A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots

Seyedreza Kashef Tabrizian; Fatemeh Sahraeeazartamar; Joost Brancart; Ellen Roels; Pasquale Ferrentino; Julie Legrand; Guy Van Assche; Bram Vanderborght; Seppe Terryn

doi:10.1109/LRA.2022.3150033

A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots

Seyedreza Kashef Tabrizian, Fatemeh Sahraeeazartamar, Joost Brancart, Ellen Roels, Pasquale Ferrentino, Julie Legrand, Guy Van Assche, Bram Vanderborght, Seppe Terryn

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

159 Downloads (Pure)

Abstract

Self-healing polymers can address the damage
susceptibility in soft robotics. However, in most cases, their
healing requires a heat stimulus, provided by an external device.
This paper presents a self-healing soft actuator with an integrated
healable flexible heater, functioning as the stimuli-providing
system. The actuator is constructed out of thermoreversible
elastomers that are crosslinked by the Diels-Alder (DA) reaction,
which provides the healing ability. The heater is manufactured
from a DA-based composite network filled with 20 wt% carbon
black to provide electrically conductive properties for resistive
Joule heating. The flexibility of the heater does not compromise
the actuator performance upon integration and the self-healing
properties of both heater and actuator allow for damage repair.
This includes very large damages, as both heater and actuator can
recover (near 100%) from being cut completely in two pieces,
using Joule heating at 90 °C with a bias voltage of about 30 V. The
embedded heater, avoids the need for external intervention in the
healing process, and provides healing quality assessment and a
healing on-demand mechanism, paving the way for an optimum
healing solution of damage resilient soft robots that require heat
as a healing stimulus.

Original language	English
Pages (from-to)	4574-4581
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	2
DOIs	https://doi.org/10.1109/LRA.2022.3150033
Publication status	Published - 1 Apr 2022

Keywords

Embedded heater
healable robots
soft actuators
Self-healing polymer
Bending actuator

Access to Document

10.1109/LRA.2022.3150033

Tabrizian KashefAccepted author manuscript, 928 KB

Link to publication in Scopus

1 Active

EU626: Soft, Self-responsive, Smart MAterials for RoboTs.
Vanderborght, B., Van Assche, G., Brancart, J., Terryn, S., Demir, F., Costa Cornellà, A., Furia, F., Eldiwiny, M. & Kashef Tabrizian, S.
European Commission
1/03/20 → 29/02/24
Project: Fundamental

Cite this

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title = "A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots",

abstract = "Self-healing polymers can address the damagesusceptibility in soft robotics. However, in most cases, theirhealing requires a heat stimulus, provided by an external device.This paper presents a self-healing soft actuator with an integratedhealable flexible heater, functioning as the stimuli-providingsystem. The actuator is constructed out of thermoreversibleelastomers that are crosslinked by the Diels-Alder (DA) reaction,which provides the healing ability. The heater is manufacturedfrom a DA-based composite network filled with 20 wt% carbonblack to provide electrically conductive properties for resistiveJoule heating. The flexibility of the heater does not compromisethe actuator performance upon integration and the self-healingproperties of both heater and actuator allow for damage repair.This includes very large damages, as both heater and actuator canrecover (near 100%) from being cut completely in two pieces,using Joule heating at 90 °C with a bias voltage of about 30 V. Theembedded heater, avoids the need for external intervention in thehealing process, and provides healing quality assessment and ahealing on-demand mechanism, paving the way for an optimumhealing solution of damage resilient soft robots that require heatas a healing stimulus.",

keywords = "Embedded heater, healable robots, soft actuators, Self-healing polymer, Bending actuator",

author = "{Kashef Tabrizian}, Seyedreza and Fatemeh Sahraeeazartamar and Joost Brancart and Ellen Roels and Pasquale Ferrentino and Julie Legrand and {Van Assche}, Guy and Bram Vanderborght and Seppe Terryn",

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doi = "10.1109/LRA.2022.3150033",

language = "English",

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A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots. / Kashef Tabrizian, Seyedreza ; Sahraeeazartamar, Fatemeh ; Brancart, Joost ; Roels, Ellen ; Ferrentino, Pasquale ; Legrand, Julie ; Van Assche, Guy ; Vanderborght, Bram ; Terryn, Seppe.

In: IEEE Robotics and Automation Letters, Vol. 7, No. 2, 01.04.2022, p. 4574-4581.

Research output: Contribution to journal › Article › peer-review

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AU - Kashef Tabrizian, Seyedreza

AU - Sahraeeazartamar, Fatemeh

AU - Brancart, Joost

AU - Roels, Ellen

AU - Ferrentino, Pasquale

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AU - Van Assche, Guy

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AU - Terryn, Seppe

PY - 2022/4/1

Y1 - 2022/4/1

N2 - Self-healing polymers can address the damagesusceptibility in soft robotics. However, in most cases, theirhealing requires a heat stimulus, provided by an external device.This paper presents a self-healing soft actuator with an integratedhealable flexible heater, functioning as the stimuli-providingsystem. The actuator is constructed out of thermoreversibleelastomers that are crosslinked by the Diels-Alder (DA) reaction,which provides the healing ability. The heater is manufacturedfrom a DA-based composite network filled with 20 wt% carbonblack to provide electrically conductive properties for resistiveJoule heating. The flexibility of the heater does not compromisethe actuator performance upon integration and the self-healingproperties of both heater and actuator allow for damage repair.This includes very large damages, as both heater and actuator canrecover (near 100%) from being cut completely in two pieces,using Joule heating at 90 °C with a bias voltage of about 30 V. Theembedded heater, avoids the need for external intervention in thehealing process, and provides healing quality assessment and ahealing on-demand mechanism, paving the way for an optimumhealing solution of damage resilient soft robots that require heatas a healing stimulus.

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A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots

Abstract

Keywords

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Projects

EU626: Soft, Self-responsive, Smart MAterials for RoboTs.

Cite this