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Questions and Answers
What are solutions for bidirectional motion when it comes to cables?
What are solutions for bidirectional motion when it comes to cables?
Fixing point
What is a design consideration for cable tensioning?
What is a design consideration for cable tensioning?
Design consideration for cable tensioning is required to prevent overloading of cable on one side by maintaining appropriate ________________.
Design consideration for cable tensioning is required to prevent overloading of cable on one side by maintaining appropriate ________________.
tension
Nitinols are relatively soft and malleable at the martensite phase.
Nitinols are relatively soft and malleable at the martensite phase.
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Match the following soft robotics materials with their type:
Match the following soft robotics materials with their type:
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What would be the alternative joint-linkage model of an inflatable ball?
What would be the alternative joint-linkage model of an inflatable ball?
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What would be the alternative joint-linkage model of an elastic balloon?
What would be the alternative joint-linkage model of an elastic balloon?
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What would be the alternative joint-linkage model of an elastic balloon reinforced by radial inextensible fibers?
What would be the alternative joint-linkage model of an elastic balloon reinforced by radial inextensible fibers?
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What happen if we add positive pressure inside each geometry? 1 2 3 4 5
What happen if we add positive pressure inside each geometry? 1 2 3 4 5
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What if we apply negative pressure?
What if we apply negative pressure?
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How to make a bending finger with textile? What about a segmented bending finger?
How to make a bending finger with textile? What about a segmented bending finger?
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Do you know any actuation technique that is soft because of its geometry?
Do you know any actuation technique that is soft because of its geometry?
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What is the possibility of under-actuation?
What is the possibility of under-actuation?
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Match the following fiber-like actuation techniques with their descriptions:
Match the following fiber-like actuation techniques with their descriptions:
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What is an actuator?
What is an actuator?
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Define a soft actuator.
Define a soft actuator.
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What are Dielectric Electro Active Polymers (DEA)?
What are Dielectric Electro Active Polymers (DEA)?
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Which of the following are characteristics of Field-activated EAP?
Which of the following are characteristics of Field-activated EAP?
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What are Soft Fluidic Actuators designed to convert?
What are Soft Fluidic Actuators designed to convert?
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A combination of ______ and ______ can define soft actuators.
A combination of ______ and ______ can define soft actuators.
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Match the following actuator behaviors with their descriptions:
Match the following actuator behaviors with their descriptions:
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What are electrorheological (ER) fluids?
What are electrorheological (ER) fluids?
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What is the melting temperature range for Low Melting Point Alloys (LMPA)?
What is the melting temperature range for Low Melting Point Alloys (LMPA)?
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Physical Intelligence (PI) focuses on the interaction with the environment.
Physical Intelligence (PI) focuses on the interaction with the environment.
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The capacity for knowledge, and knowledge possessed is an aspect of ______.
The capacity for knowledge, and knowledge possessed is an aspect of ______.
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Match the following inspirations with the correct category:
Match the following inspirations with the correct category:
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What is stiffness modulation in soft robotics?
What is stiffness modulation in soft robotics?
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When aiming to regulate the stiffness of a soft robot, what kind of solutions should be considered?
When aiming to regulate the stiffness of a soft robot, what kind of solutions should be considered?
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Granular jamming results in a fluid-like medium.
Granular jamming results in a fluid-like medium.
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Layer jamming achieves higher structural stiffness through friction between ________.
Layer jamming achieves higher structural stiffness through friction between ________.
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Match the following soft actuation methods with their descriptions:
Match the following soft actuation methods with their descriptions:
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What kind of biological models were looked at for climbing a pole?
What kind of biological models were looked at for climbing a pole?
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Rigid robots are well-prepared for uncertain conditions and challenging environments.
Rigid robots are well-prepared for uncertain conditions and challenging environments.
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Which characteristics describe soft robots?
Which characteristics describe soft robots?
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Soft robotics draws heavily from the way in which living organisms move and adapt to their surroundings, allowing for increased ____________ and adaptability for accomplishing tasks.
Soft robotics draws heavily from the way in which living organisms move and adapt to their surroundings, allowing for increased ____________ and adaptability for accomplishing tasks.
