Save up to 30% on Elsevier print and eBooks with free shipping. No promo code needed.
Save up to 30% on print and eBooks.
Cellular Actuators
Modularity and Variability in Muscle-inspired Actuation
1st Edition - January 24, 2017
Authors: Jun Ueda, Joshua A Schultz, Harry Asada
Language: English
Paperback ISBN:9780128036877
9 7 8 - 0 - 1 2 - 8 0 3 6 8 7 - 7
eBook ISBN:9780128037065
9 7 8 - 0 - 1 2 - 8 0 3 7 0 6 - 5
Cellular Actuators: Modularity and Variability in Muscle-Inspired Actuation describes the roles actuators play in robotics and their insufficiency in emerging new robotic applicati…Read more
Purchase options
LIMITED OFFER
Save 50% on book bundles
Immediately download your ebook while waiting for your print delivery. No promo code is needed.
Cellular Actuators: Modularity and Variability in Muscle-Inspired Actuation describes the roles actuators play in robotics and their insufficiency in emerging new robotic applications, such as wearable devices and human co-working robots where compactness and compliance are important.
Piezoelectric actuators, the topic of this book, provide advantages like displacement scale, force, reliability, and compactness, and rely on material properties to provide displacement and force as reactions to electric stimulation. The authors, renowned researchers in the area, present the fundamentals of muscle-like movement and a system-wide study that includes the design, analysis, and control of biologically inspired actuators. This book is the perfect guide for researchers and practitioners who would like to deploy this technology into their research and products.
Introduces Piezoelectric Actuators concepts in a system wide integrated approach
Acts as a single source for the design, analysis, and control of actuator arrays
Presents applications to illustrate concepts and the potential of the technology
Details the physical assembly possibilities of Piezo actuators
Presents fundamentals of bio inspired actuation
Introduces the concept of cellular actuators
Researchers and engineers in this field. The book could be used as graduate-level introductory class (as mentioned by reviewers)
3.2. Broadcast control for cellular actuator arrays
3.3. Hysteresis loop control of hysteretic actuator arrays
3.4. Supermartingale theory for broadcast control of distributed hysteretic systems
3.5. Signal-dependent variability of actuator arrays with floating-point quantization
Bibliography
4: Application of cellular actuators
Abstract
4.1. Variable stiffness cellular actuators
4.2. Bipolar buckling actuators
4.3. Self-sensing piezoelectric grasper
4.4. Biologically inspired robotic camera orientation system
Bibliography
5: Conclusion
Abstract
5.1. Summary and future directions
Nomenclature
Appendix
A.1. Modeling of hysteresis
A.2. Structural parameters of tweezer-style end-effector
A.3. Piezoelectric driving circuit and control system
A.4. Compliance matrix elements in Section 2.2
A.5. SMA cellular actuators
A.6. Deterministic analysis and stability of expectation
A.7. Proof of Lemma 2 in Section 3.4
A.8. Recursive computation of probability Pr(Xt
No. of pages: 382
Language: English
Edition: 1
Published: January 24, 2017
Imprint: Butterworth-Heinemann
Paperback ISBN: 9780128036877
eBook ISBN: 9780128037065
JU
Jun Ueda
Jun Ueda is an Associate Professor at G.W.W. School of Mechanical Engineering at the Georgia Institute of Technology. He has published over 100 peer reviewed academic papers and is an expert in system dynamics, robust control in robotics and the development of sensing and actuation devices for industry and healthcare applications
Affiliations and expertise
Associate Professor, G.W.W. School of Mechanical Engineering, Georgia Institute of Technology, USA
JS
Joshua A Schultz
Joshua Schultz, has received his Ph.D. from Georgia Institution of Technology in 2012, M.S. from Vanderbilt University in 2004, and B.S. from Tufts University in 2002. Dr. Schultz’s research focuses primarily on soft robotics, in particular the role of small on-off cell-like units linked together by compliant material to generate motion as a whole. Because of the discretized, decentralized nature of these devices, this also involves control of quantized systems. He is also interested in properties of anthropomorphic hands and the role of compliance in grasping & manipulation.
Affiliations and expertise
Assistant Professor, Department of Mechanical Engineering, University of Tulsa, OK, USA
HA
Harry Asada
Professor H. Harry Asada is Ford Professor of Engineering and Director of the Brit and Alex d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering at the Massachusetts Institute of Technology. He earned his B.S. degree in Mechanical Engineering, and M.S. and Ph.D. degrees in Precision Engineering in 1973, 1975, and 1979, respectively, all from Kyoto University, Japan. He joined the M.I.T. faculty in 1982. Professor Asada teaches and conducts research in the area of robotics, bioengineering, and dynamic systems and control.
Affiliations and expertise
Professor, Mechanical Engineering, Massachusetts Institute of Technology, USA