Relevant bibliographies by topics / Silicone soft robots

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers
  5. Reports

Academic literature on the topic 'Silicone soft robots'

Author: Grafiati
Published: 22 February 2025

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Journal articles on the topic "Silicone soft robots"

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Lin, Hao, Yihui Chen, and Wei Tang. "Soft Electrohydraulic Bending Actuators for Untethered Underwater Robots." Actuators 13, no. 6 (June 8, 2024): 214. http://dx.doi.org/10.3390/act13060214.

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Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and safety than rigid robots. Among them, the soft actuator is the core component to power the soft robot. Here, we propose a class of soft electrohydraulic bending actuators suitable for underwater robots, which realize the bending motion of the actuator by squeezing the working liquid with an electric field. The actuator consists of a silicone rubber film, polydimethylsiloxane (PDMS) films, soft electrodes, silicone oils, an acrylic frame, and a soft flipper. When a square wave voltage is applied, the actuator can generate continuous flapping motions. By mimicking Haliclystus auricula, we designed an underwater robot based on six soft electrohydraulic bending actuators and constructed a mechanical model of the robot. Additionally, a high-voltage square wave circuit board was created to achieve the robot’s untethered motions and remote control using a smart phone via WiFi. The test results show that 1 Hz was the robot’s ideal driving frequency, and the maximum horizontal swimming speed of the robot was 7.3 mm/s.
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Wu, Huaqing, Yutong Han, Xinyu Chen, Rong Lu, Erxing Zhuang, Huaping Wu, Xiaodi Jiang, Xiaojun Tan, and Bo Cao. "Design, Fabrication, and Characterization of a Novel Crawling Pneumatic Soft Robot." Automation 6, no. 1 (February 12, 2025): 7. https://doi.org/10.3390/automation6010007.

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Soft robots have shown great application potential in human–computer interaction, scientific exploration, and biomedical fields. However, they generally face issues like poor load capacity. Inspired by the propagation and movement mechanisms of ocean waves, this study proposes a novel type of pneumatically driven crawling soft robot. An automated pneumatic drive system was first constructed for driving and controlling the crawling soft robot, and then the soft robot body was made using additive manufacturing and silicone molding. Experimental testing of the robot’s performance revealed that it can move efficiently on surfaces with varying friction coefficients and has a strong load-bearing capacity. This work is expected to provide a reference for the design of other soft robots.
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Sun, Hao, Bin Cheng, Ning Yang Wang, and Xiao Ping Chen. "A Preliminary Study of the HPN Robot." Applied Mechanics and Materials 575 (June 2014): 726–30. http://dx.doi.org/10.4028/www.scientific.net/amm.575.726.

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Soft robots are robots made of soft materials and actuators. Previously we proposed the HPN (Honeycomb PneuNets) Robot, where PneuNets were placed as actuators into honeycomb shaped elastomer. In this paper, we present some progress of this effort. A random search algorithm is applied to plan the obstacle-avoid movements of an HPN robot. We test it through several cases, and the results showed that the algorithm can work effectively. We introduce an HPN robot prototype, which is made of RTV-2 silicone rubber. Preliminary experiments showed that some good expansion rate and flexibility can be achieved. A piston and soft body simulation model of HPN robots is also presented, which can mimic the basic behaviors of the HPN robot.
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Xu, Ruomeng, and Qingsong Xu. "Design of a Bio-Inspired Untethered Soft Octopodal Robot Driven by Magnetic Field." Biomimetics 8, no. 3 (June 22, 2023): 269. http://dx.doi.org/10.3390/biomimetics8030269.

