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Dr. Paul Motzki
Center for Mechatronics and Automation Technologies (ZeMA) gGmbH, Saarbrücken, Germany

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0 DEA
0 Shape Memory Alloys
0 SMA
0 Smart Materials
0 soft robotics

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SMA
Shape Memory Alloys
DEA
soft robotics
Smart Materials
dielectric elastomer actuator
Smart Materials and Structures
continuum robotics
dielectric elastomer transducers

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Short Biography

Dr. Paul Motzki is the head of the research division “sensors and actuators” at the Center for Mechatronics and Automation Technologies (ZeMA gGmbH) in Saarbruecken, Germany. He received his B.Sc., M.Sc. and PhD degrees in Mechatronics and Systems Engineering from Saarland University, Germany. His research interests cover the design and development of multifunctional actuator-sensor-systems based on smart materials like shape memory alloys, electroactive polymers, piezo materials or magnetorheological fluids.

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Journal article
Published: 30 March 2021 in Actuators
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In this work, we develop a coreless rolled dielectric elastomer actuator (CORDEA) to be used as artificial muscles in soft robotic structures. The new CORDEA concept is based on a 50 µm silicone film with screen-printed electrodes made of carbon black suspended in polydimethylsiloxane. Two printed silicone films are stacked together and then tightly rolled in a spiral-like structure. Readily available off-the-shelf components are used to implement both electrical and mechanical contacts. A novel manufacturing process is developed to enable the production of rolled actuators without a hollow core, with a focus on simplicity and reliability. In this way, actuator systems with high energy density can be effectively achieved. After presenting the design, an experimental evaluation of the CORDEA electromechanical behavior is performed. Finally, actuator experiments in which the CORDEA is pre-loaded with a mass load and subsequently subject to cycling voltage are illustrated, and the resulting performance is discussed.

ACS Style

Julian Kunze; Johannes Prechtl; Daniel Bruch; Bettina Fasolt; Sophie Nalbach; Paul Motzki; Stefan Seelecke; Gianluca Rizzello. Design, Manufacturing, and Characterization of Thin, Core-Free, Rolled Dielectric Elastomer Actuators. Actuators 2021, 10, 69 .

AMA Style

Julian Kunze, Johannes Prechtl, Daniel Bruch, Bettina Fasolt, Sophie Nalbach, Paul Motzki, Stefan Seelecke, Gianluca Rizzello. Design, Manufacturing, and Characterization of Thin, Core-Free, Rolled Dielectric Elastomer Actuators. Actuators. 2021; 10 (4):69.

Chicago/Turabian Style

Julian Kunze; Johannes Prechtl; Daniel Bruch; Bettina Fasolt; Sophie Nalbach; Paul Motzki; Stefan Seelecke; Gianluca Rizzello. 2021. "Design, Manufacturing, and Characterization of Thin, Core-Free, Rolled Dielectric Elastomer Actuators." Actuators 10, no. 4: 69.

Original research article
Published: 07 December 2020 in Frontiers in Robotics and AI
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This work presents a novel five-fingered soft hand prototype actuated by Shape Memory Alloy (SMA) wires. The use of thin (100 μm diameter) SMA wire actuators, in conjunction with an entirely 3D printed hand skeleton, guarantees an overall lightweight and flexible structure capable of silent motion. To enable high forces with sufficiently high actuation speed at each fingertip, bundles of welded actuated SMA wires are used. In order to increase the compliance of each finger, flexible joints from superelastic SMA wires are inserted between each phalanx. The resulting system is a versatile hand prototype having intrinsically elastic fingers, which is capable to grasp several types of objects with a considerable force. The paper starts with the description of the finger hand design, along with practical considerations for the optimal placement of the superelastic SMA in the soft joint. The maximum achievable displacement of each finger phalanx is measured together with the phalanxes dynamic responsiveness at different power stimuli. Several force measurement are also realized at each finger phalanx. The versatility of the prototype is finally demonstrated by presenting several possible hand configurations while handling objects with different sizes and shapes.

ACS Style

Filomena Simone; Gianluca Rizzello; Stefan Seelecke; Paul Motzki. A Soft Five-Fingered Hand Actuated by Shape Memory Alloy Wires: Design, Manufacturing, and Evaluation. Frontiers in Robotics and AI 2020, 7, 1 .

AMA Style

Filomena Simone, Gianluca Rizzello, Stefan Seelecke, Paul Motzki. A Soft Five-Fingered Hand Actuated by Shape Memory Alloy Wires: Design, Manufacturing, and Evaluation. Frontiers in Robotics and AI. 2020; 7 ():1.

