Composition, System, and Method for Rigidity Tuning with Conductive Thermoplastic Elastomer

Abstract

Disclosed herein is a composite comprising a conductive elastomer and an isolating elastomer. When a current is passed through the conductive elastomer, its tensile modulus decreases as the elastomer heats from internal Joule heating, changing the rigidity of the composite. When the current is no longer present, the elastomer cools and the rigidity of the composite returns to its original state.

Claims

1. A composite comprising: a conductive elastomer comprising an elastomer and a conductive filler, wherein the conductive filler is disposed within the elastomer to provide electrical conductivity, wherein the conductive elastomer exhibits a non-activated state at a first temperature and exhibits an activated state at a second temperature; and an isolating elastomer encasing the conductive elastomer, wherein the isolating elastomer is non-conductive.

2. The composite of claim 1, wherein the conductive elastomer comprises a mix of propylene, ethylene, and structured carbon black.

3. The composite of claim 1, wherein the conductive elastomer comprises 51% propylene, 9% ethylene, and 40% structured carbon black by weight percent.

4. The composite of claim 1, wherein the conductive filler is selected from the group consisting of structured carbon black, metal powders, exfoliated graphite, and carbon nanotubes.

5. The composite of claim 1, wherein the elastomer is selected from the group consisting of block copolymer elastomers, propylene-based elastomers, propylene-ethylene copolymers, and ethylene-butene copolymers.

6. The composite of claim 1, wherein the rigidity is tunable based on the fraction of conductive elastomer to the fraction of isolating elastomer.

7. The composite of claim 1, wherein a tensile modulus ranges from about 1 MPa in the activated state to about 100 MPa in the non-activated state.

8. The composite of claim 1, wherein the conductive filler comprises a percolating network within the elastomer.

9. The composite of claim 1, wherein a rigidity change (Γ) of the composite is defined by $\Gamma =\frac{E_{\mathrm{eff}}^n}{E_{\mathrm{eff}}^a}=\left(\frac{\chi }{1-\chi }\right).Math.\frac{E_{\mathrm{CE}}}{E_{\mathrm{IE}}}+1$ where x is an area fraction of the conductive elastomer to that of the composite and E.sub.eff.sup.n is a tensile moduli of the composite in the non-activated state and E.sub.eff.sup.a is a tensile moduli of the composite in the activated state.

10. The composite of claim 1, wherein the first temperature is less than the second temperature.

11. The composite of claim 1, wherein the second temperature is a softening temperature of the elastomer.

12. A method of fabricating a composite with tunable rigidity, comprising: mixing an elastomer with a conductive filler; curing the mixed elastomer and conductive filler to form a conductive elastomer; embedding the conductive elastomer in an isolating elastomer.

13. The method of claim 12, wherein the conductive elastomer comprises 51% propylene, 9% ethylene, and 40% structured carbon black by weight percent.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0012] FIG. 1 depicts the composite according to one embodiment.

[0013] FIG. 2 is a graph showing temperature as a function of activation time.

[0014] FIG. 3 is a graph showing temperature as a function of position within the composite.

[0015] FIG. 4 is a stress/strain curve of the composite.

[0016] FIG. 5 is a graph showing the changes in resistivity as the temperature of the composite changes.

[0017] FIG. 6 is a graph showing the displacement of the composite which is support a weight as a function of time.

[0018] FIG. 7 depicts a device incorporating the composite, according to one embodiment.

[0019] FIG. 8 is a chart of various stages of the fabrication process.

DETAILED DESCRIPTION

[0020] According to one embodiment of the present invention is a composite 101 having tunable rigidity, where the composite 101 comprises a conductive elastomer 102 encased in an electrically-isolating elastomer 103, as shown in FIG. 1. In one example embodiment of the composite 101, the conductive elastomer 102 comprises 51/9/40 weight % of propylene, ethylene, and structured carbon black and the electrically-isolating elastomer 103 comprises poly(dimethylsiloxane) (PDMS). In this example, the carbon black—acting as a conductive filler 104—is interspersed within the propylene/ethylene elastomer 111, creating a percolating network and thus providing conductivity through the conductive elastomer 102. Other conductive fillers 104, such as metal powders, carbon allotropes (e.g. exfoliated graphite and carbon nanotubes), and other conductive materials can be used. A person having skill in the art will appreciate that the composition of the conductive elastomer 102 can affect its softening temperature and rigidity in the activated and inactivated states. Block copolymer elastomers, propylene-based elastomers (e.g. propylene-ethylene copolymers), ethylene-butene copolymers (e.g. Dupont™ Fusabond®), and other similar elastomers can also be used in the composite 101. When these elastomers are used to construct the electrically-isolating elastomer 103, the conductive filler 104 is not used to prevent conduction through the entire composite 101.