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Match the following robotic feature with its description:
Match the following robotic feature with its description:
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What is the main focus of bio-inspired engineering?
What is the main focus of bio-inspired engineering?
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Bio-inspired engineering involves understanding the principle, conceptualization, application, imagination, and ________.
Bio-inspired engineering involves understanding the principle, conceptualization, application, imagination, and ________.
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What is the key to successful multidisciplinary collaboration?
What is the key to successful multidisciplinary collaboration?
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Plants can move without muscles and think without a brain. (True/False)
Plants can move without muscles and think without a brain. (True/False)
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What type of robots are inspired by the maple seed monocopter flying robot?
What type of robots are inspired by the maple seed monocopter flying robot?
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Match the following root zones with their characteristics:
Match the following root zones with their characteristics:
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What is the concept of 'moving by growing' primarily associated with?
What is the concept of 'moving by growing' primarily associated with?
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What does soft robotics bring to the concept of robotics at the level of material and structure?
What does soft robotics bring to the concept of robotics at the level of material and structure?
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What was the application suggested for soft robotics in the field?
What was the application suggested for soft robotics in the field?
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Study Notes
Soft Actuators
- A soft actuator is a part of a device or machine that helps it achieve physical movements by converting energy into mechanical force in a compliant manner.
- Soft actuators can be classified into two categories:
- Soft by Material (e.g. Dielectric Electro Active Polymers (DEA))
- Soft by Geometry (e.g. Soft Fluidic Actuators)
DEA (Dielectric Electro Active Polymers)
- Characteristics:
- Can operate in room conditions for a long time
- Rapid response (msec levels)
- Can hold strain under dc activation
- Induces relatively large actuation forces
- Requires high field strength
- Application: Convert electrical energy into mechanical force
Soft Fluidic Actuators
- Convert volume change into desired movement (e.g. elongation, contraction, bending, twisting)
- Prismatic Joint, Rotary Joint, and Link are components of soft fluidic actuators
- Pneunet design allows for larger deformation by interconnected smaller chambers
Designing Actuator Behavior
- Extension: can be achieved by various designs (e.g. pneunet, McKibben Actuator)
- Bending: can be achieved by asymmetric structure, pneunet, and McKibben Actuator
- Bending in 3D: can be achieved by soft fluidic actuators
- Contraction: can be achieved by various designs (e.g. pneunet, McKibben Actuator)
- Twisting: can be achieved by soft fluidic actuators
Fabrics in Soft Actuators
- Knitted fabric: multi-directional stretchability
- Woven fabric: inextensible, particularly in the direction of wrap and weft
- Extensibility by pleated geometry
- Bending by asymmetric extensibility: requires higher pressure for extension, acceptable stiffness even in mid-range extension/bending
Textile-Based Soft Actuators
- Actuation by inextensibility of textile
- Application: soft elbow exosuit, soft ankle-foot orthosis exosuit
Soft Actuation by Negative Pressure
- Can generate motion (e.g. contraction) by vacuum
- Design actuator behavior: contraction by vacuum
- Positive pressure/expansion elongation vs. negative pressure/collapse & contraction
- Resist extension vs. resist buckling
Foam Actuators
- Application: soft robotic glove, foam-based artificial muscles
- Design: rigid body, inextensible fabric, soft foam, and vacuum gate
Foamy Soft Sensory Actuators
- Application: soft robotics, sensory feedback
- Design: soft foam, vacuum gate, and sensory capabilities### Soft Robotics and Actuation
- Soft actuators can work with both positive and negative pressures.
Soft Robotics Design and Manufacturing
- Soft robotics involves designing and manufacturing soft robots with various joints and links.
- An inflatable ball can be an alternative joint-linkage model.
Actuation Techniques
- Fiber-like actuators can be classified into three types: cable-driven, tendon-driven, and wire-driven.
- Compliant power transmitters can transmit power from a bulky system to a miniature, compact mechanism in a compliant manner.
Soft Robotics in Rehabilitation
- Soft robotics is widely used in soft assistive and rehabilitation robotics, offering benefits such as silent operation, energy efficiency, and scalability.
Geometrically Simulating Natural Tendons and Muscle Fibers
- Geometrically simulating natural tendons and muscle fibers can be achieved through cable-driven mechanisms.
