3D‐Printed Phase‐Change Artificial Muscles with Autonomous Vibration Control

Currently, additive manufacturing is utilized to fabricate many different actuators suited for soft robots. However, an effective controller paradigm essential benefit from the advantages of robots in terms power consumption, production costs, weight, and safety while operating near living systems. In this work, artificial muscle additively manufactured with silicone elastomer material capable demonstrating several levels stiffness. The 3D-printed equipped carbon fibers receive a stimulus signal develop programmable joint that can present stiffnesses. A nonlinear developed autonomously control variable stiffness based on reinforcement learning algorithm. exhibits slight increase settling time; however, it demonstrates decrease fluctuation amplitude by 33% substantial reduction consumption 41% comparison optimized proportional integral derivative controller. At same time, adaptable reliable new conditions. also used as controllable mechanism suppress low frequency vibration. study shows successfully attenuate vibration when increased.