Chicago/Turabian Style

Filomena Simone; Gianluca Rizzello; Stefan Seelecke; Paul Motzki. 2020. "A Soft Five-Fingered Hand Actuated by Shape Memory Alloy Wires: Design, Manufacturing, and Evaluation." Frontiers in Robotics and AI 7, no. : 1.

Conference paper
Published: 21 November 2020 in Proceedings of 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications
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The versatility of the form factors of thermal shape memory alloys (SMA) in combination with their unique actuation and sensing abilities allow for the design and construction of innovative multifunctional systems. Despite the considerable number of advantages, such as their exceptional energy density, only a few SMA-based actuator systems are commercially available. One of the main reasons for this is their inefficient thermal activation and the resulting high energy consumption. The efficiency of SMA-based actuator systems can be improved by innovative design and control approaches. In the first part of this paper, the intelligent combination of SMA actuator wires with bi-stable, nonlinear spring elements is described. This combination eliminates the commonly quoted disadvantages of SMAs—slow actuation and energy inefficiency—for a wide range of applications. In particular, two energy-free actuator configurations are realized, which can be applied to any non-proportional actuation tasks. The second approach for the realization of high-speed actuation and energy efficiency is the activation of SMA wires with high voltage pulses, which leads to actuation times in the millisecond range and energy savings of up to 80% in comparison to the suppliers’ recommendations. It is shown that even high AC voltages such as typical mains supplies can be directly used for highly efficient SMA activation.

ACS Style

Paul Motzki. Efficient SMA Actuation—Design and Control Concepts. Proceedings of 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications 2020, 64, 20 .

AMA Style

Paul Motzki. Efficient SMA Actuation—Design and Control Concepts. Proceedings of 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications. 2020; 64 (1):20.

Chicago/Turabian Style

Paul Motzki. 2020. "Efficient SMA Actuation—Design and Control Concepts." Proceedings of 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications 64, no. 1: 20.

Conference paper
Published: 15 September 2020 in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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Elastocaloric (EC) cooling uses solid-state NiTi-based shape memory alloy (SMA) as a non-volatile cooling medium and enables a novel environment-friendly cooling technology. Due to the high specific latent heats activated by mechanical loading/unloading, substantial temperature changes are generated in the material. Accompanied by a small required work input, a high coefficient of performance is achievable. Recently, a fully functional and illustrative continuous operating elastocaloric air cooling system based on SMA was developed and realized. To assist the design process of an optimized device with given performance and efficiency requirements, a fully coupled thermo-mechanical system-level model of the multi-wire cooling unit was developed and implemented in MATLAB. The resulting compact simulation tool is qualified for massively parallel computation, which allows fast and comprehensive parameter studies. In this work, the influence of different SMA diameters, rotation frequencies, and airflow rates is investigated. The results are analyzed to find the suited parameter for high efficiency (COP) and temperature span.

ACS Style

Felix Welsch; Susanne-Marie Kirsch; Nicolas Michaelis; Michele Mandolino; Andreas Schütze; Stefan Seelecke; Paul Motzki; Gianluca Rizzello. System Simulation of an Elastocaloric Heating and Cooling Device Based on SMA. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2020, 1 .

AMA Style

Felix Welsch, Susanne-Marie Kirsch, Nicolas Michaelis, Michele Mandolino, Andreas Schütze, Stefan Seelecke, Paul Motzki, Gianluca Rizzello. System Simulation of an Elastocaloric Heating and Cooling Device Based on SMA. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2020; ():1.

Chicago/Turabian Style

Felix Welsch; Susanne-Marie Kirsch; Nicolas Michaelis; Michele Mandolino; Andreas Schütze; Stefan Seelecke; Paul Motzki; Gianluca Rizzello. 2020. "System Simulation of an Elastocaloric Heating and Cooling Device Based on SMA." ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 15 September 2020 in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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Within industrial manufacturing most processing steps are accompanied by transporting and positioning of workpieces. The active interfaces between handling system and workpiece are industrial grippers, which often are driven by pneumatics, especially in small scale areas. On the way to higher energy efficiency and digital factories, companies are looking for new actuation technologies with more sensor integration and better efficiencies. Commonly used actuators like solenoids and electric engines are in many cases too heavy and large for direct integration into the gripping system. Due to their high energy density shape memory alloys (SMA) are suited to overcome those drawbacks of conventional actuators. Additionally, they feature self-sensing abilities that lead to sensor-less monitoring and control of the actuation system. Another drawback of conventional grippers is their design, which is based on moving parts with linear guides and bearings. These parts are prone to wear, especially in abrasive environments. This can be overcome by a compliant gripper design that is based on flexure hinges and thus dispenses with joints, bearings and guides. In the presented work, the development process of a functional prototype for a compliant gripper driven by a bistable SMA actuation unit for industrial applications is outlined. The focus lies on the development of the SMA actuator, while the first design approach for the compliant gripper mechanism with solid state joints is proposed. The result is a working gripper-prototype which is mainly made of 3D-printed parts. First results of validation experiments are discussed.

