Soft Actuators: Design and Manufacturing PDF

SOFT ACTUATORS SOFT ROBOTICS DESIGN AND MANUFACTURING 7 MAY 2024 ALI SADEGHI DEPARTMENT OF BIOMECHANICAL ENGINEERING UNIVERSITY OF TWENTE ACTUATOR …. is a part of a device or machine that...

SOFT ACTUATORS SOFT ROBOTICS DESIGN AND MANUFACTURING 7 MAY 2024 ALI SADEGHI DEPARTMENT OF BIOMECHANICAL ENGINEERING UNIVERSITY OF TWENTE ACTUATOR …. is a part of a device or machine that helps it to achieve physical movements by converting energy, often electrical, air, or hydraulic, into mechanical force.* In simple terms, it is a “mover". 2 * www.progressiveautomations.com/pages/actuators SOFT ACTUATOR material, structure, mechanism, etc. …. is a part of a device or machine that helps it to achieve physical movements by converting energy, often electrical, air, or hydraulic, into mechanical force, in a compliant manner. In simple terms, it is a “compliant mover". 3 SOFT BY Material Geometry A combination of both 4 SOFT BY MATERIAL 5 DIELECTRIC ELECTRO ACTIVE POLYMERS (DEA) Conductive layer HV Dielectric Kovacs, G., et al. "Stacked dielectric elastomer actuator for tensile force transmission." Sensors and actuators A: Physical 155.2 (2009): 299-307. Applying a voltage generates an electrostatic pressure and causes the com pression ofdielectric layer. 6 Field-activated EAP 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. Bar-Cohen, Yoseph, and Iain A. Anderson. "Electroactive polymer (EAP) actuators—background review." Mechanics of Soft Materials 1.1 (2019): 1-14. https://www.youtube.com/watch?v=7Qxvyw5tUko 7 SOFT FLUIDIC ACTUATORS 8 9 SOFT FLUIDIC ACTUATORS Convert the volume change in a desired movement such as: Elongation Contraction Bending B A Twisting, Etc. 10 Prismatic Joint Rotary Joint Link 11 Link 12  Link Rotary Joint Link Rotary Joint 13 14 QUESTION: What would be the alternative joint-linkage model of an inflatable ball? 15 QUESTION: What would be the alternative joint-linkage model of an inflatable ball? 16 QUESTION: What would be the alternative joint-linkage model of an elastic balloon? 17 QUESTION: What would be the alternative joint-linkage model of an elastic balloon? 18 QUESTION: What would be the alternative joint-linkage model of an elastic balloon reinforced by radial inextensible fibers? 19 P P P P 20 DESIGN ACTUATOR BEHAVIOR: EXTENSION 21 DESIGN ACTUATOR BEHAVIOR: BENDING 22 DESIGN ACTUATOR BEHAVIOR: BENDING IN 3D 23 Suzumori, Koichi, Takafumi Matsumaru, and Shoichi Iikura. "Elastically deformable fluid actuator." U.S. Patent No. 4,976,191. 11 Dec. 1990. DESIGN ACTUATOR BEHAVIOR: BENDING 24 Polygerinos, Panagiotis, et al. "Soft robotic glove for combined assistance and at-home rehabilitation." Robotics and Autonomous Systems 73 (2015): 135-143. DESIGN ACTUATOR BEHAVIOR: BY GEOMETRICAL PARAMETERS P Asymmetric Structure 25 Martinez, Ramses V., et al. "Robotic tentacles with three-dimensional mobility based on flexible elastomers." Advanced materials 25.2 (2013): 205-212.  DESIGN ACTUATOR BEHAVIOR: BY GEOMETRICAL PARAMETERS Pneunet Larger deformation by the interconnected smaller chambers 26 Shepherd, Robert F., et al. "Multigait soft robot." Proceedings of the national academy of sciences 108.51 (2011): 20400-20403. QUESTION: What would be the alternative model of each design? Larger deformation by the interconnected smaller chambers 27 INNER WALLS RESULT LIMITED INFLATION AND LARGER BENDING Pneunet 28 QUESTION Any solution for design a contractive fluidic actuator? 29 DESIGN ACTUATOR BEHAVIOR: CONTRACTION 30 DESIGN ACTUATOR BEHAVIOR: CONTRACTION Byrne, Oisín, et al. "Additive manufacture of composite soft pneumatic actuators." Soft robotics 5.6 (2018) Pneum atic artificialm uscles PAM 31 DESIGN ACTUATOR BEHAVIOR: CONTRACTION 𝛼2 l2 𝛼1 l1 M cKibben Actuator 32 https://www.youtube.com/watch?v=oBkdKeTJ5NY DESIGN ACTUATOR BEHAVIOR: TWISTING https://www.youtube.com/watch?v=RsJ3hrFGrSk 33 Byrne, Oisín, et al. "Additive manufacture of composite soft pneumatic actuators." Soft robotics 5.6 (2018): 726-736. FABRICS Knitted fabric Multi directional Stretchability 34 FABRICS Woven Fabric Inextensible; particularly in the direction of wrap and weft 35 EXTENSIBILITY BY PLEATED GEOMETRY Yap, Hong Kai, et al. "Design and characterization of low-cost fabric-based flat pneumatic actuators for soft assistive glove application." 2017 International 36 Conference on Rehabilitation Robotics (ICORR). IEEE, 2017. BENDING BY ASYMMETRIC EXTENSIBILITY Mono directional extensible Fabric inextensible Fabric Elastic Wrap 37  requires higher pressure for Easier extension; requires lower extension pressure for extension Acceptable stiffness even in the Less stiff in the mid-range mid-range extension/bending extension/bending Stiff at the end of bending course Stiff at the end of bending course 38 TEXTILE BASED SOFT ACTUATORS 39 Thalman, Carly M., et al. "A novel soft elbow exosuit to supplement bicep lifting capacity." IROS IEEE, 2018. ACTUATION BY INEXTENSIBILITY OF TEXTILE 40 Thalman, Carly M., et al. "Design of a soft ankle-foot orthosis exosuit for foot drop assistance." ICRA IEEE, 2019. SOFT ACTUATION BY NEGATIVE PRESSURE 41 QUESTION Any solution for generating motion (such as contraction) by vacuum? 42 DESIGN ACTUATOR BEHAVIOR: CONTRACTION VACUUM 43 Positive pressure/expansion elongation Negative pressure/collapse & contraction Resist extension Resist buckling 44 DESIGN ACTUATOR BEHAVIOR: CONTRACTION VACUUM 45  46 Yang, Dian, et al. "Buckling pneumatic linear actuators inspired by muscle." Advanced Materials Technologies 1.3 (2016): 1600055.  47 Li, Shuguang, et al. "Fluid-driven origami-inspired artificial muscles." Proceedings of the National academy of Sciences 114.50 (2017): 13132-13137. FOAM ACTUATORS 48 Robertson, Matthew A., and Jamie Paik. "New soft robots really suck: Vacuum- powered systems empower diverse capabilities." Science Robotics 2.9 (2017). FOAM ACTUATORS Rigid body Inextensible Fabric Soft Foam Vacuum gate 49 Babu, SP Murali, et al.., et al. R-AL 2020 FOAMY SOFT SENSORY ACTUATORS 50 Murali Babu, Saravana Prashanth, et al. Advanced Intelligent Systems 2021 FOAMY SOFT SENSORY ACTUATORS Babu, S. P. M., et al, IEEE Robotics and Babu, S. P. M., et al, Advanced Intelligent Automation Letters, 2020 Systems 2021 51 PNEUNET CAN WORK WITH BOTH POSITIVE & NEGATIVE PRESSURES 52 QUESTIONS? 