Energy harvesting technologies have been explored by researchers for more than two decades as an alternative to conventional power sources (e.g. batteries) for small-sized and low-power electronic devices. The limited life-time and necessity for periodic recharging or replacement of batteries has been a consistent issue in portable, remote, and implantable devices. Ambient energy can usually be found in the form of solar energy, thermal energy, and vibration energy. Amongst these energy sources, vibration energy presents a persistent presence in nature and manmade structures. Various materials and transduction mechanisms have the ability to convert vibratory energy to useful electrical energy, such as piezoelectric, electromagnetic, and electrostatic generators. Piezoelectric transducers, with their inherent electromechanical coupling and high power density compared to electromagnetic and electrostatic transducers, have been widely explored to generate power from vibration energy sources. A topical review of piezoelectric energy harvesting methods was carried out and published in this journal by the authors in 2007. Since 2007, countless researchers have introduced novel materials, transduction mechanisms, electrical circuits, and analytical models to improve various aspects of piezoelectric energy harvesting devices. Additionally, many researchers have also reported novel applications of piezoelectric energy harvesting technology in the past decade. While the body of literature in the field of piezoelectric energy harvesting has grown significantly since 2007, this paper presents an update to the authors' previous review paper by summarizing the notable developments in the field of piezoelectric energy harvesting through the past decade.
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ISSN: 1361-665X
Smart Materials and Structures is a multi-disciplinary journal dedicated to technical advances in (and applications of) smart materials, systems and structures; including intelligent systems, sensing and actuation, adaptive structures, and active control.
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Mohsen Safaei et al 2019 Smart Mater. Struct. 28 113001
Elinor Barnett et al 2024 Smart Mater. Struct. 33 065010
Despite bone screws being the most commonly inserted implant in orthopaedic surgery, 10% of fracture fixation failure is a result of screw migration or pullout. In this study, the effect of four auxetic structures on the pullout performance of a novel unthreaded bone fastener was investigated through experiments and numerical simulations. The auxetic fasteners included the re-entrant, rotating squares, missing rib, and tetrachiral structures. Parametric CAD models were developed for each, and polymer samples manufactured using a stereolithography process. Pullout testing using bone analogue material found the rotating squares fastener to achieve superior pullout resistance 2.5 times that of the non-auxetic control sample. With a pullout to push-in force ratio of 33.7, this fastener achieved high pullout resistance with a low insertion force improving ease of installation. The Poisson's ratio of the structure was determined using image analysis to be −1.31, similar to the missing rib and re-entrant types. The low axial stiffness of 12.1 N mm−1 for the rotating squares fastener was the reason for superior performance, allowing axial and resulting transverse strain to be initiated at relatively low load. The effect of increased diametral interference was investigated, and the re-entrant structure found to be superior with pullout resistance improved by 342%. This work provides a foundation for further development of unthreaded auxetic bone fasteners, which have the potential to replace screws for some orthopaedic applications and significantly reduce the prevalence of pullout as a failure mode.
Joshua Knospler et al 2024 Smart Mater. Struct. 33 065040
Soft robots have revolutionized machine interactions with humans and the environment to enable safe operations. The fixed morphology of these soft robots dictates their mechanical performance, including strength and stiffness, which limits their task range and applications. Proposed here are modular, reconfigurable soft robots with the capabilities of changing their morphology and adjusting their stiffness to perform versatile object handling and planar or spatial operational tasks. The reconfiguration and tunable interconnectivity between the elemental soft, pneumatically driven actuation units is made possible through integrated permanent magnets with coils. The proposed concept of attaching/detaching actuators enables these robots to be easily rearranged in various configurations to change the morphology of the system. While the potential for these actuators allows for arbitrary reconfiguration through parallel or serial connection on their four sides, we demonstrate here a configuration called ManusBot. ManusBot is a hand-like structure with digits and palm capable of individual actuation. The capabilities of this system are demonstrated through specific examples of stiffness modulation, variable payload capacity, and structure forming for enhanced and versatile object manipulation and operations. The proposed modular, soft robotic system with interconnecting capabilities significantly expands the versatility of operational tasks as well as the adaptability of handling objects of various shapes, sizes, and weights using a single system.
P Narayanan et al 2024 Smart Mater. Struct. 33 043001
Hard-magnetic soft materials (hMSMs) are smart composites that consist of a mechanically soft polymer matrix impregnated with mechanically hard magnetic filler particles. This dual-phase composition renders them with exceptional magneto-mechanical properties that allow them to undergo large reversible deformations under the influence of external magnetic fields. Over the last decade, hMSMs have found extensive applications in soft robotics, adaptive structures, and biomedical devices. However, despite their widespread utility, they pose considerable challenges in fabrication and magneto-mechanical characterization owing to their multi-phase nature, miniature length scales, and nonlinear material behavior. Although noteworthy attempts have been made to understand their coupled nature, the rudimentary concepts of inter-phase interactions that give rise to their mechanical nonlinearity remain insufficiently understood, and this impedes their further advancements. This holistic review addresses these standalone concepts and bridges the gaps by providing a thorough examination of their myriad fabrication techniques, applications, and experimental, and modeling approaches. Specifically, the review presents a wide spectrum of fabrication techniques, ranging from traditional molding to cutting-edge four-dimensional printing, and their unbounded prospects in diverse fields of research. The review covers various modeling approaches, including continuum mechanical frameworks encompassing phenomenological and homogenization models, as well as microstructural models. Additionally, it addresses emerging techniques like machine learning-based modeling in the context of hMSMs. Finally, the expansive landscape of these promising material systems is provided for a better understanding and prospective research.