ACS Style

Dominik Scholtes; Stefan Seelecke; Gianluca Rizzello; Paul Motzki. Design of a Compliant Industrial Gripper Driven by a Bistable Shape Memory Alloy Actuator. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2020, 1 .

AMA Style

Dominik Scholtes, Stefan Seelecke, Gianluca Rizzello, Paul Motzki. Design of a Compliant Industrial Gripper Driven by a Bistable Shape Memory Alloy Actuator. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2020; ():1.

Chicago/Turabian Style

Dominik Scholtes; Stefan Seelecke; Gianluca Rizzello; Paul Motzki. 2020. "Design of a Compliant Industrial Gripper Driven by a Bistable Shape Memory Alloy Actuator." ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 15 September 2020 in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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Due to their unique manipulation capabilities, continuum robots find applications in a variety of different areas, such as medical technology or maintenance and repair. When working with continuum robots, it is often necessary to bend the structure according to complex shapes. This is commonly achieved by arranging several individual modules in series. In this paper, a novel continuum robot concept is presented based on a serial arrangement of SMA (Shape Memory Alloy) wires actuated modules. The key advantage of the described modular continuum robot is the number of connection wires required to control the SMA wires, which is also independent of the number of modules. This feature makes it possible to virtually connect a very large number of serial modules, thus enabling to design continuum robots with arbitrary complexity. After outlining the concept, the mechanical and electrical components required to build one module of such an SMA driven continuum robot are introduced.

ACS Style

Yannik Goergen; Gianluca Rizzello; Stefan Seelecke; Paul Motzki. Modular Design of an SMA Driven Continuum Robot. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2020, 1 .

AMA Style

Yannik Goergen, Gianluca Rizzello, Stefan Seelecke, Paul Motzki. Modular Design of an SMA Driven Continuum Robot. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2020; ():1.

Chicago/Turabian Style

Yannik Goergen; Gianluca Rizzello; Stefan Seelecke; Paul Motzki. 2020. "Modular Design of an SMA Driven Continuum Robot." ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 15 September 2020 in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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This paper presents a novel shape memory alloy (SMA) valve actuator concept for active venting in injection molding applications. The developed system can be used to expel air which is trapped during the injection molding process. If such air bubbles are not properly removed from the cavity, they would result into an uncomplete cast and, in turn, in an unsuccessful molding. To address this issue, we propose a new valve system based on an agonist-antagonist SMA-spring actuator concept. By means of the developed SMA valve, the same dynamic performance of conventional actuators can be achieved with a more compact and lightweight actuator design. Design process, assembly, and validation of the novel SMA actuator are first described. In addition, development of an electronics concept and a test rig is discussed. First validation results are finally presented, showing the prototype electro-mechanical response when operating at different ambient temperatures.

ACS Style

Rouven Britz; Stefan Seelecke; Gianluca Rizzello; Paul Motzki. Decoupled Antagonistic SMA Actuator for Valve Applications. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2020, 1 .

AMA Style

Rouven Britz, Stefan Seelecke, Gianluca Rizzello, Paul Motzki. Decoupled Antagonistic SMA Actuator for Valve Applications. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2020; ():1.

Chicago/Turabian Style

Rouven Britz; Stefan Seelecke; Gianluca Rizzello; Paul Motzki. 2020. "Decoupled Antagonistic SMA Actuator for Valve Applications." ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 15 September 2020 in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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In this paper, a shape memory alloy (SMA) based handling system is presented. The gripping system consists of two different actuator systems based on SMA wires. The first one is a reconfigurable end-effector with four independent gripping arms. The second SMA actuator system is a bi-stable SMA actuated vacuum suction cup, of which one is mounted on each of the four arms of the end-effector. While the four independently adjustable gripping arms of the end-effector allow for an adaption to different workpiece geometries like a flat shaped workpiece or a round shaped, spherical workpiece, integrated SMA driven brake mechanisms enable an energy free position holding of the end-effector components. This means that an electric current is only required when the end-effector arms need to be rearranged. This results in a versatile, adaptive and energy-efficient handling system that can replace mostly pneumatically driven state-of-the-art systems in production and assembly industry. No manual adjustment of the gripping system or even exchanging is needed, if an assembly line switches between products with different work piece geometries as a result. The gripping unit is controlled using an external microcontroller and can be mounted on a robot for diverse handling purposes.