53  SOFT ACTUATORS SOFT ROBOTICS DESIGN AND MANUFACTURING 7 MAY 2024 ALI SADEGHI DEPARTMENT OF BIOMECHANICAL ENGINEERING UNIVERSITY OF TWENTE ACTUATOR …. is a part of a device or machine that helps it to achieve physical movements by converting energy, often electrical, air, or hydraulic, into mechanical force.* In simple terms, it is a “mover". 2 * www.progressiveautomations.com/pages/actuators SOFT ACTUATOR material, structure, mechanism, etc. …. is a part of a device or machine that helps it to achieve physical movements by converting energy, often electrical, air, or hydraulic, into mechanical force, in a compliant manner. In simple terms, it is a “compliant mover". 3 SOFT BY Material Geometry A combination of both 4 SOFT BY MATERIAL 5 DIELECTRIC ELECTRO ACTIVE POLYMERS (DEA) Conductive layer HV Dielectric Kovacs, G., et al. "Stacked dielectric elastomer actuator for tensile force transmission." Sensors and actuators Applying a voltage generates an electrostatic pressure A: Physical 155.2 (2009): 299-307. and causes the compression of dielectric layer. 6 Field-activated EAP 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. Bar-Cohen, Yoseph, and Iain A. Anderson. "Electroactive polymer (EAP) actuators—background review." Mechanics of Soft Materials 1.1 (2019): 1-14. https://www.youtube.com/watch?v=7Qxvyw5tUko 7 SOFT FLUIDIC ACTUATORS 8 9 SOFT FLUIDIC ACTUATORS Convert the volume change in a desired movement such as: Elongation Contraction Bending B A Twisting, Etc. 10 Prismatic Joint Rotary Joint Link 11 Link 12  Link Rotary Joint Link Rotary Joint 13 14 QUESTION: What would be the alternative joint-linkage model of an inflatable ball? 15 QUESTION: What would be the alternative joint-linkage model of an inflatable ball? 16 QUESTION: What would be the alternative joint-linkage model of an elastic balloon? 17 QUESTION: What would be the alternative joint-linkage model of an elastic balloon? 18 QUESTION: What would be the alternative joint-linkage model of an elastic balloon reinforced by radial inextensible fibers? 19 P P P P 20 DESIGN ACTUATOR BEHAVIOR: EXTENSION 21 DESIGN ACTUATOR BEHAVIOR: BENDING 22 DESIGN ACTUATOR BEHAVIOR: BENDING IN 3D 23 Suzumori, Koichi, Takafumi Matsumaru, and Shoichi Iikura. "Elastically deformable fluid actuator." U.S. Patent No. 4,976,191. 11 Dec. 1990. DESIGN ACTUATOR BEHAVIOR: BENDING 24 Polygerinos, Panagiotis, et al. "Soft robotic glove for combined assistance and at-home rehabilitation." Robotics and Autonomous Systems 73 (2015): 135-143. DESIGN ACTUATOR BEHAVIOR: BY GEOMETRICAL PARAMETERS P Asymmetric Structure 25 Martinez, Ramses V., et al. "Robotic tentacles with three‐dimensional mobility based on flexible elastomers." Advanced materials 25.2 (2013): 205-212.  DESIGN ACTUATOR BEHAVIOR: BY GEOMETRICAL PARAMETERS Pneunet Larger deformation by the interconnected smaller chambers 26 Shepherd, Robert F., et al. "Multigait soft robot." Proceedings of the national academy of sciences 108.51 (2011): 20400-20403. QUESTION: What would be the alternative model of each design? Larger deformation by the interconnected smaller chambers 27 INNER WALLS RESULT LIMITED INFLATION AND LARGER BENDING Pneunet 28 QUESTION Any solution for design a contractive fluidic actuator? 29 DESIGN ACTUATOR BEHAVIOR: CONTRACTION 30 DESIGN ACTUATOR BEHAVIOR: CONTRACTION Byrne, Oisín, et al. "Additive manufacture of composite soft pneumatic actuators." Soft robotics 5.6 (2018) Pneumatic artificial muscles PAM 31 DESIGN ACTUATOR BEHAVIOR: CONTRACTION 𝛼2 l2 𝛼1 l1 McKibben Actuator 32 https://www.youtube.com/watch?v=oBkdKeTJ5NY DESIGN ACTUATOR BEHAVIOR: TWISTING https://www.youtube.com/watch?v=RsJ3hrFGrSk 33 Byrne, Oisín, et al. "Additive manufacture of composite soft pneumatic actuators." Soft robotics 5.6 (2018): 726-736. FABRICS Knitted fabric Multi directional Stretchability 34 FABRICS Woven Fabric Inextensible; particularly in the direction of wrap and weft 35 EXTENSIBILITY BY PLEATED GEOMETRY Yap, Hong Kai, et al. "Design and characterization of low-cost fabric-based flat pneumatic actuators for soft assistive glove application." 2017 International 36 Conference on Rehabilitation Robotics (ICORR). IEEE, 2017. BENDING BY ASYMMETRIC EXTENSIBILITY Mono directional extensible Fabric inextensible Fabric Elastic Wrap 37  requires higher pressure for Easier extension; requires lower extension pressure for extension Acceptable stiffness even in the Less stiff in the mid-range mid-range extension/bending extension/bending Stiff at the end of bending course Stiff at the end of bending course 38 TEXTILE BASED SOFT ACTUATORS 39 Thalman, Carly M., et al. "A novel soft elbow exosuit to supplement bicep lifting capacity." IROS IEEE, 2018. ACTUATION BY INEXTENSIBILITY OF TEXTILE 40 Thalman, Carly M., et al. "Design of a soft ankle-foot orthosis exosuit for foot drop assistance." ICRA IEEE, 2019. SOFT ACTUATION BY NEGATIVE PRESSURE 41 QUESTION Any solution for generating motion (such as contraction) by vacuum? 42 DESIGN ACTUATOR BEHAVIOR: CONTRACTION VACUUM 43 Positive pressure/expansion elongation Negative pressure/collapse & contraction Resist extension Resist buckling 44 DESIGN ACTUATOR BEHAVIOR: CONTRACTION VACUUM 45  46 Yang, Dian, et al. "Buckling pneumatic linear actuators inspired by muscle." Advanced Materials Technologies 1.3 (2016): 1600055.  47 Li, Shuguang, et al. "Fluid-driven origami-inspired artificial muscles." Proceedings of the National academy of Sciences 114.50 (2017): 13132-13137. FOAM ACTUATORS Rigid body Inextensible Fabric Soft Foam Vacuum gate 49 Babu, SP Murali, et al.., et al. R-AL 2020 FOAMY SOFT SENSORY ACTUATORS 50 Murali Babu, Saravana Prashanth, et al. Advanced Intelligent Systems 2021 FOAMY SOFT SENSORY ACTUATORS Babu, S. P. M., et al, IEEE Robotics and Babu, S. P. M., et al, Advanced Intelligent Automation Letters, 2020 Systems 2021 51 PNEUNET CAN WORK WITH BOTH POSITIVE & NEGATIVE PRESSURES 52 QUESTIONS? 53  SOFT ACTUATORS SOFT ROBOTICS DESIGN AND MANUFACTURING 14 MAY 2024 ALI SADEGHI DEPARTMENT OF BIOMECHANICAL ENGINEERING UNIVERSITY OF TWENTE Prismatic Joint Rotary Joint Link 55 Link 56 QUESTION: What would be the alternative joint-linkage model of an inflatable ball? 57 QUESTION: What happen if we add positive pressure inside this geometry? 58 QUESTION: What happen if we add positive pressure inside each geometry? 1 2 5 3 4 59 QUESTION: What happen if we add positive pressure inside each geometry? 5 1 4 2&3 60 QUESTION: What if we apply negative pressure? 