Amir Pagoli et al 2022 Smart Mater. Struct. 31 013001
Soft actuators can be classified into five categories: tendon-driven actuators, electroactive polymers, shape-memory materials, soft fluidic actuators (SFAs), and hybrid actuators. The characteristics and potential challenges of each class are explained at the beginning of this review. Furthermore, recent advances especially focusing on SFAs are illustrated. There are already some impressive SFA designs to be found in the literature, constituting a fundamental basis for design and inspiration. The goal of this review is to address the latest innovative designs for SFAs and their challenges and improvements with respect to previous generations, and to help researchers to select appropriate materials for their application. We suggest seven influential designs: pneumatic artificial muscle, PneuNet, continuum arm, universal granular gripper, origami soft structure, vacuum-actuated muscle-inspired pneumatic, and hydraulically amplified self-healing electrostatic. The hybrid design of SFAs for improved functionality and shape controllability is also considered. Modeling SFAs, based on previous research, can be classified into three main groups: analytical methods, numerical methods, and model-free methods. We demonstrate the latest advances and potential challenges in each category. Regarding the fact that the performance of soft actuators is dependent on material selection, we then focus on the behaviors and mechanical properties of the various types of silicone that can be found in the SFA literature. For a better comparison of the different constitutive models of silicone materials proposed and tested in the literature, ABAQUS software is here employed to generate the engineering and true strain-stress data from the constitutive models, and compare them with standard uniaxial tensile test data based on ASTM412. Although the figures presented show that in a small range of stress–strain data, most of these models can predict the material model acceptably, few of them predict it accurately for large strain-stress values. Sensor technology integrated into SFAs is also being developed, and has the potential to increase controllability and observability by detecting a wide variety of data such as curvature, tactile contacts, produced force, and pressure values.
Daniel Haid et al 2023 Smart Mater. Struct. 32 113001
Sports concussions are a public health concern. Improving helmet performance to reduce concussion risk is a key part of the research and development community response. Direct and oblique head impacts with compliant surfaces that cause long-duration moderate or high linear and rotational accelerations are associated with a high rate of clinical diagnoses of concussion. As engineered structures with unusual combinations of properties, mechanical metamaterials are being applied to sports helmets, with the goal of improving impact performance and reducing brain injury risk. Replacing established helmet material (i.e. foam) selection with a metamaterial design approach (structuring material to obtain desired properties) allows the development of near-optimal properties. Objective functions based on an up-to-date understanding of concussion, and helmet testing that is representative of actual sporting collisions and falls, could be applied to topology optimisation regimes, when designing mechanical metamaterials for helmets. Such regimes balance computational efficiency with predictive accuracy, both of which could be improved under high strains and strain rates to allow helmet modifications as knowledge of concussion develops. Researchers could also share mechanical metamaterial data, topologies, and computational models in open, homogenised repositories, to improve the efficiency of their development.
Pedro M Ferreira et al 2024 Smart Mater. Struct. 33 065037
In the field of structural engineering, the integration of smart materials and structural health monitoring (SHM) has given rise to self-sensing materials (SSM), leading to a paradigm shift in SHM. This paper focuses on the interplay between self-sensing capabilities and the piezoelectric properties of lead zirconate titanate (PZT) and barium titanate (BT) in aluminium components. Leveraging Friction Stir Processing (FSP), the study explores the synthesis and performance of SSMs with embedded piezoelectric particles, potentially transforming structural engineering. The paper highlights FSP as a key methodology for incorporating piezoelectric particles into structural materials, showcasing its potential in developing SSMs with enhanced functionalities. A specific focus is placed on integrating PZT and BT particles into AA2017-T451 aluminium parts using FSP, with metallographic assessments and mechanical property evaluations conducted to analyse particle distribution and concentration. This study shows how BT and PZT particles are incorporated into AA2017-T451 aluminium to create a SSM that responds to external stimuli. Under cyclic loading, the SSMs exhibit a linear load-electrical response correlation, with sensibility increasing at lower frequencies. Metallographic analysis shows homogeneous particle distribution, while PZT induces increased brittleness and brittle fractures. Yield strength remains relatively stable, but ultimate strength decreases post-FSP. Hardness variations indicate weaker bonding with PZT particles. Eddy'scurrent testing aligns with hardness profiles, and sensorial characterization reveals a non-linear frequency-sensibility relationship, showcasing the SSMs' suitability for low-frequency applications, particularly with PZT embedment.
Micheal Sakr and Ayan Sadhu 2024 Smart Mater. Struct. 33 033001
Digital twins (DTs) have witnessed a paramount increase in applications in multidisciplinary engineering systems. With advancements in structural health monitoring (SHM) methods and implementations, DT-based maintenance and operation stages have been implemented significantly during the life cycle of civil infrastructure. Recent literature has started laying the building blocks for incorporating the concept of DTs with SHM of large-scale civil infrastructure. This paper undertakes a systematic literature review of studies on DT-related applications for SHM of civil structures. It classifies the articles based on thematic case studies: transportation infrastructure (i.e. bridges, tunnels, roads, and pavements), buildings, off-shore marine infrastructure and wind turbines, and other civil engineering systems. The proposed review is further uniquely sub-classified using diverse modeling approaches such as building information modeling, finite element modeling, 3D representation, and surrogate and hybrid modeling used in DT implementations. This paper is solely focused on applications relating DTs to SHM practices for various civil engineering infrastructures, hence highlighting its novelty over previous reviews. Gaps and limitations emerging from the systematic review are presented, followed by articulating future research directions and key conclusions.