ACS Style

Lukas Zimmer; Felix Welsch; Susanne-Marie Kirsch; Gianluca Rizzello; Stefan Seelecke; Paul Motzki. Adaptive Material Handling System Based on Shape Memory Alloy Actuators. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2020, 1 .

AMA Style

Lukas Zimmer, Felix Welsch, Susanne-Marie Kirsch, Gianluca Rizzello, Stefan Seelecke, Paul Motzki. Adaptive Material Handling System Based on Shape Memory Alloy Actuators. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2020; ():1.

Chicago/Turabian Style

Lukas Zimmer; Felix Welsch; Susanne-Marie Kirsch; Gianluca Rizzello; Stefan Seelecke; Paul Motzki. 2020. "Adaptive Material Handling System Based on Shape Memory Alloy Actuators." ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 15 September 2020 in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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Shape memory alloys (SMA) are used as an attractive technology in the field of actuators and sensors due to their versatile geometry, lightweight, high energy density, and low cost. The thermal activation principle, however, makes SMA application generally suitable for low-frequency (few Hz) regimes. In this work, a novel SMA-based antagonistic actuation system and its manufacturing process are presented for the first time. The main feature of the novel actuator concept is the possibility of being operated at frequencies up to at least 20 Hz. It spares the usual complex and time-consuming manufacturing of such a system. First parameter studies of a rotary actuation system are performed. The relationship existing between the pulse energy, frequency, and the resulting rotation angle is investigated through an extensive experimental campaign.

ACS Style

Susanne-Marie Kirsch; Felix Welsch; Domenico Bevilacqua; David Naso; Stefan Seelecke; Gianluca Rizzello; Paul Motzki. SMA Antagonistic-Micro-Wire Bundle: First Measurement Results. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2020, 1 .

AMA Style

Susanne-Marie Kirsch, Felix Welsch, Domenico Bevilacqua, David Naso, Stefan Seelecke, Gianluca Rizzello, Paul Motzki. SMA Antagonistic-Micro-Wire Bundle: First Measurement Results. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2020; ():1.

Chicago/Turabian Style

Susanne-Marie Kirsch; Felix Welsch; Domenico Bevilacqua; David Naso; Stefan Seelecke; Gianluca Rizzello; Paul Motzki. 2020. "SMA Antagonistic-Micro-Wire Bundle: First Measurement Results." ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 15 September 2020 in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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Shape memory alloys (SMAs) are a well-known class of smart materials which allow the design of compact and silent actuation mechanisms. A remarkable feature of SMAs is self-sensing, namely the possibility to reconstruct the actuator position information from electrical resistance measurements. In case of simple SMA actuators, such as spring-loaded wires, the relation between resistance and displacement is usually linear and thus simple to exploit for self-sensing. For more advanced actuator types, such as protagonist-antagonist SMA configurations, the resistance-displacement characteristic is often hysteretic and thus more difficult to invert in real-time. To deal with this issue, this work proposes a novel self-sensing method for protagonist-antagonist SMA actuators having a highly hysteretic resistance-displacement behavior. An online hysteresis compensation scheme, based on the modified Prandtl-Ishlinskii model, is implemented and used to linearize the resistance-displacement characteristic. A lab setup which allows characterization of antagonistic SMA system as well as implementation of self-sensing control architectures is also developed. Experimental results show how, when combined with a PI controller, the developed scheme permits to noticeably reduce the error in comparison to compensator-free self-sensing architectures.

ACS Style

Johannes Prechtl; Stefan Seelecke; Paul Motzki; Gianluca Rizzello. Self-Sensing Control of Antagonistic SMA Actuators Based on Resistance-Displacement Hysteresis Compensation. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2020, 1 .

AMA Style

Johannes Prechtl, Stefan Seelecke, Paul Motzki, Gianluca Rizzello. Self-Sensing Control of Antagonistic SMA Actuators Based on Resistance-Displacement Hysteresis Compensation. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2020; ():1.