61 QUESTION: What happen if we add positive pressure inside each geometry? Extensible Textile Extensible Textile Inextensible Textile Inextensible Textile 62 QUESTION: How to make a bending finger with textile? What about a segmented bending finger? 63 SOFT BY Material Geometry A combination of both 64 SOFT BY GEOMETRY 65 QUESTION Do you know any actuation technique that is soft because of its geometry? 66 FIBER LIKE ACTUATORS CABLE DRIVEN TENDON DRIVEN WIRE DRIVEN 67 COMPLIANT POWER TRANSMITTERS Transmit the power from a bulky and powerful system to a miniature, compact mechanism in a compliant manner Benefit the maturity of rigid robotics in actuation & control https://www.youtube.com/watch?v=71BxGuRCH4A 68 SCALABLE 69 WIDELY USED IN SOFT ASSISTIVE AND REHABILITATION ROBOTICS Transmit the power from a bulky and powerful system to a miniature, compact mechanism in a compliant manner Relatively silent Relatively energy efficient 70 WIDELY USED IN SOFT ASSISTIVE AND REHABILITATION ROBOTICS 71 SNU BioRobotics Lab GEOMETRICALLY CAN SIMULATE NATURAL TENDONS AND MUSCLE FIBERS https://www.youtube.com/watch?v=GzXvqFWgIs4 72 Min, Sungjae, and Sooyeong Yi. "Development of Cable-driven Anthropomorphic Robot Hand." IEEE Robotics and Automation Letters 6.2 (2021): 1176-1183. POSSIBILITY OF UNDER-ACTUATION 73 Manti, Mariangela, et al. "An under-actuated and adaptable soft robotic gripper." Conference on Biomimetic and Biohybrid Systems. 2015. PREDEFINED DEFORMATIONS BY ADDING NODES TO THE CABLE Node Fixing Point Guide/Stopper Fixing Point 74 COMPLEX DEFORMATIONS BY ARRANGING FIBER LOCATION IN SOFT STRUCTURE 75 Mazzolai, Barbara, et al. "Octopus‐Inspired Soft Arm with Suction Cups for Enhanced Grasping Tasks in Confined Environments." Advanced Intelligent Systems 1.6 (2019) CABLES CAN PULL BUT NOT PUSH Solutions for bidirectional motion? Fixing point Guide A1 A1 A2 A1 One actuator Two actuators Spring 76  Fixed joint stiffness Adjustable joint stiffness by Force on the spring side is determined Asymmetric displacement of cables antagonistic actuation by the pretension and the stiffness of can affect the tension of the cable Controlled tension on either spring. that results in; or loosening or side The actuator force is smaller than other overloading of cable on one side. Doubled number of actuators is mechanisms when the same actuator is Design consideration for cable required used, because the actuator is required tensioning is required to pull the spring. The cable tension can always be maintained appropriately without additional components. Simple cable routing 77 Jung, Yeongtae, and Joonbum Bae. "An asymmetric cable-driven mechanism for force control of exoskeleton systems." Mechatronics 40 (2016): 41-50. TENDON DRIVEN ARM AND GRIPPER 78 Mishra, Anand Kumar, et al. "SIMBA: Tendon-driven modular continuum arm with soft reconfigurable gripper." Frontiers in Robotics and AI 4 (2017): 4.  https://www.youtube.com/watch?v=lG-a8kHVwN0&t=9s 79 Bern, James M., et al. "Trajectory Optimization for Cable-Driven Soft Robot Locomotion." Robotics: Science and Systems. 2019. ANTAGONISTIC ACTUATION AND STIFFNESS TUNING https://www.youtube.com/watch?v=lG-a8kHVwN0&t=9s 80 Bern, James M., et al. "Trajectory Optimization for Cable-Driven Soft Robot Locomotion." Robotics: Science and Systems. 2019. SHAPE MEMORY ALLOY (SMA) WIRES Al-Humairi, Safaa Najah Saud. "Cu-based shape memory alloys: modified structures and their 81 related properties." Recent Advancements in the Metallurgical Engineering and Electrodeposition (2019). SMA ACTUATORS “Nitinols are: relatively soft and malleable at the martensite phase (Young's modulus: ∼28–41 GPa) & transform into a hard and rigid austenite phase (Young's modulus: ∼82–100 GPa) when heated beyond a threshold temperature.” Huang, Xiaonan, et al. "Shape memory materials for electrically- powered soft machines." Journal of Materials Chemistry B 8.21 (2020): 4539-4551. https://youtu.be/g8oS8rzAQXk?t=33 82  SMA ACTUATORS High force-to-weight ratio (∼100) Fast actuation response (L1 A A2>A1 42 Force, touch and deformation sensing by 3D printed conductive foam and fibers Deformation of composite can cause result rearrangement of particles and result change of resistance. 43 Hybrid & Sensorized Soft Robotics Hand by Multi Material 3D Printing Bone Luca Grignaffini Ninjaflex PLA 44  Resin Based Off the Shelf 3D Printing Solutions Filament Based Dragon Ecoflex Skin SEBS family (Styrene-ethylene- butylene-styrene) 45 Buckling of the soft filaments is a challenge in FDM printing Filament Feeder Heater Nozzle 46 Pellet Extrusion a Solution for FDM Printing of Hyper Elastic Thermoplastics 47 SEBS Soft Like Dragonskin 48 N. Willemstein, H. van der Kooij, A. Sadeghi “3D Printing of thin highly expandable thermoplastic membranes” To be uploaded on arXiv SOFT SENSOR BASED ON FLUIDIC PRESSURE 49 N. Willemstein, H. van der Kooij, A. Sadeghi “3D Printing of thin highly expandable thermoplastic membranes” Submitted  50 Zou, Shibo, et al. "A retrofit sensing strategy for soft fluidic robots." Nature Communications 15.1 (2024): 539.  SOFT SENSOR BASED ON FLUIDIC PRESSURE Deformable chamber Pressure Sensor 51 Gruebele, Alexander, et al. "A Stretchable Tactile Sleeve for Reaching into Cluttered Spaces." IEEE Robotics and Automation Letters (2021). Making rubber structures even Gas producing chemical reaction softer by adding porosity to them Gas injection Dissolvable agents/particles Gas 52 InFoam Method: Exploiting liquid rope coiling for printing porous structures. Nick Willemstein 53 N. Willemstein, H. van der Kooij, A. Sadeghi "Direct 3D Printing of Soft Fluidic Actuators with Graded Porosity." Soft Matter (2022) InFoam Method: Graded porosity & higher flexibility 200 times lower stiffness 54 N. Willemstein, H. van der Kooij, A. Sadeghi "Direct 3D Printing of Soft Fluidic Actuators with Graded Porosity." Soft Matter (2022) Graded Porosity for Programming Actuator Behavior 55 N. Willemstein, H. van der Kooij, A. Sadeghi "Direct 3D Printing of Soft Fluidic Actuators with Graded Porosity." Soft Matter (2022) Force, Touch and Deformation Sensing by 3D printed Conductive Foam and Fibers 56 57 58  Willemstein, N., Sridar, S., van der Kooij, H., & Sadeghi, A. 3D Printed Graded 59 Porous Sensors for Soft Sensorized Insoles with Gait Phase & Ground Reaction Forces Estimation. arXiv 2023 Soft sensors saturate quickly Muti resolution sensing by InFoam method Force Force Soft sensor can saturate quickly Time Time 60 N. Willemstein, H. van der Kooij, A. Sadeghi "Graded Foam Sensor for Multi-Resolution Grasping Force Sensing." submitted to Soft Matter Muti resolution sensing Minimum load of 2 gram (a paper clip) Maximum applied load of 3.750 Kg 61 N. Willemstein, H. van der Kooij, A. Sadeghi "Graded Foam Sensor for Multi-Resolution Grasping Force Sensing." submitted to Soft Matter OTHER METHODS? 