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Inspired by insects in nature, an increasing number of soft robots have been proposed to mimic their locomotion patterns. As a wireless actuation method, the magnetic actuation technique has been widely applied to drive soft magnetic robots for diverse applications. Although recent works on soft materials have stimulated the development of soft robots, it is challenging to achieve the efficient movement of soft robots for in vivo biomedical application. Inspired by centipede locomotion, a soft octopodal robot is designed in this paper. The robot is fabricated by mixing magnetic particles with silicone polymers, which is then magnetized by a specific magnetic field. The prototypes can be actuated by an external magnetic field (5–8 mT) produced by custom-made electromagnetic coils. Experimental results show that the soft robot can move at a high speed in the range of 0.536–1.604 mm/s on different surfaces, including paper, wood, and PMMA. This indicates that the soft robot can achieve comparable speeds to other robots, while being driven by a lower magnitude, resulting in energy savings. Furthermore, it achieves a high speed of 0.823 mm/s on the surface of a pig colon. The fine capabilities of the soft robot in terms of crossing uneven biological surfaces and carrying external loads are demonstrated. The results indicate that the reported soft robot exhibits promising applications in the biomedical field.
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Jyothi, Mrs N. Krishna. "Plucking Flowers using Soft Robot." International Journal for Research in Applied Science and Engineering Technology 11, no. 11 (November 30, 2023): 575–79. http://dx.doi.org/10.22214/ijraset.2023.56490.

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Abstract: Soft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of complaint materials, instead of rigid links. In contrast to the rigid-bodied robots built from metals, ceramics, and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans. The main objective of this project is to pluck flowers using a soft robot. The proposed system is designed to provide gentle manipulation of flowers in a horticultural setting. The soft robot is composed of flexible and deformable materials, such as silicone or elastomer, and is designed to mimic the motion and compliance of human fingers. The system is implemented and tested in a real-world scenario, and the results show that it can effectively pluck flowers without causing damage or injury to the plant. The proposed approach has potential applications in the floriculture industry, where the system can improve efficiency and reduce labour costs, while also minimizing damage to the flowers
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Ribuan, Mohamed Najib, Shuichi Wakimoto, Koichi Suzumori, and Takefumi Kanda. "Omnidirectional Soft Robot Platform with Flexible Actuators for Medical Assistive Device." International Journal of Automation Technology 10, no. 4 (July 5, 2016): 494–502. http://dx.doi.org/10.20965/ijat.2016.p0494.

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This manuscript explains the employment of flexible actuators to act as a soft robot and transporting agent to assist medical X-ray examinations. Although soft robots from silicone material can be transparence and a human compliance used as medical assistive devices, soft robots have some problems: they tend to be sluggish, have long and imprecise gait trajectories, and need their control parameters to be adjusted for motion diversion. A soft robot with omnidirectional locomotion has been created, one that has a combination of pneumatic rubber legs that form a soft robot platform and an associated hardware setup. Tests have confirmed its omnidirectional locomotion ability; it has a maximum speed of 6.90 mm/s in forward locomotion and a maximum payload of 70 g. These features indicate that the robot can be used as a medical assistive device for fluoroscopy examinations.
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García-Samartín, Jorge Francisco, Adrián Rieker, and Antonio Barrientos. "Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm." Actuators 13, no. 1 (January 17, 2024): 36. http://dx.doi.org/10.3390/act13010036.

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Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control methods. This research is centred on the design, fabrication, and control of a pneumatic soft robot. The principal objective is to develop a modular soft robot featuring multiple segments, each one with three degrees of freedom. This yields a tubular structure with five independent degrees of freedom, enabling motion across three spatial dimensions. Physical construction leverages tin-cured silicone and a wax-casting method, refined through an iterative processes. PLA moulds that are 3D-printed and filled with silicone yield the desired model, while bladder-like structures are formed within using solidified paraffin wax-positive moulds. For control, an empirically fine-tuned open-loop system is adopted. This paper culminates in rigorous testing. Finally, the bending ability, weight-carrying capacity, and possible applications are discussed.
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Wang, Jie, Haoyu Zhou, Yong Gao, Yupeng Xie, Jing Zhang, Yaocheng Hu, Dengwang Wang, et al. "The Characterization of Silicone-Tungsten-Based Composites as Flexible Gamma-Ray Shields." Materials 14, no. 20 (October 11, 2021): 5970. http://dx.doi.org/10.3390/ma14205970.