Chicago/Turabian Style

Johannes Prechtl; Stefan Seelecke; Paul Motzki; Gianluca Rizzello. 2020. "Self-Sensing Control of Antagonistic SMA Actuators Based on Resistance-Displacement Hysteresis Compensation." ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 15 September 2020 in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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Alternating voltage is available in many environments for actuators. Due to the fact that a lot of actuators cannot directly handle this type of supply voltage, such as shape memory alloy (SMA) actuators, the voltage is usually converted to direct current. In the case of SMA actuators, the supply voltage often even has to be adjusted to the electrical resistance of each particular actuator. Due to high energy potential in AC supplies, conventional activation for SMA actuators over several seconds is not possible. In this study a control procedure for SMA wire actuators with high AC voltage supply is presented, which allows very flexible and versatile control of SMA wires. In addition two different types of activation are distinguished in an experimental study: one-time activation and activation over a longer period of time. The objective of the one-time activation is to reach a given actuator displacement. The activation over time is intended to hold a given position. The results of this series of experiments are presented and the resulting energy saving potential in high voltage SMA activation is observed.

ACS Style

Tom Gorges; Gianluca Rizzello; Stefan Seelecke; Paul Motzki. High Voltage AC Control of SMA Wires. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2020, 1 .

AMA Style

Tom Gorges, Gianluca Rizzello, Stefan Seelecke, Paul Motzki. High Voltage AC Control of SMA Wires. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2020; ():1.

Chicago/Turabian Style

Tom Gorges; Gianluca Rizzello; Stefan Seelecke; Paul Motzki. 2020. "High Voltage AC Control of SMA Wires." ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 29 June 2020 in 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT)
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This paper presents the design and the realization of an innovative handling system for plane work pieces in production and assembly industry. The system consists of an adaptive end-effector endowed with energy-efficient vacuum grippers. Shape memory alloy (SMA) actuator wires are used to actively reconfigure the gripping arms as well as to activate the vacuum suction cups. SMA technology enables the system to be versatile, and the inherent self-sensing features allow the implementation of advanced maintenance and sensorless control strategies. For each of the two components of the system (i.e., reconfigurable gripper and suction cup), design and operating principle are discussed in detail. Experimental results are then presented, and system performance is finally discussed.

ACS Style

Paul Motzki; Stefan Seelecke; Gianluca Rizzello. A Shape Memory Alloy Smart Handling System for Advanced Manufacturing Applications. 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT) 2020, 1, 229 -234.

AMA Style

Paul Motzki, Stefan Seelecke, Gianluca Rizzello. A Shape Memory Alloy Smart Handling System for Advanced Manufacturing Applications. 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT). 2020; 1 ():229-234.

Chicago/Turabian Style

Paul Motzki; Stefan Seelecke; Gianluca Rizzello. 2020. "A Shape Memory Alloy Smart Handling System for Advanced Manufacturing Applications." 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT) 1, no. : 229-234.

Conference paper
Published: 22 April 2020 in Electroactive Polymer Actuators and Devices (EAPAD) XXII
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Due to recent progress in human-machine interaction towards industry 4.0 applications, the development of interfaces ensuring a safe collaboration between handling devices and workers is gaining a significant attention. For such applications, integration of wearable and highly stretchable actuator/sensor elements permits to endow the handling system with advanced and intelligent features. This paper presents on the development of a novel intelligent glove system which makes use of highly stretchable dielectric elastomer (DE) transducers as textile-integrated actuator and sensor components. The presented DE system can be used, e.g., as an adaptive assistance tool suitable for industry 4.0 environment. As a first step towards the development of the intelligent glove prototype, this paper mainly focuses on DE-based integrated force measurements. Different concepts for DE-based force measurements are presented and compared. Some of these sensing strategies are then selected, and their performance compared within the context of human-machine interaction and user interfaces.

ACS Style

Sebastian Gratz-Kelly; Andreas Meyer; Paul Motzki; Sophie Nalbach; Gianluca Rizzello; Stefan S. Seelecke. Force measurement based on dielectric elastomers for an intelligent glove providing worker assessment in the digital production. Electroactive Polymer Actuators and Devices (EAPAD) XXII 2020, 11375, 1137525 .

AMA Style

Sebastian Gratz-Kelly, Andreas Meyer, Paul Motzki, Sophie Nalbach, Gianluca Rizzello, Stefan S. Seelecke. Force measurement based on dielectric elastomers for an intelligent glove providing worker assessment in the digital production. Electroactive Polymer Actuators and Devices (EAPAD) XXII. 2020; 11375 ():1137525.