62 OPTICAL FIBER BENDING SENSOR Higher light intensity output after bending 63 Zhao, Huichan, Rukang Huang, and Robert F. Shepherd. "Curvature control of soft orthotics via low cost solid-state optics." 2016 ICRA. OPTICAL FIBER BENDING SENSOR Engraved pattern Darling transistor 64 Zhao, Huichan, Rukang Huang, and Robert F. Shepherd. "Curvature control of soft orthotics via low cost solid-state optics." 2016 ICRA. INDUCTIVE SOFT SENSOR Ecoflex 0010 blended with the same weight of iron powder (Sigma Aldrich, CAS#7439-89-6, Product#12310, MO, USA), resulting 11.7% iron particles of the total composite volume. 65 Wang, Hongbo, et al. "A wireless inductive sensing technology for soft pneumatic actuators using magnetorheological elastomers." 2019 RoboSoft. INDUCTIVE SOFT SENSOR 66 Wang, Hongbo, et al. "A wireless inductive sensing technology for soft pneumatic actuators using magnetorheological elastomers." 2019 RoboSoft. SHAPE SENSING BY LEARNING ALGORITHMS Recorded by camera Constructed by sensor measurements and trained prior 67 Glauser, Oliver, et al. "Deformation capture via soft and stretchable sensor arrays." ACM Transactions on Graphics (TOG) 38.2 (2019): 1-16. ANYTHING (SOFT) THAT CAN CONVERT THE DEFORMATION/MOVEMENTS/IN TERACTIONS OF A SOFT ROBOT TO A MEASURABLE SIGNAL COULD POTENTIALLY BE USED AS A SOFT SENSING SOLUTION. 68 QUESTION? 69  SOFT ROBOTICS Stiffness Regulation Techniques ALI SADEGHI DEPARTMENT OF BIOMECHANICAL ENGINEERING 30 MAY 2024 (LECTURE 5) WHAT IS STIFFNESS MODULATION? 𝑭𝒐𝒓𝒄𝒆 (𝑭) 𝒔𝒕𝒊𝒇𝒇𝒏𝒆𝒔𝒔(𝑲) = 𝑫𝒆𝒇𝒐𝒓𝒎𝒂𝒕𝒊𝒐𝒏 (𝜹) Transition between soft and stiff 2 WHY STIFFNESS MODULATION? In rigid robotics: It can provide compliance, safe & adaptive interaction &… In soft robotics: To withstand/apply load Increase robot controllability Actuation and storing energy Shape locking and energy saving Morphing & … 3 IF YOU WHAT TO REGULATE YOUR SOFT ROBOT STIFFNESS, WHAT KIND OF SOLUTION/S YOU WILL THINK ABOUT? By Actuation itself Structure/geometry Material properties Combination of all 4 STIFFNESS MODULATION BY SOFT ACTUATION 5 ANTAGONISTIC ACTUATION https://keystagewiki.com/index.php/Antagonistic_Muscles Migliore, Shane A., Edgar A. Brown, and Stephen P. DeWeerth. "Biologically inspired joint stiffness control." ICRA, 2005. 6 ANTAGONISTIC ACTUATION PAM2 PAM1 P1 https://keystagewiki.com/index.php/Antagonistic_Muscles Verrelst, Björn, et al. "The pneumatic biped “Lucy” actuated with pleated pneumatic artificial muscles." Autonomous Robots 18.2 (2005): 201-213. 7 ANTAGONISTIC FLUIDIC/CABLE DRIVEN ACTUATION Positive pressure Cable actuators 8 McMahan, William, Bryan A. Jones, and Ian D. Walker. "Design and implementation of a multi-section continuum robot: Air-octor." IROS 2005.  9 Maghooa, Farahnaz, et al. "Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle." ICRA 2015. ANTAGONISTIC ACTUATION 10 Babu, S. M., Sadeghi, A., Mondini, A., & Mazzolai, B. Antagonistic pneumatic actuators with variable stiffness for soft robotic applications. RoboSoft 2019 STIFFNESS TUNABLE SOFT ACTUATION WHY? 11 Carpi, Federico, et al. "Enabling variable-stiffness hand rehabilitation orthoses with dielectric elastomer transducers." Medical engineering & physics 36.2 (2014): 205-211. 12 STIFFNESS TUNING AT STRUCTURAL LEVEL 13  GEOMETRICAL SOLUTIONS Stiff Directional stiffness due to the asymmetric section of leaf springs Leaf spring Flexible 14 GEOMETRICAL SOLUTIONS 15 ANY IDEA? 16 GEOMETRICAL SOLUTIONS 17 Zhai, Zirui, et al. "In situ stiffness manipulation using elegant curved origami." Science advances 6.47 (2020): eabe2000. GEOMETRICAL SOLUTIONS 18 GRANULAR JAMMING Fluid-like medium Vacuum Solid-like and Stiff Friction between granules results a higher structural stiffness 19 Brown, Eric, et al. “PNAS 2010  20 Brown, Eric, et al. “PNAS 2010 GRANULAR JAMMING 21 Arezzo, Alberto, et al. "Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models." Surgical endoscopy 31.1 (2017): 264-273. HIGHLY ARTICULATED ARM https://www.youtube.com/watch?v=0DNJwM8lyBo 22 Cheng, Nadia G., et al. "Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media." ICRA, 2012.  23 Cheng, Nadia G., et al. "Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media." ICRA, 2012. SHAPE MORPHING & LOCOMOTION BY STIFFNESS TUNABLE SKIN https://www.youtube.com/watch?v=SbqHERKdlK8 24 Steltz, Erik, et al. "Jsel: Jamming skin enabled locomotion." 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2009. STIFFNESS TUNABLE SKIN FOR HAPTIC & INTERACTIVE TECHNOLOGY https://www.youtube.com/watch?v=rZZ1rhUvTLA 25 Stanley, Andrew A., et al. "Haptic jamming: A deformable geometry, variable stiffness tactile display using pneumatics and particle jamming." WHC IEEE, 2013. STIFFNESS TUNABLE FINGERS & PASSIVE GRANULAR JAMMING 26 Li, Yingtian, et al. "Passive particle jamming and its stiffening of soft robotic grippers." IEEE Transactions on Robotics 33.2 (2017): 446-455. HIGHLY ADAPTABLE SUCKER Vacuum Coffee Soft Joint Air 27  SOME PRACTICAL OUTCOMES Arman Goshtasbi Vacuum Coffee Collapse of rubbery membrane by vacuum Vacuum Soft Joint results granular jamming of coffee grains Air Stiff Joint 45° 60° 85° 75° 60° 45° 28 Goshtasbi, Arman, and Ali Sadeghi. "A bioinspired stiffness tunable sucker for passive adaptation and firm attachment to angular substrates." Frontiers in Robotics and AI 10 (2023). 29  LAYER JAMMING No vacuum; flexible structure due to the gap between layers Flexible layers Flexible airtight bag (e.g. paper) Vacuum Friction between layers results https://www.youtube.com/watch?v=bzeCr5YaXWI a higher structural stiffness 30 Narang, Yashraj S., Joost J. Vlassak, and Robert D. Howe. "Mechanically versatile soft machines through laminar jamming." Advanced Functional Materials 2018  LAYER JAMMING Paper 31 Kim, Yong-Jae, et al. "Design of a tubular snake-like manipulator with stiffening capability by layer jamming." IROS, 2012.  