Traditional robotic actuation is accomplished via electric motors or pneumatics/hydraulics. Electric motors are usually solenoids running large currents, which generate excessive heat. Pneumatic systems provide more force in large systems but require compressors, are prone to leaks, and output less force when scaled down. Complex fluid motions are difficult to achieve with pneumatics because pressure is typically either on or off, producing jerky choppy motions impractical for fine motor control. Due to the limitations listed as well as due to either scaling, poor durability, or other factors, practical artificial muscles have not been created with current actuation systems. This project seeks to create an easily produced scalable muscle that has possible uses in underwater unmanned vehicles (UUV), prosthetics, and exoskeletons. It covers new ground in microchannel creation and clearing, as well as the implementation of micro capacitors in 3D printed projects. Working muscles have yet to be generated, but it is now only a matter of iteration on muscle design.

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Office of Naval Research, Arlington, VA, 21215

Lieutenant, United States Navy

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