Xin Ren et al 2018 Smart Mater. Struct. 27 023001
Materials and structures with negative Poisson's ratio exhibit a counter-intuitive behaviour. Under uniaxial compression (tension), these materials and structures contract (expand) transversely. The materials and structures that possess this feature are also termed as 'auxetics'. Many desirable properties resulting from this uncommon behaviour are reported. These superior properties offer auxetics broad potential applications in the fields of smart filters, sensors, medical devices and protective equipment. However, there are still challenging problems which impede a wider application of auxetic materials. This review paper mainly focuses on the relationships among structures, materials, properties and applications of auxetic metamaterials and structures. The previous works of auxetics are extensively reviewed, including different auxetic cellular models, naturally observed auxetic behaviour, different desirable properties of auxetics, and potential applications. In particular, metallic auxetic materials and a methodology for generating 3D metallic auxetic materials are reviewed in details. Although most of the literature mentions that auxetic materials possess superior properties, very few types of auxetic materials have been fabricated and implemented for practical applications. Here, the challenges and future work on the topic of auxetics are also presented to inspire prospective research work. This review article covers the most recent progress of auxetic metamaterials and auxetic structures. More importantly, several drawbacks of auxetics are also presented to caution researchers in the future study.
Parham Mostofizadeh et al 2024 Smart Mater. Struct. 33 065001
In this paper, surface conductive heating was utilized to actively control the stiffness of lattice metamaterials manufactured employing multi-material 3D printing. To create an electrical surface conduction, additively manufactured samples in single and dual material configurations were dip coated in a solution of carbon black in water. Electro-thermo-mechanical tests conducted successfully demonstrated that the low-cost conductive coating can be used to actively alter the stiffness of the structure through surface joule heating. The process was found to result in repeatable and reproduceable stiffness tuning. Stiffness reductions of 56% and 94% were demonstrated for single and dual material configurations under the same electrical loading. The proposed methodology can be implemented to actively control the properties of polymeric lattice materials/structures where the change in the composition of polymers (introduce bulk electrical conductivity) is difficult and can have a wide range of applications in soft robotics, shape-changing, and deployable structures.
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Jian Chen et al 2024 Smart Mater. Struct. 33 075017
This paper proposes an inertia-driven resonant piezoelectric stack pump based on a flexible support structure to solve the problem that the piezoelectric stack cannot effectively drive the diaphragm pump to transport liquid due to too small output displacement and too high resonant frequency when one end is fixed. Under the inertial force generated by the vibration of the piezoelectric stack's mass center during its deformation, the whole piezoelectric stack will vibrate with the flexible support structure; and a large displacement and inertial force can be achieved to drive the pump at the resonant frequency. Piezoelectric pumps are designed with a diaphragm pump and a piezoelectric stack based on the flexible support structure. The piezoelectric vibrator includes a piezoelectric stack, a preloading component and a flexible support plate. A fixed support plate and three flexible support plates with different stiffnesses were fabricated and assembled with the same piezoelectric stack and diaphragm pump respectively to construct four piezoelectric pump prototypes with different resonant frequencies. The temperature rise characteristics of the piezoelectric stack were experimentally studied to determine the safe range of the driving voltage and frequency. Then the output performances of the piezoelectric pumps were tested. Under a sinusoidal driving voltage of 100 Vpp, the piezoelectric pump based on the fixed support structure cannot pump water, while the piezoelectric pumps based on the flexible support structure achieved the maximum flow rates of 89.0 ml min−1, 123.4 ml min−1 and 197.4 ml min−1 at the resonant frequencies of 262 Hz, 297 Hz and 354 Hz, and the maximum backpressures of 4.4 kPa, 7.5 kPa and 11.0 kPa at 266 Hz, 309 Hz and 365 Hz.
Qin Yang et al 2024 Smart Mater. Struct. 33 075016
2D braided shape memory composite (SMPC) tubes, with near-net shape manufacturing and programmable, are widely utilized in smart structures. Here we have developed braided tubes of continuous carbon fiber reinforced shape memory polyurethane (SMPU) composites. This innovative design yields a synergistic boost in both mechanical strength, shape memory functionality, and dual-trigger responsiveness. The mechanical properties, electrical/thermal shape memory performance, and recovery force of the SMPC tubes with various braiding angles have been investigated. The effects of braiding angle, temperature dependence, and applied current on the mechanical properties and shape memory properties were revealed. We found a substantial increase in compression load and ring stiffness as the braiding angle increased and the temperature decreased. The SMPC tubes exhibited a recovery ratio of 99% under electrical and thermal triggering, demonstrating a more rapid shape recovery compared to the SMPU tubes solely under thermal triggering. The large-angle specimens exhibited shorter recovery times, higher recovery forces (up to 11.40 N), and faster responses upon electrical stimulation. The ability of SMPC tubes to generate a recovery force several times greater than their weight holds great potential for expanding the applications of smart actuators.