32 Gao, Yuan, et al. "A novel variable stiffness compliant robotic gripper based on layer jamming." Journal of Mechanisms and Robotics 12.5 (2020). LAYER JAMMING https://www.youtube.com/watch?v=v_jZ8EBBUuA&t=222s 33 HOW THEORETICALLY YOU CAN EXPLAIN IT? L 34 TEXTILE JAMMING Before vacuum After vacuum 35 Sadeghi, Ali, et al. "Preliminary experimental study on variable stiffness structures based on textile jamming for wearable robotics." WeRob 2018. TEXTILE JAMMING Under pressure, hinges are locked by intraction of rigid segments 36 Sadeghi, Ali, et al. "Preliminary experimental study on variable stiffness structures based on textile jamming for wearable robotics." WeRob 2018. TEXTILE JAMMING 37 Sadeghi, Ali, et al. "Preliminary experimental study on variable stiffness structures based on textile jamming for wearable robotics." WeRob 2018. TEXTILE BASED CLUTCH (TBC) In the disengaged mode the semi-spherical bumps easily slide over each other. 38 Sadeghi, A. et al. "A Vacuum Powered Soft Textile-Based Clutch." Actuators. 2019. TEXTILE BASED CLUTCH (TBC) 10 Kg No vacuum P = -0.8 atm 39 Sadeghi, A. et al. "A Vacuum Powered Soft Textile-Based Clutch." Actuators. 2019. SENSORIZED TEXTILE BASED CLUTCH (STBC) 40 Sadeghi, Ali, et al. "A Wearable Sensory Textile‐Based Clutch with High Blocking Force." Advanced Engineering Materials 21.11 (2019): 1900886. QUASI PASSIVE SOFT EXOSKELETON BY SOFT STIFFNESS TUNING 41 ELECTRO-ADHESION SOFT CLUTCHES Hinchet, Ronan, & Herbert Shea. "High Force Density Textile Diller, Stuart B., et al. "The effects of electroadhesive clutch Electrostatic Clutch." Advanced Materials Technologies 2020 design parameters on performance characteristics." Journal of Intelligent Material Systems and Structures 2018 42 Rigid segments are placed inside the rope https://www.freemagictricks4u.com/rope-tricks.html 43  44 Sadeghi, Ali, et al. "soft-legged Wheel-Based robot with Terrestrial locomotion abilities." Frontiers in Robotics and AI 3 (2016): 73. LOW MELTING MATERIALS: WAX 45 Cheng, Nadia G., et al. "Thermally tunable, self‐healing composites for soft robotic applications." Macromolecular Materials and Engineering 2014 LOW MELTING MATERIALS: LOW MELTING POINT ALLOY (LMPA) Melting temperature: (47–62 °C, depending on the alloy composition). In the solid state, they have relatively high stiffnesses(e.g. more than 3 Gpa.) Fabrication process for the self healing properties 46 Tonazzini, Alice, et al. "Variable stiffness fiber with self‐healing capability." Advanced Materials 28.46 (2016): 10142-10148. LOW MELTING MATERIALS: LOW MELTING POINT ALLOY (LMPA) 47 Tonazzini, Alice, et al. "Variable stiffness fiber with self‐healing capability." Advanced Materials 28.46 (2016): 10142-10148. LOW MELTING MATERIALS: THERMO PLASTICS 48 Coulson, Ryan, et al. "Versatile Soft Robot Gripper Enabled by Stiffness and Adhesion Tuning via Thermoplastic Composite." Soft Robotics (2021).  LOW MELTING MATERIALS: CONDUCTIVE THERMO PLASTICS Commercially available conductive thermoplastic 3D printer filament 49 Taghavi, Majid, et al. "3D-printed ready-to-use variable-stiffness structures." IEEE Robotics and Automation Letters 3.3 (2018): 2402-2407. ELECTRORHEOLOGICAL (ER) FLUIDS Electrorheological (ER) fluids are suspensions of extremely fine dielectric particles (up to 50μm diameter) in an electrically insulating fluid. The apparent viscosity of these fluids changes reversibly up to 100,000 times in response to an electric field. HV 50 Sadeghi, Alì, et al. "Innovative soft robots based on electro-rheological fluids." IROS 2012 STIFFNESS TUNABLE COMPOSITE BASED ON ELECTRORHEOLOGICAL FLUIDS Porous Matrix ER Fluid Electrodes 51 ERF STIFFNESS TUNABLE SENSORY COMPOSITE High Voltage parallel lines ERF chambers Ecoflex 0030 Conductive textile as HV electrodes Ecoflex 0030 ERF chambers 52 ELECTRORHEOLOGICAL VALVES 53 Sadeghi, Alì, et al. "Innovative soft robots based on electro-rheological fluids." IROS 2012 FLUIDIC CONTROL BY ER VALVES Two valves are integrated in a single structure 54 Sadeghi, Alì, et al. "Innovative soft robots based on electro-rheological fluids." IROS 2012 FLUIDIC CONTROL & STIFFNESS MODULATION BY ER VALVES 55 Sadeghi, Alì, et al. "Innovative soft robots based on electro-rheological fluids." IROS 2012 MAGNETORHEOLOGICAL (MR) FLUID BASED CLUTCH 56 Majidi, Carmel, and Robert J. Wood. "Tunable elastic stiffness with microconfined magnetorheological domains at low magnetic field." Applied Physics Letters 97.16 (2010) FLUIDIC CONTROL BY MR VALVE https://www.youtube.com/watch?v=2eILuBbEH_k 57 McDonald, Kevin, et al. "Magnetorheological Fluid‐Based Flow Control for Soft Robots." Advanced Intelligent Systems 2020 WHICH OF THE DISCUSSED TECHNIQUES LOOKS MORE PROMISING AND WHY? https://www.dewivandeklomp.nl/ 58 STIFFNESS TUNABLE SUCKER FOR UNEVEN SURFACES, BASED ON GRANULAR JAMMING Vacuum Gate Granular medium Suction cavity 59 SOFT ACESSORIES 60 SOFT KINK VALVES Luo, Kai, et al. "Soft kink valves." Journal of the Rothemund, Philipp, et al. "A soft, bistable valve Mechanics and Physics of Solids 131 (2019): 230-239. for autonomous control of soft actuators." Science Robotics 2018 61 VALVE INTEGRATED SUCKER Touching a substrate causes the sucker deformation & results the opening of negative pressure/vacuum to the sucker cavity. 62 PRESSURE GENERATION AND PUMPING 63 PEANO HASEL Hydraulically amplified self-healing electrostatic (HASEL) 64 Wang, Xingrui, et al. "High‐Strain Peano‐HASEL Actuators." Advanced Functional Materials 30.7 (2020): 1908821. COMBUSTION Butane and Oxygen 65 Bartlett, Nicholas W., et al. "A 3D-printed, functionally graded soft robot powered by combustion." Science 349.6244 (2015): 161-165.  CHEMICAL REACTION Hydrogen peroxide as the fuel in the presence of the platinum catalyst results the following reaction: 2H2O2 (l) → 2H2O (l, g) + O2 (g). Check the Ref. This reaction results in volumetric expansion by a factor of approximately 240 (at ambient pressure). At the operating pressure of 50 kPa, an expansion to 160 times the original volume is expected. 66 Wehner, Michael, et al. "An integrated design and fabrication strategy for entirely soft, autonomous robots." Nature 536.7617 (2016): 451-455. ELECTRIC COMMANDED EVAPORATION 67 Miriyev, Aslan, Kenneth Stack, and Hod Lipson. "Soft material for soft actuators." Nature communications 8.1 (2017): 1-8. LIGHT COMMANDED EVAPORATION PLASMONIC EFFECT Laser irradiation (808 nm, 475 mW cm-2) 68 Meder, Fabian, et al. "Remotely Light‐Powered Soft Fluidic Actuators Based on Plasmonic‐Driven Phase Transitions in Elastic Constraint." Advanced Materials 2019.  