Chicago/Turabian Style

Sebastian Gratz-Kelly; Andreas Meyer; Paul Motzki; Sophie Nalbach; Gianluca Rizzello; Stefan S. Seelecke. 2020. "Force measurement based on dielectric elastomers for an intelligent glove providing worker assessment in the digital production." Electroactive Polymer Actuators and Devices (EAPAD) XXII 11375, no. : 1137525.

Conference paper
Published: 22 April 2020 in Nondestructive Characterization and Monitoring of Advanced Materials, Aerospace, Civil Infrastructure, and Transportation IX
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Dielectric Elastomers (DEs) represent a class of soft electro-mechanical transducers, which is promising compared to conventional actuation technologies due to features such as lightweight, high energy efficiency, and low operational noise. Despite several prototypes have been proposed in the recent literature, only very few of them have been commercialized yet. To further DE technology towards real-life applications, it is of great importance to quantify the long-term performance of theses transducers in terms of electrical and mechanical fatigue under controllable environmental conditions. In order to investigate these properties, this paper introduces a modular electro-mechanical testing device that is designed in order to determine the long-term and fatigue characteristics of rectangular shaped DE actuator (DEA) membranes working under in-plane loading conditions. Each module permits to arbitrarily program mechanical stroke and applied voltage, and also enables simultaneous testing of five samples. Quantities of measurement are force and current. The modules are placed inside of a climate chamber which provides testing environments with constant temperature and humidity. To ensure uninterrupted 24/7-operation, the setup provides safety-equipment with remote control and remote monitoring. First test results are presented in this work.

ACS Style

Daniel Bruch; Sophie Nalbach; Gianluca Rizzello; Paul Motzki; Stefan Seelecke. Multifunctional fatigue testing setup for in-plane operating DEAs. Nondestructive Characterization and Monitoring of Advanced Materials, Aerospace, Civil Infrastructure, and Transportation IX 2020, 11380, 113800S .

AMA Style

Daniel Bruch, Sophie Nalbach, Gianluca Rizzello, Paul Motzki, Stefan Seelecke. Multifunctional fatigue testing setup for in-plane operating DEAs. Nondestructive Characterization and Monitoring of Advanced Materials, Aerospace, Civil Infrastructure, and Transportation IX. 2020; 11380 ():113800S.

Chicago/Turabian Style

Daniel Bruch; Sophie Nalbach; Gianluca Rizzello; Paul Motzki; Stefan Seelecke. 2020. "Multifunctional fatigue testing setup for in-plane operating DEAs." Nondestructive Characterization and Monitoring of Advanced Materials, Aerospace, Civil Infrastructure, and Transportation IX 11380, no. : 113800S.

Conference paper
Published: 22 April 2020 in Electroactive Polymer Actuators and Devices (EAPAD) XXII
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In this work we present a new concept for scalable and tightly rolled dielectric elastomer actuators (DEA). The proposed solution is motivated by the need for designing soft, high energy density, and compact actuators for soft robotics and artificial muscle applications. Each rolled DEA is made starting from a 50 μm thin silicone film (Wacker Elastosil 2030) with flexible carbon-black based electrodes screen-printed on one side. Two of those printed films are first stacked and subsequently tightly rolled, leading to the final DEA design. At first, the systematic development of the rolled DEA concept is presented. Electrical and mechanical contacts are provided by off-the-shelf wire end ferrules. The roll manufacturing process is described subsequently. Finally, an experimental evaluation of mechanical and electrical characteristics of the developed DEAs is performed. Our measurements show a change of blocking force of 0.18 N under constant load conditions and we predict a stroke of 2.5% at 2 N.

ACS Style

Julian Kunze; Johannes Prechtl; Daniel Bruch; Sophie Nalbach; Paul Motzki; Stefan S. Seelecke; Gianluca Rizzello. Design and fabrication of silicone-based dielectric elastomer rolled actuators for soft robotic applications. Electroactive Polymer Actuators and Devices (EAPAD) XXII 2020, 11375, 113752D .

AMA Style

Julian Kunze, Johannes Prechtl, Daniel Bruch, Sophie Nalbach, Paul Motzki, Stefan S. Seelecke, Gianluca Rizzello. Design and fabrication of silicone-based dielectric elastomer rolled actuators for soft robotic applications. Electroactive Polymer Actuators and Devices (EAPAD) XXII. 2020; 11375 ():113752D.

Chicago/Turabian Style

Julian Kunze; Johannes Prechtl; Daniel Bruch; Sophie Nalbach; Paul Motzki; Stefan S. Seelecke; Gianluca Rizzello. 2020. "Design and fabrication of silicone-based dielectric elastomer rolled actuators for soft robotic applications." Electroactive Polymer Actuators and Devices (EAPAD) XXII 11375, no. : 113752D.