Dezheng Hua et al 2024 Smart Mater. Struct. 33 073002
As a new type of medical equipment, capsule robots are actuated wirelessly by space magnetic field, which have important application advantages in the diagnosis and treatment of gastrointestinal diseases. Active locomotion is the basis of medical operation for capsule robots, as well as an important guarantee to avoid misdetection and retention in the body. Furthermore, the pose estimation of the capsule robots in the gastrointestinal tract can provide accurate information for medical operation and improve work efficiency. Specific medical operation is one of the ultimate goals of capsule robots, and it is the key to realize the non-invasive diagnosis and treatment technology. Moreover, replacing traditional chemical batteries with wireless power transfer technology not only reduces the dimensions of the capsule robots, but also provides unlimited possibilities for the development of medical operations. In this work, the state-of-the-art capsule robots are reviewed according to the research directions of the locomotion, pose, medical operation and wireless power transmission reported from 2018 to 2023. In light of the four main directions of the capsule robots, some important research achievements and approaches are summarized. In particular, some outstanding advances on innovative structure, efficient methodology and appropriate application of the capsule robots are introduced in details. Finally, an overview of the significant issues occurred in the capsule robots is reported, and the developing trends are discussed.
Shun Weng et al 2024 Smart Mater. Struct. 33 075015
This study proposes a rectangular microstrip patch antenna sensor based on a high-conductivity graphene film for bidirectional strain detection in structural health monitoring (SHM). By using a highly conductive graphene film instead of traditional metal foil to produce a patch antenna, the antenna possesses a higher flexibility and a larger sensing range. The mechanical, electromagnetic, and radiative properties were investigated. The strain sensing principle based on the resonant frequency offset of the graphene film antenna was proposed. The relationships between the resonant frequency shift and structural strain were quantitatively explored through theoretical deductions, finite element simulations, and experiments. According to the experimental results, the shift in the resonant frequency was linearly related to the lateral and longitudinal strains. The sensitivity coefficients for the lateral and longitudinal strains were 2.2037 kHz/μ and 3.6198 kHz/μ, respectively. The thermal strain can be distinguished based on the linear resonant frequency-temperature relationship. The results demonstrated the advantages and prospects of the proposed novel patch antenna for SHM.
Tao Zhang et al 2024 Smart Mater. Struct. 33 075014
A piezoelectric actuator utilizing a parallelogram flexible mechanism is proposed. This actuator harnesses the parasitic motion generated by a parallelogram driven by a piezoelectric element. It differs from existing actuation mechanisms based on a similar principle in that the piezoelectric stack is positioned on the outside of the parallelogram flexible mechanism, thus protecting it from shear forces. Finite element simulations and experiments confirm this. The analysis was conducted using theoretical analysis and finite element simulation. The optimal drive angle for the parallelogram flexible mechanism was determined through finite element simulation. Additionally, a prototype actuator and an experimental measurement system were developed to assess the operational performance of the proposed piezoelectric actuator. When the driving frequency is 475 Hz and the locking force is 5 N, the motion of the actuator achieves a maximum speed of 5.65 mm s−1 and a maximum horizontal load of up to 113 g; when the input frequency is 1 Hz and the input minimum starting voltage is 8 V, the minimum displacement resolution is 30 nm. A comparative analysis of experimental results, theoretical calculations, and finite element simulation results demonstrates the feasibility of the structural design.
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Dezheng Hua et al 2024 Smart Mater. Struct. 33 073002
As a new type of medical equipment, capsule robots are actuated wirelessly by space magnetic field, which have important application advantages in the diagnosis and treatment of gastrointestinal diseases. Active locomotion is the basis of medical operation for capsule robots, as well as an important guarantee to avoid misdetection and retention in the body. Furthermore, the pose estimation of the capsule robots in the gastrointestinal tract can provide accurate information for medical operation and improve work efficiency. Specific medical operation is one of the ultimate goals of capsule robots, and it is the key to realize the non-invasive diagnosis and treatment technology. Moreover, replacing traditional chemical batteries with wireless power transfer technology not only reduces the dimensions of the capsule robots, but also provides unlimited possibilities for the development of medical operations. In this work, the state-of-the-art capsule robots are reviewed according to the research directions of the locomotion, pose, medical operation and wireless power transmission reported from 2018 to 2023. In light of the four main directions of the capsule robots, some important research achievements and approaches are summarized. In particular, some outstanding advances on innovative structure, efficient methodology and appropriate application of the capsule robots are introduced in details. Finally, an overview of the significant issues occurred in the capsule robots is reported, and the developing trends are discussed.
Jianquan Chen et al 2024 Smart Mater. Struct. 33 073001
This comprehensive review explores the design and applications of machine learning (ML) techniques to acoustic metamaterials (AMs) and phononic crystals (PnCs), with a particular focus on deep learning (DL). AMs and PnCs, characterized by artificially designed microstructures and geometries, offer unique acoustic properties for precise control and manipulation of sound waves. ML, including DL, in combination with traditional artificial design have promoted the design process, enabling data-driven approaches for feature identification, design optimization, and intelligent parameter search. ML algorithms process extensive AM data to discover novel structures and properties, enhancing overall acoustic performance. This review presents an in-depth exploration of applications associated with ML techniques in AMs and PnCs, highlighting specific advantages, challenges and potential solutions of applying of using ML algorithms associated with ML techniques. By bridging acoustic engineering and ML, this review paves the way for future breakthroughs in acoustic research and engineering.