69 Meder, Fabian, et al. "Remotely Light‐Powered Soft Fluidic Actuators Based on Plasmonic‐Driven Phase Transitions in Elastic Constraint." Advanced Materials 2019.  HUMIDITY RESPONSIVE ACTUATORS Plant materials rich source of inspiration for smart fabrics and composites Conifer tissue 70 QUESTIONS? 71 Embodied Intelligence & Bio Inspired Soft Robotics Ali Sadeghi Department of Biomechanical Engineering Faculty of Engineering Technology 04-06-2024 Nature inspired ART vs. ENGINEERING Nature-inspired art is often subjective and focused on emotional and aesthetic qualities, while engineering is objective and focused on functionality and problem- solving. I²CBaMBUS, a flower robot by BBS 1 - Technik - Kaiserslautern 2 WHAT IS INTELLIGENCE? WHICH ONE IS MORE INTELLIGENT & WHY? 3 INTELLIGENCE Merriam Webster The ability to learn or understand or to deal with new or trying situations Journal of Educational Psychology (1921) The ability to carry on abstract thinking. L. Terman The capacity to learn or profit by experience. W. F. Dearborn Having learned or ability to learn to adjust oneself to the environment. S. S. Colvin The ability to adapt oneself adequately to relatively new situations in life. R. Pintner The capacity for knowledge, and knowledge possessed. V. A. C. Henmon 4 EMBODIED INTELLIGENCE (EI) The classical approach: The focus is Embodied Intelligence: The focus is on on the brain and central processing. the interaction with the environment. 5 Pfeifer, Rolf, and Josh Bongard. How the body shapes the way we think: a new view of intelligence. MIT press, 2006. PHYSICAL INTELLIGENCE (PI) PHYSICAL INTELLIGENCE (PI) EI ENVIRONMENT BODY BRAIN 6 Sitti, Metin. "Physical intelligence as a new paradigm." Extreme Mechanics Letters 46 (2021): 101340. BODY’S PERFORMANCE AFFECTS BRAIN’S COMPUTATION LOAD 7 STRANDBEAST A GOOD EXAMPLE OF PHYSICAL INTELLIGENCE Theo Jansen 8  86 billion 12.8 billion 2 Billion neurons 1,000,000 NEURONS 9 Robert Full The sticky wonder of gecko feet Spagna, Joseph C., et al. Bioinspiration & biomimetics 2007 10 BIOINSPIRED ENGINEERING  LEVELS OF BIO INSPIRATION Inspiration of form Inspiration of process Inspiration of system The Eastgate Centre in Geng, Hongya, et al. "Plant leaves inspired sunlight-driven purifier for high-efficiency clean Harare, Zimbabwe, inspired water production." Nature communications 10.1 (2019): 1512. by termite mounds 12 Fayemi, P-E., et al. "Bio-inspired design characterisation and its links with problem solving tools." DS 77: Proceedings of the DESIGN 2014 13th International Design Conference. 2014. BIOINSPIRED ENGINEERING SOLUTION DRIVEN Abbas ibn Firnas 810-887 PROBLEM DRIVEN Kingfisher Shinkansen 13 HOW TO TRANSLATE BIOLOGY TO ENGINEERING SOLUTIONS? Where to start? Where to focus? 14 BIO INSPIRED ENGINEERING Understanding the principle Conceptualization Application Imagination Prototyping and abstraction 15 Faster by the help of BIOLOGISTS Finding a common language is a MUST Understanding the principle Conceptualization Application Imagination Prototyping and abstraction 1 6 FINDING A COMMON LANGUAGE, THE SUCCESS KEY FOR MULTIDISCIPLINARY COLLABORATION 17 TRY TO FIND A COMMON QUESTION, FOCUS AND INTEREST 18 DO NOT FORGET THE B’ B ROLE OF ENVIRONMENT A C A’ C’ 19 20 SOME EXAMPLES FROM UNDERSTANDING BIOLOGY TO TRANSLATION TO ARTIFICIAL SYSTEMS 21 SOFT & HIGHLY ADAPTABLE CRAWLING & CLIMBING ON SLIPPERY SUBSTRATES 22 NOT EVERY TRAVELING WAVE CAN WORK 23 THE IMPORTANT ROLE OF LONGITUDINAL MUSCLES Trueman, E. R. "Retrograde locomotion in gastropods." Journal of Molluscan Studies 50.3 (1984): 235-237. 24 THE IMPORTANT ROLE OF LONGITUDINAL MUSCLES Trueman, E. R. "Retrograde locomotion in gastropods." Journal of Molluscan Studies 50.3 (1984): 235-237. 25  FOAM BASED ACTUATOR Inextensible Fabric Soft Foam Vacuum gate MICROSCOPIC FLYING OVER SUBSTRATE 26 Babu, S. P. M., Visentin, F., Sadeghi, A., Mondini, A., & Mazzolai, B. A Soft Sensorized Foot Module to Understand Anisotropic Terrains During Soft Robot Locomotion. RA-L 2020 ACTIVITY DESIGN A WINDOW THAT LETS AIR CIRCULATION WHEN THE HUMIDITY IN A ROOM IS TOO HIGH. 2 7 LET'S CHECK YOUR DESIGNS 28 Power Supply Control Unit Actuator Position signal Humidity Sensor 29 WHAT A BOUT A BIO INSPIRED APPROACH? FOR EXAMPLE, IF WE WANT TO ACTIVATE IT WIHTOUT ELECTRICITY 30 31  HygroScope - Centre Pompidou Paris Achim Menges in collaboration with Steffen Reichert Institute for Computational Design Transsolar Climate Engineering  PLANTS MOVE WITHOUT MUSCLE THINK WITHOUT BRAIN & SENSE WITHOUT NERVOUS SYSTEM 33 Javan cucumber 34 ANY INSPIRATION? 36 MAPLE SEED MONOCOPTER FLYING ROBOT University of Maryland 37 MAPLE SEED MONOCOPTER FLYING ROBOT 38 Cikalleshi, Kliton, et al. Science Advances 2023 TILLANDSIA: AIR PLANTS Raux, Pascal S., Simon Gravelle, and Jacques Dumais. "Design of a unidirectional water valve in Tillandsia." Nature communications11.1 (2020): 1-7. TOWN OF SERRANO, BOLIVIA 39 PLANT ROOTS AMAZING SOIL EXPLORERS 40 BIO INSPIRED ENGINEERING Understanding the principle Conceptualization Application Imagination Prototyping and abstraction 41 ROOT ANATOMY MATURE ROOT: Stationary conditions Lateral hairs development Anchored to the soil ELONGATION ZONE: Cell elongation Pressure up to 1 MPa Moving in the soil MERISTEMATIC REGION Cell division ROOT CAP Border cell sloughing Mucilage production 42 MOVING BY GROWING MATURE ROOT ELONGATION ZONE MERISTEMATIC REGION ROOT CAP 43 MOVING BY GROWING MATURE ROOT A1 A2 ELONGATION ZONE A3 MERISTEMATIC REGION A4 An ROOT CAP 44 SLOUGHING CELLS Create a sleeve around the root: Facilitate the penetration Protect the root cells from soil pressure Similar to molting in insects 45 Can balloon expansion and extension simulate root growth? 46 FIRST CONCEPT Sadeghi, Ali, et al. ICRA 2013 47 SLOUGHING MECHANISM Sadeghi, Alì, et al. ICRA 2013 48 SLOUGHING MECHANISM (1ST PROTOTYPE) Improving the anchorage by artificial hairs Penetration force evaluation 1mm/s skin displacement 49 Sadeghi, Ali, et al. "Robotic mechanism for soil penetration inspired by plant root." ICRA 2013  CHALLENGES SOLUTION A SYSTEM THAT CAN REALY MIMIC THE GROWTH To soft to tolerate soil pressure. High internal friction due to the shaft and sleeve contact. Unabale in bending and overcoming obstacles. 