[0021] By creating a conductive path through the conductive elastomer 102, electrical current can be used to induce direct Joule heating (or resistive heating) in the elastomer 102, raising the temperature of the material. The rising temperature of the conductive elastomer 102 will ultimately cause it to soften. Referring again to the example embodiment using cPBE as the conductive elastomer 102, the cPBE softens dramatically and the effective tensile modulus of the composite 101 decreases when heated to a critical softening temperature of about T.sub.s=75° C. This change in rigidity is reversible and can be controlled in seconds by applying a voltage drop across either the faces or terminal ends of a flat cPBE strip, for example.

[0022] The ultimate rigidity of the composite 101 is dependent on the ratio of conductive elastomer 102 to isolating elastomer 103 used. More specifically, the rigidity change Γ can be controlled by the area fraction x=A.sub.CE/A, which is defined as the ratio of the cross-sectional area of the embedded conductive elastomer 102 (A.sub.CE) to that of the composite 101 (A). In general, Γ is expected to be approximately:

[00001]$\Gamma =\frac{E_{\mathrm{eff}}^n}{E_{\mathrm{eff}}^a}=\left(\frac{\chi }{1-\chi }\right).Math.\frac{E_{\mathrm{CE}}}{E_{\mathrm{IE}}}+1$

[0023] where E.sub.eff.sup.n=χE.sub.CE+(1−χ)E.sub.IE and E.sub.eff.sup.a=(1−χ)E.sub.IE are the effective tensile moduli of the non-activated and activated composite 101, respectively. This approximation for Γ assumes that the activated conductive elastomer 102 has negligible stiffness and is therefore undefined in the limit as X.fwdarw.1. Using these ratios, the change in rigidity of the composite 101 can be adjusted for a particular application.

[0024] In the example embodiment, the cPBE-PDMS composite 101 takes approximately 2 and 4 seconds for the cPBE to heat above T.sub.s for applied voltages of 150 V and 100 V, respectively. The temperature is greatest at the mid-plane of the composite 101 and decreases smoothly and monotonically towards the surface. For example, with a voltage of 150 V, the temperature at the boundary is approximately 65° C. at the time of complete activation. Moreover, for high input voltages the temperature in the cPBE layer of the composite 101 is significantly higher than in the PDMS layer, due to the relatively fast heating. This temperature gradient is less pronounced at lower voltages, which has important implications for applications involving contact with human skin. FIGS. 2-3 show the temperature profile as function of activation time and position.

[0025] Also affecting the temperature profile is the overall size of the composite 101. The surface temperature at the time of complete activation of the conductive elastomer 102 is minimized for a larger composite 101 thicknesses and a lower fraction of cPBE. This can be attributed to an improved thermal insulation due to the thicker PDMS seal. In addition to affecting the temperature profile, the composition of the composite 101 affects the activation time—or the time between rigid and softened states. The activation time decreases significantly with a higher volume % of the conductive elastomer 102 and/or smaller thickness of the conductive elastomer 102 layer.

[0026] Fabrication of the composite 101, according to one embodiment, comprises the steps of mixing the components of the conductive elastomer 102, forming the conductive elastomer 102 into a desired shape (i.e flat sheet, cylinder, etc.), and then sealing the conductive elastomer 102 with the isolating elastomer 103. A flowchart of this process is shown in FIG. 8, where pellets of the elastomer 111 and conductive filler 104 are formed into a sheet 112, before being encased with the isolating elastomer 103, thus forming final composite 101. By way of further example, when the components of the conductive elastomer 102 are supplied as pellets, they are pressed between steel plates at 90° C. to form thin sheets. Based on the intended use or application, the composition, shape, and size of the conductive elastomer 102 can be varied.

[0027] Once formed, the conductive elastomer 102 can be cut or shaped according to a variety of techniques. In one embodiment, flat sheets 112 of conductive elastomer 102 are rapidly patterned with a laser cutting system, such as a CO.sub.2 laser. This allows for any planar geometries with 100 feature sizes to be produced in seconds. To achieve smaller features, the conductive elastomer 102 could be patterned with either a UV laser micromachining systems or through replica casting using a micromachined mold. After the conductive elastomer 102 is patterned and the excess material is removed, the conductive elastomer 102 is sealed with the isolating elastomer 103. A sample composite 101 fabricated according to this embodiment has total dimensions of 40×7.5×1.25 mm and contains a single U-shaped 2×0.65 mm strip of cPBE that has a total length of 78 mm.

[0028] To assess the mechanical properties of the composite 101, rigidity tuning measurements are performed on the sample of composite 101. Stress-strain curves for the non-activated composite 101, activated composite 101, and homogenous insulating elastomer 103, and homogenous conductive elastomer 102 are measured. Using a least-squares algorithm, the curves for the isolating elastomer 103 samples (such as PDMS), conductive elastomers 102 samples (such as cPBE), and non-activated composites 101 are fitted with a five-term expansion of the Ogden model for uniaxial stress.

