Designing devices made from epoxy-based shape memory polymers is difficult because few material behavior parameters are available for these materials in the rubbery/shape changing region. This work examines the rubbery state, greater than 20° C above the glass transition temperature (Tg), as an elastomeric regime suited to characterization with simple tension and planar tension experiments. Differential scanning calorimetry (DSC) results show a 70° C Tg, which agrees with prior research. Simple tension experiments at 100° C exhibited nonlinear elastic behavior, and finite element analysis (FEA) agreed with the constitutive behavior exhibited in the experiments. Planar tension experiments exhibited novel results. The stress/strain response was sigmoidal with a significant plateau in stress followed by rising stress to failure. The typical 10:1 gage width/gage length ratio seemed to over constrain the material. The strain to failure is small, and suggests the material behavior is a hybrid of elastic and hyperelastic behavior.

Inspired by the characteristics of biological muscles, rubber muscle actuators (RMAs) are lightweight and compliant structures that deliver high power/weight ratios and are currently under investigation for use in soft robotics, prosthetics, and specialized aircraft. RMA actuation is accomplished by inflating the structure’s air bladder, which results in the contraction of the muscle. In this proceedings paper, we describe the use of gaseous products from enzymatically-catalyzed reactions to pressurize and drive the motion of RMAs. Specifically, this paper details the power envelope of RMAs driven by the urease-catalyzed production of CO 2 , under dynamic loading conditions. The use of enzymatically catalyzed, gas-producing reactions is advantageous for powering RMAs, as these systems may be self-regulating and self-regenerating. Reaction design parameters for sizing the gas source to RMA power requirements and power envelope results are reported for gas-powered actuator dynamics tested on a linear motion test assembly. The power response to increasing loads reflects the partial pressure over the reaction slurry; therefore, the chemistry and reactor scale affect the entire structure’s efficiency. We outline the reactor space-time design constraints that facilitate a tailored power response for urease catalyzed gas generation sources.

This work presents a novel gas-generation mechanism designed to enable bioinspired actuators. Specifically, the fundamental aspects involved in harnessing the gaseous products from biologically catalyzed reactions and recycling the gases into an actuation pressurization scheme are explored. The capability of having such a self-regulating, self-regenerating system of gas generation could provide the necessary pneumatically-driven force to enable devices that require localized pressurization, such as rubber muscle actuators. This work reports 1) the utilization of biological systems to produce gaseous products that will ultimately affect actuator density in situ , and 2) the construction of a freely moving power rig to monitor rubber muscle actuator performance under pressure generated from biologically powered reactions.