Zhang Li et al 2024 Smart Mater. Struct. 33 063002
Traditional robots with constant stiffness demonstrate reliable output power and positioning precision, which may conversely reduce their flexibility and adaptability or even incur greater damage for accidental collisions with the environment or humans. Here, we review state-of-the-art robots with a variable stiffness mechanism, which is a key design concept that is widely used to improve robot reliability and impart new functionalities. To determine the similarities and differences between variable stiffness methods, we discuss the existing principles for variable stiffness of both rigid and soft robots, such as coupled and uncouple structures, thermal stimuli and magneto-rheological approaches. We hope this paper can help readers better understand these methods with regard to interesting applications. In addition, we also outline challenges and perspectives, where a simpler structure, larger band and faster response of stiffness modulation are required for robots in the future.
Bouguermouh Karima et al 2024 Smart Mater. Struct. 33 063001
Four-dimensional (4D) printing has recently received much attention in the field of smart materials. It concerns using additive manufacturing to obtain geometries that can change shape under the effect of different stimuli. Such a technique enables the fabrication of 3D printed parts with the additional functionality of scalable, programmable, and controllable part shapes over time. This review provides a comprehensive examination of advances in the field of 4D printing, emphasizing the integration of fiber reinforcement and auxetic structures as crucial building blocks. The incorporation of fibers enhances structural integrity, while auxetic design principles contribute unique mechanical properties, such as negative Poisson's ratio and great potential for energy absorption due to their specific deformation mechanisms. Therefore, they present potential applications in aerospace, drones, and robotics. The objective of this review article is first to describe the distinctive properties of shape memory polymers, auxetic structures, and composite (fiber-reinforced) materials. A review of applications that use combinations of such materials is also presented when appropriate. The goal is to get a grip on the delicate balance between the different properties achievable in each case. The paper concludes by describing recent advances in 4D printing of fiber-reinforced auxetic structures.
Xuan Phu Do and Seung Bok Choi 2024 Smart Mater. Struct. 33 053001
In this review article, different structural types of the magnetic core required for activation of magnetorheological elastomer (MRE) and magnetorheological fluid (MRF) are introduced in terms of design feature, magnetic flux analysis and performance, installation with primary structure and close relationship to material types. As a first step, dynamic functions related to the chosen models are summarized and discussed according to the magnetic field variations including the field-dependent damping force and torque of the application systems. To address on the practical feasibility, main issues of design process are also pointed out and are discussed stating the manufacturing feasibility and the scaled factors of dynamic variables. Then, after analysing the featured models and dynamic functions, the derivation approaches to establish mathematical models of the magnetic circuit core (MCC) are provided and compared as a valuable reference for checking both simplicity and accuracy. In this stage, the chosen symbolized magnetic circuit models are clearly described about linear or/and nonlinear behaviours of the input (current) and output (magnetic field). In addition, a couple of commercial software to design the magnetic circuit model is introduced since they can be effectively adopted to analyse the MCCs of many application systems utilizing MRE and MRF without any difficulty.
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Liu et al
A key challenge in robotics is developing efficient methods for grasping objects of different shapes, sizes, poses, and properties. In this study, we propose a positive pressure actuation gripper that combination of annular microwedge adhesion and particle jamming. The gripper comprises an elastic membrane enclosing a mass of granular material, allowing for control of the backing stiffness during contact. In the inflated state, the elastic membrane is stretched, generating centripetal loading force for annular microwedge adhesion. By transitioning into a negative pressure jammed state, a rigid backing stiffness is achieved to maintain adhesion stability, later reverting to atmospheric pressure enables the gripper to release the object. Consequently, this gripper through annular microwedge adhesion offers controllable adhesion for grip and release a wide range of objects that are typically challenging for current soft grippers, such as flat objects, soft objects, or objects with complex geometries. We fabricate the positive pressure actuation gripper and clarify its working mechanism for both flat and curved surfaces. Furthermore, a theoretical analysis is carried out to calculate the frictional stress of the elastic membrane when it is in contact with an object. Experimental results on contact area demonstrate the feasibility of positive pressure actuation mechanism for annulus microwedge adhesion. The payload test determines the parameters of the elastic membrane with the best adhesion performance. The final demonstration shows that the applicability of this soft gripper in various scenarios.
Han et al
Due to the temperature sensitivity of asphalt mixtures, the synergistic deformation between embedded strain sensors and asphalt mixtures may be poor at certain temperatures, resulting in less accurate strain measurements. Therefore, the main purpose of this article is to consider the synergistic deformation between asphalt mixtures and embedded sensors and to provide guidance for the reasonable design of embedded strain sensors for asphalt pavements. Firstly, the finite element analysis and laboratory tests were used as the main approaches to analyze the main factors affecting the synergistic deformation between the embedded strain sensor and the asphalt mixture. Then, critical design requirements and optimization initiatives for embedded strain sensors dedicated to asphalt pavements were proposed. Finally, the optimal embedded strain sensors were further developed and the proposed design requirements were validated. The results show that the output of the sensor can be consistent with the deformation state of the asphalt mixture only if the equivalent modulus of the embedded strain sensor is the same as the modulus of the asphalt mixture. However, asphalt mixture modulus is susceptible to temperature, and it is difficult to keep the asphalt mixture modulus consistent with the sensor equivalent modulus at different ambient temperatures. Therefore, embedded strain sensors with low equivalent modulus and no encapsulated reinforcement are recommended to monitor the strain of asphalt pavement over a wide range of temperatures. The corresponding optimal embedded strain sensor was developed using low modulus polyimide as the elastic strain beam and silicone rubber as the flexible wrapping layer. The optimal embedded strain sensor has a maximum measurement error of only 4.5% over a wide temperature range. Overall, this article provides a reference for the accurate measurement of strain sensors for asphalt pavement.
lu et al
In order to establish the model of the MRB system under long-term operation and different working conditions, a novel performance prediction approach based on an improved LSTM model is proposed. The framework of the proposed approach is presented, and an improved sparrow search algorithm is designed to optimize the hyperparameters of LSTM. Moreover, the proposed prediction approach based on improved LSTM is designed and the flowchart of this approach is shown. In addition, the first simulation example was carried out to demonstrate the effectiveness of the proposed model compared with the ANN model and the conventional geometric model. Finally, another example was designed to exhibit the superior performance of the proposed algorithm compared with other algorithms.