50 EVERSION SLEEVE 51 Hawkes, Elliot W., et al. "A soft robot that navigates its environment through growth." Science Robotics 2.8 (2017). MIMIKING GROWTH BY ADDITIVE MANUFACTURING 52 GROWING FROM THE TIP: ADDITION OF NEW MATERIAL 53 Sadeghi, Ali, et al. "A novel growing device inspired by plant root soil penetration behaviors." PloS one 9.2 (2014): e90139. GROWING MECHANISM (2ND PROTOTYPE) Addition of new material at the tip level 54 Sadeghi, Ali, et al. "A novel growing device inspired by plant root soil penetration behaviors." PloS one 9.2 (2014): e90139. EFFICIENT SOIL PENETRATION BY GROWING No Growing Lower Power consumption(saving Growing more than 70%, roughly independent from the depth) Faster Penetration (40% faster) 55 Sadeghi, Ali, et al. "A novel growing device inspired by plant root soil penetration behaviors." PloS one 9.2 (2014): e90139. BENDING BY DIFFERENTIAL GROWTH/ELONGATION 56 3D PRINTER INTEGRATED GROWING ROBOT Plotter Feeder Controller Extruder Sadeghi, Alì, et al. RoboSoft 2017 57 3D PRINTER INTEGRATED GROWING ROBOT Sadeghi, Alì, et al. RoboSoft 2017 58 MOVEING BY GROWING 59 Sadeghi, Ali et al. "Toward self-growing soft robots inspired by plant roots and based on additive manufacturing technologies." Soft robotics (2017). INTERACTION WITH ENVIRONMENT Temperature Gravity Humidity Touch Chemicals 60 Sadeghi, A., et al. Bioinspiration & Biomimetics 2016 PASSIVE OBSTACLE AVOIDANCE AND CRACK PROPAGATION In loose soil In hard soil 61 INTERACTION WITH ENVIRONMENT HYPOTHESIS: Material is soft and malleable when it is deposited, so it enables the robot to passively adapt 62 PASSIVE ADAPTATION 63 Sadeghi, Ali, et al. "Passive morphological adaptation for obstacle avoidance in a self-growing robot produced by additive manufacturing." Soft robotics 2020  SOIL PENETRATION BY GROWING IS ENERGY EFFICIENT, HIGHLY ADAPTIVE, AND PROVIDES CONNECTION TO THE GROUND SOIL PRESSURE & FRICTION 64 APPLICATIONS Providing tubular structure SMASH Adaptable Smart Machine for Agricultural Solutions Hightech Controllable Energy efficient 65 APPLICATIONS Rescue Space Exploration 66  STUDENT APPLICATIONS JOB AVAILABLE Painless Colonoscopy Minimally-Invasive Surgery 67  SOIL PENETRATION BY GROWING IS ENERGY EFFICIENT, HIGHLY ADAPTIVE, AND PROVIDES CONNECTION TO THE GROUND SOIL PRESSURE & FRICTION 68 WHAT KIND OF BIOLOGICAL MODELS YOU LOOK AT FOR CLIMBING A POLE? 69 70 HUMAN INSPIRED POLE CLIMBING ROBOTS W W Ahmadabadi, M. Nili, et al., CARPI, 2010 71 HUMAN INSPIRED POLE CLIMBING ROBOT W Sadeghi, A., et al., Robotica, 2008 and 2012 72 THE HAPPIEST ANIMALS OF THE WORLD? 73  74 https://www.youtube.com/watch?v=9rxf_2EgwfE SOFT ADEHSION INSPIRED BY SEA URCHIN TUBE FOOT 75  76 https://askabiologist.asu.edu/sea-urchin-anatomy TUBE FOOT CAN ELONGATE AND ADHER TO WIDE RANGE OF SURFACES 1 - Madreporite A filtered opening that allows water into the water vascular system. 2 - Aquifer Water-filled area. 3 - Ring canal The ring canal circles the intestine and has five branches called radial canals. 4 - Radial canal There are five radial canals that supply water to the tube feet. 5 - Ampulla Part of the tube foot that expands when water is forced inside and contracted by using internal muscles. 6 - Podia Suction end found at the end of each tube foot 77 D. Nichols, “The histology and activities of the tube-feet of Echinocyamus pusillus.” Quarterly Journal of Microscopical Science 3(52): 539-555, 1959. Suction process 78 ADHESION BY SUCTION & SECRETION Attachment & detachment sequences J. Smith, “The Activities of the Tube Feet of Asterias Rubens L.” Quarterly Journal of Microscopical Science 3(1): 1-14, 1947. Santos, Romana, et al. "Adhesion of echinoderm tube feet to rough surfaces." Journal of Experimental Biology 208.13 (2005): 2555-2567. 79 Fluid gate Rigid core Hydrophobic Silicone Hydrophilic Pattern Soft skin Laser Cutter Pre-streched Silicone Relaxed result 80 Sadeghi, A., et al. "Design and development of innovative adhesive suckers inspired by the tube feet of sea urchins." BioRob 2012 ENHANCED ADHESION BY MUCUS (EDIBLE GELATIN) Pulling force on cement Ecoflex Ecoflex + Mucus Dragon Skin Dragon Skin + Mucus 81 Sadeghi, A., et al. "Design and development of innovative adhesive suckers inspired by the tube feet of sea urchins." BioRob 2012 ELONGATION BY WATER PRESSURE & CONTRACTION BY MUSCLES J. Smith, “The Activities of the Tube Feet of Asterias Rubens L.” Quarterly Journal of Microscopical Sadeghi, A., et al., BioRob 2012 Science 3(1): 1-14, 1947. 82 Sadeghi, A., et al. "Design and development of innovative adhesive suckers inspired by the tube feet of sea urchins." BioRob 2012  83 Sadeghi, A., et al. "Design and development of innovative adhesive suckers inspired by the tube feet of sea urchins." BioRob 2012 ECHINODERMS DON’T SUCK Further tests with different setups are required 84 Hennebert, Elise, Romana Santos, and Patrick Flammang. "Echinoderms don’t suck: evidence against the involvement of suction in tube foot attachment." Zoosymposia 7.1 (2012): 25-32. ROBOTIC INSPIRED BIOLOGY 85 SOFT ROBOTICS ROOTS TO STUDY COMMUNICATION AMONG ROOTS 86 Sadeghi, A., et al. Bioinspiration & Biomimetics 2016 CIRCUMNUTATION TEST 80 times 87 Del Dottore, Emanuela, et al. Bioinspiration & biomimetics 2017  Flexibility is a key feature for adaptive interaction. It is very easy to be lost easily in the complexity of natural systems, don’t lose your focus. Large design data base is great help in easier translation of nature solutions to an engineering design. Illustration skill is a most in communication and helping imagination. Prototyping is a required step that should not be delayed to the last moments. Understanding the principle Conceptualization Application Imagination Prototyping and abstraction 88 Brown, Eric, et al. “PNAS 2010 The National Museum of Iran 89 TED talk Stefano Mancuso 90  SOFT ROBOTICS Introduction (Lecture 1) Ali Sadeghi Department of Biomechanical Engineering 02-05-2024 WHY SOFT COURSE PROJECT REPORT & PROJECT ROBOTICS OVERVIEW DEFINITION EXAMINATION SELECTION 3 4 5 6  SOFTNESS a material properties a geometrical properties The opposite of stiffness 𝐹𝑜𝑟𝑐𝑒 (𝐹) 𝑆𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠(𝐾) = 𝐷𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛 (δ) 𝐷𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛(δ) 𝑆𝑜𝑓𝑡𝑛𝑒𝑠𝑠 = 𝐹𝑜𝑟𝑐𝑒 (𝐹) a combination of both 7  8 https://www.youtube.com/watch?v=OiMuuPdkw50 