[00002]${\sigma }_{\mathrm{Ogden}}={.Math.}_{l=1}^{n=5}.Math.{\mu }_p\left({\lambda }^{2.Math..Math.p}-{\lambda }^{-p}\right)$

In contrast, stress-strain data for the activated composites were fitted with a line. The effective Young's moduli E.sub.ff.sup.β of the conductive elastomer 102, isolating elastomer 103, and composite 101 were determined by averaging the moduli derived from the measured stress-strain curves. Here, the superscript βε{n, a} denotes whether the composite 101 is non-activated and at room temperature (n) or activated with the conductive elastomer 102 heated above its transition temperature, i.e. softening point, T.sub.s (a).

[0029] Representative stress-strain results for a single pair of activated and non-activated composites 101 tests are presented in FIG. 4, where cPBE is used as the conductive elastomer 102 and PDMS is used as the isolating elastomer 103. Based on the tensile testing results for all of the samples, E.sub.eff.sup.n=36.8 MPa (st. dev.=9.0 MPa) and E.sub.eff.sup.a=1.49 MPa (st. dev.=0.44 MPa). This represents a Γ=25× change in tensile rigidity. For illustration, this is approximately the same as the difference between leather and a rubber band. The values E.sub.CE=175.5 MPa (st. dev.=23.7 MPa) and E.sub.IE=1.041 MPa (st. dev.=0.188 MPa) correspond to the Young's modulus of the cPBE and PDMS at room temperature, respectively, and are independently obtained from tensile tests performed on homogeneous material specimens.

[0030] A key feature of the conductive elastomer 102 is its ability to maintain conductivity even in its softened state. As shown in FIG. 5, electrical resistance increases exponentially with increasing temperature. The roughly one order of magnitude increase in electrical resistivity is advantageous because it results in a self-limiting reduction in electrical power delivered to the composite 101 when a fixed voltage is applied. This prevents burning or degradation of the conductive elastomer 102 and eliminates the need for timed activation or control.

[0031] To estimate the activation time, the elongation of the composite 101 under a deadweight loading was examined. As shown in FIG. 6, a sample of composite 101 supporting a 0.5 kg weight (P=4.9 N) elongates by approximately 40% within seconds of activation. The sample is activated with approximately 0.17-3.3 W of electrical power under 100 V of fixed voltage (resistance increased from 3 to 60 kΩ and current decreased from 33 to 1.7 mA). Displacement appears to increase linearly with time for approximately 6-7 seconds. Subsequently, the sample of composite 101 exhibits creep for several seconds as the displacement converges to its final value of 13 mm. In this example, the sample has a length L=34 mm, cross-sectional area A=9.38 mm.sup.2, and cross-sectional area fraction x=0.277 of conductive elastomer 102. A displacement u=13 mm implies that the composite has an effective modulus of

[00003]$E_{\mathrm{eff}}^a=\frac{\mathrm{PL}}{u.Math..Math.A}=1.4.Math..Math.\mathrm{MPa}.$

[0032] In one example application of the invention, the composite 101 is incorporated into a soft pneumatic finger composed of PDMS ‘phalanges,’ soft silicone elastomer joints, and conductive elastomer 102 ‘tendons’ constructed of cPBE, as shown in FIG. 7. The PDMS and soft silicone are composed of Sylgard 184 (Dow Corning, Inc.) and Ecoflex 0030 (Smooth-on, Inc.), respectively. Both segments are produced with elastomer casting using 3D printed molds (Objet 24; Stratasys, Ltd.). After curing, the PDMS and Ecoflex segments are attached and a tube is inserted into the bottom. Next, U-shaped conductive elastomer 102 tendons are attached to the top and bottom segments of PDMS using uncured PDMS as an adhesive. A voltage of 150 V was applied across each of the cPBE tendons during activation, achieving full softening within 10 seconds.

[0033] This example embodiment demonstrates one possible role of conductive thermoplastic elastomers for rigidity tuning in soft robotics and inflatable structures. Rather than requiring multiple air chambers and pneumatic tubing to control the bending direction, the finger has a single chamber and tube and multiple rigidity tunable elements that control the neutral axis of bending. In an alternative embodiment, replacing pneumatic tubing and valves with electrical wiring can dramatically reduce the size and weight of soft robots and allows for simpler and more size-scalable geometries.

[0034] While the disclosure has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes and modification can be made therein without departing from the spirit and scope of the embodiments. Thus, it is intended that the present disclosure cover the modifications and variations of this disclosure provided they come within the scope of the appended claims and their equivalents.