Soman et al
Fiber Bragg grating (FBG) sensors have long been thought of as the ideal sensors for structural health monitoring (SHM) due to their small size, light weight, ability to be embedded and ability to be multiplexed. So, FBG sensors have been commonly used for strain based SHM. In recent times, a renewed interest is seen in the use of FBG sensors for guided wave (GW) measurements using the edge filtering approach. 

Unfortunately, more wide spread research is limited by the steep learning curve. Also, the use of FBG in real applications is still in its infancy due to the need of calibration of the system when the ambient temperature conditions change. This paper precisely tries to address these two shortcomings. For overcoming the steep learning curve, a detailed discussion on the hardware for the FBG based GW sensing is provided. Following the discussion a detailed trouble-shooting guide is developed based on the immense experience of the authors in this field. This exercise will allow easier adoption of the technique and stimulate more research in the topic. The exercise also allows us to highlight the safeguards and the features that need to be included in the self-calibrating system. Once the design parameters are established a self-calibrating autonomous FBG based sensing system is developed. The developed system is tested in ambient conditions over an 18 hour period capturing the ambient temperature changes. The system is also tested in a larger temperature range (25 C to 65 C). 
The results indicate that indeed the self-calibrating system works effectively. Such a 'smart' autonomous system for guided wave sensing has not been presented before and is the key novelty of the presented work. Furthermore, the detailed discussions and troubleshooting guide will help introduce more people to this field of study stimulating more research.
Peng et al
4D-printed deformable honeycombs can produce pro-programmed shape deformation and different properties under external stimuli, and the manufacturing process parameters are the dominant factors affecting the microstructure and properties of the manufactured honeycomb structures. Although many researchers investigating the effects of manufacturing process parameters on the mechanical properties of printed materials, but still a lack of research on the relationship between manufacturing process parameters and properties of honeycomb structures. Therefore, a novel honeycomb structures which has two configurations under temperature stimuli is proposed, and the optimum manufacturing processes for the printing of this honeycomb are selected considering the compression and energy absorption properties simultaneously. The novel honeycomb is designed and printed with fused deposition modeling (FDM) technology, which have hexagonal configuration (Structure I) and semi-triangular configuration (Structure II) under external temperature stimulus. The energy absorption capacity of Structure I and compressive properties of Structure II are investigated under different manufacturing process parameters. The experimental results indicate that the layer thickness has the most significant impact on the mechanical performance of deformable honeycombs. The combination of a layer thickness of 0.2 mm, printing speed of 40 mm/s, and 100% infill density are the best process parameters for the novel deformable honeycomb structures.
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Pattarinee White et al 2024 Smart Mater. Struct. 33 075010
This work presents an investigation into the energy harvesting performance of a combination of polytetrafluoroethylene (PTFE) and polyvinylidene fluoride (PVDF) materials prepared using a one-step electrospinning technique. Before electrospinning, different percentages of the 1 micron PTFE powder were added to a PVDF precursor. The surface morphology of the electrospun PTFE/PVDF fibre was investigated using a scanning electron microscope and tunnelling electron microscope. The structure was investigated using Fourier-transform infrared spectroscopy and x-ray diffraction analysis (XRD). A highly porous structure was observed with a mix of the α- and β-phase PVDF. The amount of β-phase was found to reduce when increasing the percentage of PTFE. The maximum amount of PTFE that could be added and still be successfully electrospun was 20%. This percentage showed the highest energy harvesting performance of the different PTFE/PVDF combinations. Electrospun fibres with different percentages of PTFE were deployed in a triboelectric energy harvester operating in the contact separation mode and the open circuit voltage and short circuit current were obtained at frequencies of 4–9 Hz. The 20% PTFE fibre showed 4 (51–202 V) and 7 times (1.3–9.04 µA) the voltage and current output respectively when compared with the 100% PVDF fibre. The Voc and Isc were measured for different load resistances from 1 kΩ to 6 GΩ and achieved a maximum power density of 348.5 mW m−2 with a 10 MΩ resistance. The energy stored in capacitors 0.1, 0.47, 1, and 10 µF from a book shaped PTFE/PVDF energy harvester were 1.0, 16.7, 41.2 and 136.8 µJ, respectively. The electrospun fibre is compatible with wearable and e-textile applications as it is breathable and flexible. The electrospun PTFE/PVDF was assembled into shoe insoles to demonstrate energy harvesting performance in a practical application.