Conference paper
Published: 22 April 2020 in Electroactive Polymer Actuators and Devices (EAPAD) XXII
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Silicone-based dielectric elastomer sensors (DESs) are highly flexible, fast responding, energy efficient, and low-cost transducers which are highly suitable for integration in existing wearable systems. This paper aims at investigating the sensor properties of a DES system shaped in a matrix configuration. For the DES matrix, an LCR-meter is used to characterize the capacitance, while a separate measurement technique is used to detect the total electrode resistance. The collected data are then compared with the measurements obtained via a commercially available integrated circuit. The electrical characteristic of the proposed DE layout is then studied, and the capability of standard integrated circuits in handling DES systems is experimentally evaluated.

ACS Style

Andreas Meyer; Stephan Lenz; Sebastian Gratz-Kelly; Paul Motzki; Sophie Nalbach; Stefan S. Seelecke; Gianlucca Rizzello. Experimental characterization of a smart dielectric elastomer multi-sensor grid. Electroactive Polymer Actuators and Devices (EAPAD) XXII 2020, 11375, 1137528 .

AMA Style

Andreas Meyer, Stephan Lenz, Sebastian Gratz-Kelly, Paul Motzki, Sophie Nalbach, Stefan S. Seelecke, Gianlucca Rizzello. Experimental characterization of a smart dielectric elastomer multi-sensor grid. Electroactive Polymer Actuators and Devices (EAPAD) XXII. 2020; 11375 ():1137528.

Chicago/Turabian Style

Andreas Meyer; Stephan Lenz; Sebastian Gratz-Kelly; Paul Motzki; Sophie Nalbach; Stefan S. Seelecke; Gianlucca Rizzello. 2020. "Experimental characterization of a smart dielectric elastomer multi-sensor grid." Electroactive Polymer Actuators and Devices (EAPAD) XXII 11375, no. : 1137528.

Encyclopedia
Published: 02 December 2019 in Reference Module in Materials Science and Materials Engineering
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The high energy density of shape memory alloy actuators in combination with their self-sensing ability and their unique form factors allow for the design of miniaturized and compact but yet powerful actuator-sensor-systems. These properties as well as their noise and emission free operation make them attractive actuator solutions for industrial applications. Specifically in the fields of material handling, soft robotics and continuum robotics, there have been several developments of SMA based grippers, end-effectors and robotic structures.

ACS Style

Paul Motzki; Stefan Seelecke. Industrial Applications for Shape Memory Alloys. Reference Module in Materials Science and Materials Engineering 2019, 1 .

AMA Style

Paul Motzki, Stefan Seelecke. Industrial Applications for Shape Memory Alloys. Reference Module in Materials Science and Materials Engineering. 2019; ():1.

Chicago/Turabian Style

Paul Motzki; Stefan Seelecke. 2019. "Industrial Applications for Shape Memory Alloys." Reference Module in Materials Science and Materials Engineering , no. : 1.

Conference paper
Published: 09 September 2019 in ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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Continuum robots are inspired by biological trunks, snakes and tentacles. Unlike conventional robot manipulators, there are no rigid structures or joints. Advantageous is the ease of miniaturization combined with high dexterity, since limiting components such as bearings or gears can be omitted. Most currently used actuation elements in continuum robots require a large drive unit with electric motors or similar mechanisms. Contrarily, shape memory alloys (SMAs) can be integrated into the actual robot. The actuation is realized by applying current to the wires, which eliminates the need of an additional outside drive unit. In the presented study, SMA actuator wires are used in variously scaled continuum robots. Diameters vary from 1 to 60 mm and the lengths of the SMA driven tentacles range from 75 to 220 mm. The SMAs are arranged on an annulus in a defined distance to the neutral fiber, whereby the used cores vary from superelastic NiTi rods to complex structures and also function as restoring unit. After outlining the theoretical basics for the design of an SMA actuated continuum robot, the design process is demonstrated exemplarily using a guidewire for cardiac catheterizations. Results regarding dynamics and bending angle are shown for the presented guidewire.

ACS Style

Yannik Goergen; Romol Chadda; Rouven Britz; Dominik Scholtes; Nataliya Koev; Paul Motzki; Roland Werthschützky; Mario Kupnik; Stefan Seelecke. Shape Memory Alloys in Continuum and Soft Robotic Applications. ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2019, 1 .

