cost-Effective Triboelectric-Assisted Sensory Actuator Designed for Intelligent Robot and Exoskeleton
Joint actuators are the key components in the innovation and iterative optimization of the robots, with a significant impact on both the performances of robots and manufacturing costs. Conventional industrial collaborative robots often use high-precision position and torque sensors, which are not co...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Engineering Proceedings |
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| Online Access: | https://www.mdpi.com/2673-4591/78/1/11 |
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| author | Haowen Liu Yusong Chu Yudong Zhao Guanyu Zhu Xuan Li Minglu Zhu Tao Chen |
| author_facet | Haowen Liu Yusong Chu Yudong Zhao Guanyu Zhu Xuan Li Minglu Zhu Tao Chen |
| author_sort | Haowen Liu |
| collection | DOAJ |
| description | Joint actuators are the key components in the innovation and iterative optimization of the robots, with a significant impact on both the performances of robots and manufacturing costs. Conventional industrial collaborative robots often use high-precision position and torque sensors, which are not cost-effective or energy-efficient in specific applications like assistive exoskeletons, legged robots, or wheeled robots. Alternatively, we propose a triboelectric-assisted sensory actuator that balances lightweight design, performance, and affordability for large-scale applications. The actuator is composed of a high-power density motor, a low reduction gearbox, and integrated with a rotational triboelectric sensor, which leads to high dynamic performances and low power consumption. The feasibility of the prototype is initially verified by characterizing the angular positioning accuracy and the back drivability. Experiments indicate that the rotational triboelectric sensor is able to accurately detect the angular displacement of the actuator with the self-generated signals. Overall, a highly integrated actuator module with the actuation and sensing circuit is fabricated as a compact design ready for assembling a complete intelligent robot. This actuator holds great potential as a cost-effective, energy-efficient, and versatile solution for modern robotics, crucial for advancing this field and improving human convenience. |
| format | Article |
| id | doaj-art-9e7e8f548b6b48a282f45c11c6f52acf |
| institution | Matheson Library |
| issn | 2673-4591 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Engineering Proceedings |
| spelling | doaj-art-9e7e8f548b6b48a282f45c11c6f52acf2025-06-25T13:46:27ZengMDPI AGEngineering Proceedings2673-45912025-04-017811110.3390/engproc2024078011Cost-Effective Triboelectric-Assisted Sensory Actuator Designed for Intelligent Robot and ExoskeletonHaowen Liu0Yusong Chu1Yudong Zhao2Guanyu Zhu3Xuan Li4Minglu Zhu5Tao Chen6School of Future Science and Engineering, Soochow University, Suzhou 215222, ChinaSchool of Future Science and Engineering, Soochow University, Suzhou 215222, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaSchool of Future Science and Engineering, Soochow University, Suzhou 215222, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaSchool of Future Science and Engineering, Soochow University, Suzhou 215222, ChinaJoint actuators are the key components in the innovation and iterative optimization of the robots, with a significant impact on both the performances of robots and manufacturing costs. Conventional industrial collaborative robots often use high-precision position and torque sensors, which are not cost-effective or energy-efficient in specific applications like assistive exoskeletons, legged robots, or wheeled robots. Alternatively, we propose a triboelectric-assisted sensory actuator that balances lightweight design, performance, and affordability for large-scale applications. The actuator is composed of a high-power density motor, a low reduction gearbox, and integrated with a rotational triboelectric sensor, which leads to high dynamic performances and low power consumption. The feasibility of the prototype is initially verified by characterizing the angular positioning accuracy and the back drivability. Experiments indicate that the rotational triboelectric sensor is able to accurately detect the angular displacement of the actuator with the self-generated signals. Overall, a highly integrated actuator module with the actuation and sensing circuit is fabricated as a compact design ready for assembling a complete intelligent robot. This actuator holds great potential as a cost-effective, energy-efficient, and versatile solution for modern robotics, crucial for advancing this field and improving human convenience.https://www.mdpi.com/2673-4591/78/1/11joint actuatortriboelectric assistedangular displacement sensorself-generated signalsrobot |
| spellingShingle | Haowen Liu Yusong Chu Yudong Zhao Guanyu Zhu Xuan Li Minglu Zhu Tao Chen Cost-Effective Triboelectric-Assisted Sensory Actuator Designed for Intelligent Robot and Exoskeleton Engineering Proceedings joint actuator triboelectric assisted angular displacement sensor self-generated signals robot |
| title | Cost-Effective Triboelectric-Assisted Sensory Actuator Designed for Intelligent Robot and Exoskeleton |
| title_full | Cost-Effective Triboelectric-Assisted Sensory Actuator Designed for Intelligent Robot and Exoskeleton |
| title_fullStr | Cost-Effective Triboelectric-Assisted Sensory Actuator Designed for Intelligent Robot and Exoskeleton |
| title_full_unstemmed | Cost-Effective Triboelectric-Assisted Sensory Actuator Designed for Intelligent Robot and Exoskeleton |
| title_short | Cost-Effective Triboelectric-Assisted Sensory Actuator Designed for Intelligent Robot and Exoskeleton |
| title_sort | cost effective triboelectric assisted sensory actuator designed for intelligent robot and exoskeleton |
| topic | joint actuator triboelectric assisted angular displacement sensor self-generated signals robot |
| url | https://www.mdpi.com/2673-4591/78/1/11 |
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