Alberto Gonzalez-Vazquez et al 2024 Smart Mater. Struct. 33 075009
Rehabilitation is crucial for children with physical disabilities arising from various conditions. Traditional exoskeletons, reliant on electric motors and rigid components, making them cumbersome, heavy, and unsuitable for use outside clinical facilities. To overcome these, researchers are turning to soft wearable rehabilitation robots (SWRRs) with artificial muscles based on smart materials like twisted and coiled polymer actuators (TCPs). TCPs offer enhanced compliance, adaptability, comfort, safety, and reduced weight—critical for paediatric use. Despite facing challenges like low operating frequencies and high temperatures, TCPs are explored as potential artificial muscles for SWRRs, due to their advantages on the force they can generate, the strain and a linear behaviour. This study details a proof of concept for a paediatric rehabilitation system for ankles based on TCPs, including the actuator characterization, mechanical design, control strategy, and human-computer-interface (HCI). The resulting device achieved a 1.4 Nm torque, a 10° range of motion in dorsiflexion within 5 s, and integrated electromyographic HCI. This research marks a promising step towards innovative, soft wearable rehabilitation solutions for children with physical disabilities.
Takashi Ozaki et al 2024 Smart Mater. Struct. 33 077001
Technologies for digitizing worker actions to enhance human labor tasks, mitigate accidents, and prevent disabling injuries have garnered significant attention. This study focuses on monitoring the force exerted by the fingers and developing a wearable fingertip force sensor based on a simple elliptical ring structure in conjunction with a commercially available resistive bend sensor. Resembling a ring accessory, the sensor is easy to attach and detach, and exhibits high sensitivity, with a resistance change of approximately 9% for a fingertip load of 1 N. Furthermore, to mitigate crosstalk during finger flexion, we propose a combined configuration employing this ring-shaped sensor alongside another sensor designed for measuring and rectifying finger flexion angles. Additionally, we introduce an empirically derived fitting function and a straightforward calibration procedure to extract the function's parameters. The proposed system achieves an average RMS error of 0.53 N for force estimations of approximately 5 N, even during finger flexion and postural changes.
Yucen Shen et al 2024 Smart Mater. Struct.
Three types of aliphatic alcohols (methanol, ethanol, and 1-propanol) are used to actuate a programmed ESTANE ETE 75DT3 (abb. SMP-E), a polyether-based polyurethane shape memory polymer (SMP). In this paper, we analyze the diffusion behavior of these small molecules in SMP E and the relationship between the solvent diffusion and shape recovery using a weight gain study and small-angle x-ray scattering (SAXS). From the results, all three alcohols show behavior similar to Fickian diffusion in SMP-E. During the diffusion process, the molecular switch of thermoplastic SMP-E transforms from the glassy state to the rubber like state depending on the time-dependent local alcohol concentration. The diffusion of small molecules enhances shape recovery and the related evolution of the polymer structure. As a feedback effect, the rate of diffusion changes as small molecules penetrate into the sample. To study this issue, we used three methods to determine the diffusion coefficients at short, intermediate and long times. The data on short time diffusion reflects the glassy state of the sample. The intermediate times correspond to 50% solvent saturation, where the shape recovery is nearly completed. The long-time analysis, on the other hand, provides an average diffusion coefficient for the entire process. The SAXS results show the diffusion path and provide evidence that the alcohol molecules equally diffuse into both molecular switch (MS) and entropy elastic component (EE) phase of SMP E.
Christian Heinrich et al 2024 Smart Mater. Struct. 33 075006
The transformation of metastable austenite to martensite under mechanical loading can be harnessed to create a material sensor which records a measure of the load history without the need for electrical energy and can be read out at arbitrary intervals via eddy current probing, thus leading to an ultra-low-power sensing solution. This paper presents possibilities of processing this load amplitude-dependent evolution of martensite content loading for component fatigue analysis. The general method is based on using a theoretical material model typically used in finite element analyses which includes hardening plasticity and phase transformation to precompute tables of stress amplitude or cumulative damage corresponding to different sensor readings which can be stored on a low power processing system onboard the component for energy-efficient lookup. At nominal single amplitude loading, the sensor can be used as a load cycle counter for known loads or as an overload detection device upon divergent martensite content rise. Interpretation of block program loading is less practical due to resolution issues. Under random loading, sequence effects get averaged out; interpretation is easiest with narrow load spectra, but information can be gained from very wide spectra as well. Multiple sensors at different locations can aid interpretation. Uncertainty due to necessary assumptions and untreated influences of temperature and loading rate is discussed.
Jean-Baptiste Chossat and Herbert Shea 2024 Smart Mater. Struct.
We report a soft actuator that generates continuous rotation of an object placed on it by electromagnetically exciting circular travelling waves in a soft disk. The disk, that serves as the stator, is made of a stretchable composite consisting of segments of silicone elastomer in which hard ferromagnetic particles are embedded. Inspired by piezoelectric traveling wave rotary actuators, the disk's 16 sections are driven by underlying PCB coils to create a flexural traveling wave on the disk's surface. The rotor can be any object directly placed on the stator: the traveling wave in the stator leads by friction to the rotation of the rotor. Unlike conventional electromagnetic motors that rely on a precisely controlled gap between stator and rotor, a concept incompatible with soft robotics, our device exploits the contact between rotor and stator and the associated dry friction to generate torque. Rotation speeds of over 6 rpm were obtained for a partially rice-filled balloon, 30 cm diameter, weighing 17 g. We report detailed speed and performance metrics when rotating plastic disks. With this rotating actuator, we demonstrate an innovative way to transmit torques and rotations within soft structures.