Antagonistic Actuation and Stiffness Tuning
- Antagonistic actuation can be used to control the stiffness of a soft robotic system.
- Trajectory optimization can be used to control the motion of a cable-driven soft robot.
Shape Memory Alloy (SMA) Actuators
- SMA actuators have a high force-to-weight ratio and fast actuation response.
- SMA actuators can be used to create soft robotic systems with high force-to-weight ratios.
Soft Sensors and Sensing
- Soft sensors can be used to measure force, touch, and deformation in soft robotic systems.
- Hybrid and sensorized soft robotic hands can be created using multi-material 3D printing.
- SEBS (Styrene-ethylene-butylene-styrene) is a soft, flexible material used in soft robotics.
Buckling of Soft Filaments
- Buckling of soft filaments can be a challenge in FDM printing.
- Pellet extrusion can be a solution for FDM printing of hyper-elastic thermoplastics.
Soft Sensors Based on Fluidic Pressure
- Soft sensors based on fluidic pressure can be used to measure deformation in soft robotic systems.
- Retrofit sensing strategies can be used to create soft sensors based on fluidic pressure.
InFoam Method
- The InFoam method can be used to print porous structures with graded porosity.
- Graded porosity can be used to program the behavior of soft actuators.
Graded Porosity for Programming Actuator Behavior
- Graded porosity can be used to create soft actuators with programmable behavior.
- Lower stiffness can be achieved through graded porosity.
Force, Touch, and Deformation Sensing
- Force, touch, and deformation sensing can be achieved through 3D printed conductive foam and fibers.
- Hybrid and sensorized soft robotic hands can be created using multi-material 3D printing.
Other Methods
- Optical fiber bending sensors can be used to measure curvature in soft robotic systems.
- Inductive soft sensors can be used to measure deformation in soft robotic systems.
Stiffness Modulation
- Stiffness modulation can be achieved through soft actuation, structure/geometry, material properties, or a combination of these.
- Antagonistic actuation can be used to regulate the stiffness of a soft robotic system.
Stiffness Modulation by Soft Actuation
- Antagonistic actuation can be used to control the stiffness of a soft robotic system.
- Stiffness tunable soft actuation can be achieved through various techniques, including tendon and pressure actuation.
Stiffness Regulation Techniques
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Stiffness regulation techniques can be used to control the stiffness of a soft robotic system.
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Various methods, including antagonistic actuation, structure/geometry, material properties, and a combination of these, can be used to regulate stiffness.### Stiffness Tuning at Structural Level
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Geometrical solutions can be used to achieve stiffness tuning at the structural level.
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Examples of geometrical solutions include:
- Leaf spring with an asymmetric section to achieve directional stiffness.
- Granular jamming, where friction between granules results in a higher structural stiffness.
Granular Jamming
- Granular jamming can be used to create a fluid-like medium that can be manipulated to achieve different levels of stiffness.
- Vacuum can be used to create a solid-like and stiff structure through granular jamming.
- References: Brown, Eric, et al. (2010) and Zhai, Zirui, et al. (2020).
Highly Articulated Arm
- Highly articulated arms can be created using granular jamming, allowing for flexibility and stiffness manipulation.
- Examples include:
- Soft and flexible robotic arm for total mesorectal excision (Arezzo, Alberto, et al., 2017).
- Robust, low-cost, highly articulated manipulator enabled by jamming of granular media (Cheng, Nadia G., et al., 2012).
Shape Morphing and Locomotion by Stiffness Tunable Skin
- Shape morphing and locomotion can be achieved using stiffness tunable skin.
- Examples include:
- Jamming skin enabled locomotion (Steltz, Erik, et al., 2009).
- Haptic jamming: A deformable geometry, variable stiffness tactile display using pneumatics and particle jamming (Stanley, Andrew A., et al., 2013).
Practical Outcomes
- Practical outcomes of stiffness tuning include:
- Stiffness tunable sucker for passive adaptation and firm attachment to angular substrates (Goshtasbi, Arman, and Ali Sadeghi, 2023).
- Layer jamming: Mechanically versatile soft machines through laminar jamming (Narang, Yashraj S., et al., 2018).
