Interdigitated Electrodes for Selective Stimulation of Skeletal Muscle Actuators in Biosyncretic Robots
Lianchao Yang, Chuang Zhang, Qi Zhang, Yiwei Zhang, Hengshen Qin, Lianqing Liu
Abstract
Engineered skeletal muscle tissue (SMT) is the ideal driving units for achieving fine movements in biosyncretic robots due to their excellent controllability and potentially large driving force. However, the selective stimulation of SMTs continues to pose a significant technical challenge. In this study, we propose a method for the selective stimulation of 3D SMT using thin-film interdigitated electrodes (IDEs). By optimizing the IDEs geometry through finite element simulations, electrical field intensity of fingertip is effectively reduced. The thin-film IDEs are fabricated on a Polyester (PET) substrate using screen printing technology and successfully enable selective activation and controlled contraction of the SMTs. Compared to conventional parallel-plate electrodes (PPEs) and rod-shaped electrodes (RSEs), the IDEs significantly improve the electrical field distribution and enhance spatial resolution. This advancement provides a promising new approach for achieving high-precision motion control in biosyncretic robots (or biohybrid robots).
BibTeX
@inproceedings{iros2025_interdigitatedel,
title = {Interdigitated Electrodes for Selective Stimulation of Skeletal Muscle Actuators in Biosyncretic Robots},
author = {Lianchao Yang and Chuang Zhang and Qi Zhang and Yiwei Zhang and Hengshen Qin and Lianqing Liu},
booktitle = {IROS 2025},
year = {2025}
}