AMA Style

Yannik Goergen, Romol Chadda, Rouven Britz, Dominik Scholtes, Nataliya Koev, Paul Motzki, Roland Werthschützky, Mario Kupnik, Stefan Seelecke. Shape Memory Alloys in Continuum and Soft Robotic Applications. ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2019; ():1.

Chicago/Turabian Style

Yannik Goergen; Romol Chadda; Rouven Britz; Dominik Scholtes; Nataliya Koev; Paul Motzki; Roland Werthschützky; Mario Kupnik; Stefan Seelecke. 2019. "Shape Memory Alloys in Continuum and Soft Robotic Applications." ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 09 September 2019 in ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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Elastocaloric cooling uses solid-state NiTi-based shape memory alloy (SMA) as a non-volatile cooling medium and enables a novel environment-friendly cooling technology. Due to the high specific latent heats activated by mechanical loading/unloading, substantial temperature changes are generated in the material. Accompanied by a small required work input, a high coefficient of performance is achievable. Recently, a fully-functional and illustrative continuous operating elastocaloric air cooling system based on SMA was developed and realized. To assist the design process of an optimized device with given performance and efficiency requirements, a fully coupled thermo-mechanical system-level model of the multi-wire cooling unit was developed and implemented in MATLAB. The resulting compact simulation tool is qualified for massively parallel computation on modern multi-core computers, which allows fast and comprehensive parameter scans. The comparison of first measurements and simulation results showed differences in the system performance. As the airflow rate influences the thermal power and the outlet temperature significantly, the demonstrator is extended with a spatial airflow measurement system to analyze the crossflow between the hot and cold side. Following, the fluid transport model is advanced by the effect of cross-flow losses, and first modeling results with the variation of airflow rate and rotation frequency are presented.

ACS Style

Felix Welsch; Susanne-Marie Kirsch; Nicolas Michaelis; Paul Motzki; Andreas Schütze; Stefan Seelecke. Continuous Operating Elastocaloric Heating and Cooling Device: Model-Based Parameter Study With Airflow Losses. ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2019, 1 .

AMA Style

Felix Welsch, Susanne-Marie Kirsch, Nicolas Michaelis, Paul Motzki, Andreas Schütze, Stefan Seelecke. Continuous Operating Elastocaloric Heating and Cooling Device: Model-Based Parameter Study With Airflow Losses. ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2019; ():1.

Chicago/Turabian Style

Felix Welsch; Susanne-Marie Kirsch; Nicolas Michaelis; Paul Motzki; Andreas Schütze; Stefan Seelecke. 2019. "Continuous Operating Elastocaloric Heating and Cooling Device: Model-Based Parameter Study With Airflow Losses." ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.

Conference paper
Published: 09 September 2019 in ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
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As a smart material thermal shape memory alloys (SMAs) feature actuator behavior combined with self-sensing capabilities. With their high energy density and design flexibility they are predestined to be used in soft robotics and the emerging field of morphing surfaces. Such shape changing surfaces can be used for novel human-machine interaction (HMI) elements based on mode-/situation-dependent interfaces that may be applied to all kind of machines, appliances and smart home devices as well as automotive interiors. Since many of those contain textile surfaces, it is of special interest to place SMA-based actuator-sensor-elements beneath a textile cover or integrated them in the textile itself. In this study, the unique features of SMAs are used to design a system which represents an active “morphing” button. It can lower into the surface it is integrated in, pops up to be used and shows a proportional signal output depending on the pushing stroke. The system is characterized concerning haptics and sensor technology. The button consists of a TPU structure, to which two NiTi wires are attached. When activated, the SMAs contract and the structure curves upwards. The user can now push on the device to use it as a button. In the future, the use of SMA wires and for example TPU fibers enables direct integration in the production process of a possible smart and functional textile.

ACS Style

Dominik Scholtes; Yannik Goergen; Paul Motzki; Stefan Seelecke; Philipp Scheiner. Soft Morphing Buttons Based on Actuator and Sensor Properties of Shape Memory Alloy Wires. ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems 2019, 1 .

AMA Style

Dominik Scholtes, Yannik Goergen, Paul Motzki, Stefan Seelecke, Philipp Scheiner. Soft Morphing Buttons Based on Actuator and Sensor Properties of Shape Memory Alloy Wires. ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. 2019; ():1.

Chicago/Turabian Style

Dominik Scholtes; Yannik Goergen; Paul Motzki; Stefan Seelecke; Philipp Scheiner. 2019. "Soft Morphing Buttons Based on Actuator and Sensor Properties of Shape Memory Alloy Wires." ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems , no. : 1.