Huanpeng Hong et al 2024 Smart Mater. Struct. 33 075001
Iron-based shape memory alloys (FeSMAs) are emerging as a promising material for use in post-tensioning concrete structures to provide self-centering capabilities during a seismic event. Past experimental studies on FeSMA focused on strengthening or repairing existing structural components under gravity loading. In addition to the structural rehabilitation, FeSMA also have potential for use in self-centering columns subjected to seismic loads. However, the basic material properties, such as strength, ductility, recovery strain, actuation stress (i.e. prestress) stability, low-cycle fatigue resistance, and temperature dependence of FeSMA related to self-centering column applications have not been studied extensively to-date. To fill this knowledge gap and determine the feasibility of using FeSMA in self-centering columns, this study performed a comprehensive characterization and analysis of FeSMA both before and after actuation (i.e. thermal stimulation). The strength, ductility, energy dissipation, and recovery strain of FeSMA before actuation were tested at different temperatures from −40 °C to 50 °C. After actuation, the actuation stress, low-cycle fatigue resistance, and strain capacity of FeSMA were tested at different temperatures from −40 °C to 50 °C and prestrain levels from 4% to 30%, and under low-cycle fatigue loading with strain amplitudes from 0.5% to 1.0%. The results from this study demonstrated that FeSMA exhibit high ductility, cyclic actuation stress stability, and low-cycle fatigue resistance at temperatures from −40 °C to 50 °C. Furthermore, it was found that increasing the prestrain level can effectively increase the post-actuation strain amplitude at which the actuation stress reduces to zero. A prestrain level between 15% and 20% is recommended for application of FeSMA in self-centering columns. The research findings from this study demonstrated the feasibility of using FeSMA in self-centering columns subject to seismic loading.
Luke B Demo et al 2024 Smart Mater. Struct. 33 065042
In recent years, there has been growing interest in self-sensing structural materials across research and industry sectors. Detecting and locating structural damage typically requires numerous sensors wired to a data acquisition (DAQ) circuit, rendering implementation impractical in real structures. This paper proposes an innovative, cost-effective sensor network for damage detection and localization in fiber-reinforced polymer composites. The innovation encompasses three key elements: (1) utilizing carbon fiber tows within the composite as piezoresistive sensors, eliminating the need for additional foreign sensor devices; (2) introducing a novel sensor layout wherein sensor tow branches with varied resistance values are connected in parallel, reducing the number of connections to the DAQ circuit and cutting manufacturing costs significantly; (3) developing a practical sensor terminal fabrication technique to minimize manufacturing expenses. The proposed design methodology for the branch resistance values is first validated using a demonstration panel. Subsequently, the overall strategy is assessed by conducting impact tests on carbon and glass fiber-reinforced composite specimens. Results validate the sensor's ability to accurately detect and locate structural damage.
Joshua Knospler et al 2024 Smart Mater. Struct. 33 065040
Soft robots have revolutionized machine interactions with humans and the environment to enable safe operations. The fixed morphology of these soft robots dictates their mechanical performance, including strength and stiffness, which limits their task range and applications. Proposed here are modular, reconfigurable soft robots with the capabilities of changing their morphology and adjusting their stiffness to perform versatile object handling and planar or spatial operational tasks. The reconfiguration and tunable interconnectivity between the elemental soft, pneumatically driven actuation units is made possible through integrated permanent magnets with coils. The proposed concept of attaching/detaching actuators enables these robots to be easily rearranged in various configurations to change the morphology of the system. While the potential for these actuators allows for arbitrary reconfiguration through parallel or serial connection on their four sides, we demonstrate here a configuration called ManusBot. ManusBot is a hand-like structure with digits and palm capable of individual actuation. The capabilities of this system are demonstrated through specific examples of stiffness modulation, variable payload capacity, and structure forming for enhanced and versatile object manipulation and operations. The proposed modular, soft robotic system with interconnecting capabilities significantly expands the versatility of operational tasks as well as the adaptability of handling objects of various shapes, sizes, and weights using a single system.
Pedro M Ferreira et al 2024 Smart Mater. Struct. 33 065037
In the field of structural engineering, the integration of smart materials and structural health monitoring (SHM) has given rise to self-sensing materials (SSM), leading to a paradigm shift in SHM. This paper focuses on the interplay between self-sensing capabilities and the piezoelectric properties of lead zirconate titanate (PZT) and barium titanate (BT) in aluminium components. Leveraging Friction Stir Processing (FSP), the study explores the synthesis and performance of SSMs with embedded piezoelectric particles, potentially transforming structural engineering. The paper highlights FSP as a key methodology for incorporating piezoelectric particles into structural materials, showcasing its potential in developing SSMs with enhanced functionalities. A specific focus is placed on integrating PZT and BT particles into AA2017-T451 aluminium parts using FSP, with metallographic assessments and mechanical property evaluations conducted to analyse particle distribution and concentration. This study shows how BT and PZT particles are incorporated into AA2017-T451 aluminium to create a SSM that responds to external stimuli. Under cyclic loading, the SSMs exhibit a linear load-electrical response correlation, with sensibility increasing at lower frequencies. Metallographic analysis shows homogeneous particle distribution, while PZT induces increased brittleness and brittle fractures. Yield strength remains relatively stable, but ultimate strength decreases post-FSP. Hardness variations indicate weaker bonding with PZT particles. Eddy'scurrent testing aligns with hardness profiles, and sensorial characterization reveals a non-linear frequency-sensibility relationship, showcasing the SSMs' suitability for low-frequency applications, particularly with PZT embedment.