RIGID ROBOTS ARE NOT WELL PREPARED FOR UNCERTAIN CONDITIONS AND CHALLENGING ENVIRONMENTS 9 SOUTH KOREAN WOMAN'S HAIR 'EATEN' BY ROBOT VACUUM CLEANER AS SHE SLEPT. https://www.theguardian.com/wo rld/2015/feb/09/south-korean- womans-hair-eaten-by-robot- vacuum-cleaner-as-she-slept https://www.fox19.com/20 19/02/15/robotic-vacuum- blame-ky-house-fire/ 10 SOFT ROBOTS SAFE AND ADAPTIVE Jiang, Hao, et al. IJRR 2021 11 SOFT ROBOTICS … is the specific subfield of robotics dealing with Made by soft materials or constructing robots from highly compliant materials, structures similar to those found in living organisms. Soft robotics draws heavily from the way in which living Highly flexible & adaptable organisms move and adapt to their surroundings. In contrast to robots built from rigid materials, soft robots allow for increased flexibility and adaptability for accomplishing tasks, as well as improved safety when Safe working around humans. These characteristics allow for its potential use in the fields of medicine and manufacturing. Bioinspired 12 ROBOTS MADE BY COMPLAINT MATERIALS & STRUCTURES 13 SAFE INTERACTION DUE TO INTRINSIC FLEXIBILITY F Softer is the structure smaller is the F 14 INCREASED SAFETY 15 INCREASED SAFETY: SAFE INTERACTION WITH ENVIRONMENT https://www.colowrap.com/blog/looping_video Manfredi, Luigi, et al. "AS oft Pneumatic Inchworm Double balloon (SPID) for colonoscopy." Scientific reports 2019 16 SAFE INTERACTION & REDUCED NEED OF SENSING DUE TO THE CAPABILITY OF ADAPTATION Distributed stress 17 ADAPTIVE & SAFE GRASPING Sinatra, Nina R., et al. Science Robotics 2019 Hao, Yufei, et al. 35th Chinese control conference (CCC). IEEE, 2016. 18 ADAPTIVE GRASPING OF UNKNOW OBJECTS Mazzolai, Barbara, et al. "Octopus‐Inspired Soft Arm with Suction Cups for Enhanced Grasping Tasks in Confined Environments." Advanced Intelligent Systems 1.6 (2019): 1900041. 19 INCREASED DEXTERITY AND RANGE OF MOTION obstacle obstacle obstacle obstacle obstacle obstacle obstacle 20 ADAPTATION TO UNKNOWN SITUATIONS Sadeghi, Ali, et al. “Soft-Legged Wheel-Based Robot with Terrestrial Locomotion Abilities." Frontiers in Robotics and AI 3 (2016): 73. 21  LIGHTNESS, COMFORT & SAFETY Polygerinos, Panagiotis, et al. ICRA 2015. Thalman, Carly et al. RoboSoft 2020. Sridar, Saivimal, et al. IROS 2017. 22 Thalman, Carly M., et al. IROS 2018. LIGHTWEIGHT GIGANTIC ROBOTS Nate Edwards by Brigham Young University Ant-Roach by otherlab 23 BIO COMPATIBLE & BIO SIMILAR MATERIALS Roche, Ellen T., et al. Science translational medicine 2017 24 BIO COMPATIBLE & BIO SIMILAR MATERIALS Fras, Jan, and Kaspar Althoefer. "Soft biomimetic prosthetic hand: Design, manufacturing and preliminary examination." IROS 2018. NO CONVECTIONAL ASSEMBLY; EASIER TO MINIATURIZE Kim, Jaeyoun Jay. "Soft Robotic Micro-Tentacle: A Case Study." Microscale Soft Robotics. Springer, Cham, 2017. 39-58. 26 RESILIENCE Tolley, Michael T., et al. "A resilient, untethered soft robot." Soft robotics (2014) Seok, Sangok, et al. "Meshworm: a peristaltic soft robot with antagonistic nickel titanium coil actuators." IEEE/ASME Transactions on mechatronics 18.5 (2012) 27 EDIBLE & BIODEGRADABLE SOFT ROBOTS Shintake, Jun, et al. "Soft pneumatic gelatin Miyashita, Shuhei, et al. "Ingestible, controllable, and degradable actuator for edible robotics." IROS 2017 origami robot for patching stomach wounds." ICRA 2016. 28 EDIBLE & BIODEGRADABLE SOFT ROBOTS Cornell’s Collective Embodied Intelligence Lab 29 RIGID ROBOTICS SOFT ROBOTS POWER ADAPTATION ACCURACY SAFETY REPEATABILITY COMFORT Jiang, Hao, et al. IJRR 2021 30  SOFT ROBOTICS BRINGS THE CONCEPT OF ROBOTICS AT THE LEVEL OF MATERIAL AND STRUCTURE. Joints & Actuators Links 31 SOFT ROBOTICS BRINGS THE CONCEPT OF ROBOTICS AT THE LEVEL OF MATERIAL AND STRUCTURE. 32 33 COURSE OBJECTIVES; DICUSS SOFT ROBOTICS STATE OF THE ART PRACTICE THE DESIGN AND FABRICATION TECHNIQUES LEARNING BY DOING 34 CHALLENGES Defined number of joints, links Defined number of actuators & sensors β Commercial components α Standard design & simulation tools Standard control techniques Rigid Robot Standard fabrication techniques 35 CHALLENGES Undefined Defined number numberofofjoints, joints,links links Defined number of actuators & Soft actuators & sensors n2 sensors n1 n∞ β NoCommercial commercially components components α No Standard standard design design & simulation & simulation tools tool Standard challenging control control techniques Rigid Soft Robot Robot No Standard standard fabrication fabrication techniques technique 36 COURSE PROGRAM Stiffness tuning Introduction Actuation I Actuation II Sensing & accessories Week 1 Week 2 Week 3 Week 4 Week 5 L L P L P L P L P Bioinspiration Soft Manufacturing & Embodied intelligence Projects Demo Exam Week 6 Week 7 Week 8 Week 9 Week 10 L Pr L Pr Pr D E 37 You need to develop your own actuators and sensors and they can interference the performance of each other. Stiffness tuning Introduction Actuation I Actuation II Sensing & accessories Week 1 Week 2 Week 3 Week 4 Week 5 L L P L P L P L P Bioinspiration Soft Manufacturing & Embodied intelligence Projects Demo Exam Week 6 Week 7 Week 8 Week 9 Week 10 L Pr L Pr Pr D E 38 Too soft cannot exert sufficient forces or even withstand its own weight. https://www.dewivandeklomp.nl/ 39 Too soft cannot exert force or even withstand its own weight. Stiffness tuning Introduction Actuation I Actuation II Sensing & accessories Week 1 Week 2 Week 3 Week 4 Week 5 L L P L P L P L P Bioinspiration Soft Manufacturing & Embodied intelligence Projects Demo Exam Week 6 Week 7 Week 8 Week 9 Week 10 L Pr L Pr Pr D E 40 Unconventional, bio inspired design and manufacturing 41 Unconventional, bio inspired design and manufacturing Stiffness tuning Introduction Actuation I Actuation II Sensing & accessories Week 1 Week 2 Week 3 Week 4 Week 5 L L P L P L P L P Bioinspiration Soft Manufacturing & Embodied intelligence Projects Demo Exam Week 6 Week 7 Week 8 Week 9 Week 10 L Pr L Pr Pr D E 42 Think to any application of soft robotics in your field of interest or related to your hobbies. 43 What was the application? 44 WHICH SKILL FITS YOU THE MOST? Design & Prototyping Modeling/Theoretical analysis Academic writing Familiar with Arduino or similar products High quality imaging/rendering and illustration 45 PROJECTS PROJECT1: CABLE DRIVEN SOFT ARM INSPIRED BY SEA URCHIN TUBE FOOT Stiffness tu