Theoretical Explanation
- Theoretical explanations for stiffness tuning include:
- Textile jamming: Preliminary experimental study on variable stiffness structures based on textile jamming for wearable robotics (Sadeghi, Ali, et al., 2018).
Electro-Adhesion Soft Clutches
- Electro-adhesion soft clutches can be used to achieve stiffness tuning.
- Examples include:
- High Force Density Textile Electrostatic Clutch (Hinchet, Ronan, and Herbert Shea, 2020).
- The effects of electroadhesive clutch design parameters on performance characteristics (Diller, Stuart B., et al., 2018).
Low Melting Materials
- Low melting materials can be used to achieve stiffness tuning.
- Examples include:
- Low melting point alloy (LMPA): Variable stiffness fiber with self-healing capability (Tonazzini, Alice, et al., 2016).
- Thermoplastics: Versatile soft robot gripper enabled by stiffness and adhesion tuning via thermoplastic composite (Coulson, Ryan, et al., 2021).
Electrorheological (ER) Fluids
- Electrorheological (ER) fluids can be used to achieve stiffness tuning.
- Examples include:
- Innovative soft robots based on electro-rheological fluids (Sadeghi, Alì, et al., 2012).
- ERF stiffness tunable sensory composite: ERF chambers with high voltage parallel lines (Sadeghi, Alì, et al., 2012).
Fluidic Control by ER Valves
- Fluidic control can be achieved using ER valves.
- Examples include:
- Innovative soft robots based on electro-rheological fluids (Sadeghi, Alì, et al., 2012).
- Fluidic control and stiffness modulation by ER valves (Sadeghi, Alì, et al., 2012).
Magnetorheological (MR) Fluid Based Clutch
- Magnetorheological (MR) fluid-based clutches can be used to achieve stiffness tuning.
- Examples include:
- Tunable elastic stiffness with microconfined magnetorheological domains at low magnetic field (Majidi, Carmel, and Robert J. Wood, 2010).
Fluidic Control by MR Valve
- Fluidic control can be achieved using MR valves.
- Examples include:
- Magnetorheological fluid-based flow control for soft robots (McDonald, Kevin, et al., 2020).
Soft Accessories
- Soft accessories can be used to achieve stiffness tuning.
- Examples include:
- Soft kink valves (Luo, Kai, et al., 2019).
Peano Hasel and HASEL
- Peano HASEL (Hydraulically amplified self-healing electrostatic) actuators can be used to achieve stiffness tuning.
- Examples include:
- High-strain Peano-HASEL actuators (Wang, Xingrui, et al., 2020).
Combustion
- Combustion can be used to achieve stiffness tuning.
- Examples include:
- A 3D-printed, functionally graded soft robot powered by combustion (Bartlett, Nicholas W., et al., 2015).
Chemical Reaction
- Chemical reactions can be used to achieve stiffness tuning.
- Examples include:
- An integrated design and fabrication strategy for entirely soft, autonomous robots (Wehner, Michael, et al., 2016).
Electric Commanded Evaporation
- Electric commanded evaporation can be used to achieve stiffness tuning.
- Examples include:
- Soft material for soft actuators (Miriyev, Aslan, et al., 2017).
Light Commanded Evaporation
- Light commanded evaporation can be used to achieve stiffness tuning.
- Examples include:
- Remotely light-powered soft fluidic actuators based on plasmonic-driven phase transitions in elastic constraint (Meder, Fabian, et al., 2019).
Humidity Responsive Actuators
- Humidity responsive actuators can be used to achieve stiffness tuning.
- Examples include:
- Plant materials as a rich source of inspiration for smart fabrics and composites (Conifer tissue).
Embodied Intelligence and Bio-Inspired Soft Robotics
- Embodied intelligence focuses on the interaction between the body and environment.
- Examples include:
- Physical intelligence as a new paradigm (Sitti, Metin, 2021).
- The sticky wonder of gecko feet (Robert Full).
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Description
This quiz covers the basics of soft actuators, their design and manufacturing, and their role in robotics. Learn how soft actuators convert energy into mechanical force and enable physical movements in devices and machines.