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Robots are very essential for modern nuclear power plants to monitor equipment conditions and eliminate accidents, allowing one to reduce the radiations on personnel. As a novel robot, a soft robot with the advantages of more degrees of freedom and abilities of continuously bending and twisting has been proposed and developed for applications in nuclear power industry. Considering the radiation and high-temperature environment, the overall performance improvement of the flexible materials used in the soft nuclear robot, such as the tensile property and gamma-ray shielding property, is an important issue, which should be paid attention. Here, a flexible gamma-ray shielding material silicone-W-based composites were initially doped with nano titanium oxide and prepared, with the composition of 20 silicone-(80-x) W-(x) TiO2, where x varied from 0.1 to 2.0 wt.%. Structural investigations on SEM and EDS were performed to confirm the structure of the prepared composites and prove that all the chemicals were included in the compositions. Moreover, the tensile property of the composites at 25, 100, and 150 °C were investigated to study the effect of working temperature on the flexibility of the compositions. The attenuation characteristics including the linear attenuation coefficients and mass attenuation coefficients of the prepared silicone-W or silicone-W-TiO2-based composites with respect to gamma ray were investigated. The stability of the silicone–tungsten-TiO2-based composite at high temperature was studied for the first time. In addition, the influence of nano TiO2 additive on the property’s variation of silicone-W-based composites was initially studied. The comparison of the properties such as the tensile elongation, thermal stability, and gamma-ray shielding of the synthesized silicone-W and silicone-W-TiO2 composites showed that the addition of nano TiO2 powders could be useful to develop novel gamma-ray-shielding materials for radiation protection of soft robots or other applications for which soft gamma-ray-shielding materials are needed.
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Li, Junfeng, Songyu Chen, and Minjie Sun. "Design and fabrication of a crawling robot based on a soft actuator." Smart Materials and Structures 30, no. 12 (November 9, 2021): 125018. http://dx.doi.org/10.1088/1361-665x/ac2e1b.

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Abstract Inspired by biological systems, soft crawling robots provide unique advantages in terms of resilience and adaptive shaping during robotic motion. However, soft robots actuated by motors and pumps are usually heavy, noisy and bulky. In this paper, based on the principle of liquid-vapor changes of ethanol, a novel soft crawling robot that demonstrates more silent actuation and lighter weight compared with other robots is proposed. To increase the crawling speed of the robot, silicone mixed with liquid metal with a volume ratio of 20% is used to fabricate the actuators. The deformation of the actuator is analyzed and can be predicted using a theoretical model. To obtain effective crawling performance, a crawling locomotion sequence consisting of the three different parts (central, head and tail) based on the variable friction mechanism of actuators B and C is presented. The experimental results demonstrate that the robot can achieve forward movement on a horizontal surface and along vertical pipes and sticks. This study will provide further inspiration and guidance for the future development of crawling robots.
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Sui, Xin, Mingzhu Lai, Jian Qi, Zhiyuan Yang, Ning Zhao, Jie Zhao, Hegao Cai, and Yanhe Zhu. "A Fluid-Driven Loop-Type Modular Soft Robot with Integrated Locomotion and Manipulation Capability." Biomimetics 8, no. 5 (August 26, 2023): 390. http://dx.doi.org/10.3390/biomimetics8050390.

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In nature, some animals, such as snakes and octopuses, use their limited body structure to conduct various complicated tasks not only for locomotion but also for hunting. Their body segments seem to possess the intelligence to adapt to environments and tasks. Inspired by nature, a modular soft robot with integrated locomotion and manipulation abilities is presented in this paper. A soft modular robot is assembled using several homogeneous cubic pneumatic soft actuator units made of silicone rubber. Both a mathematical model and backpropagation neural network are established to describe the nonlinear deformation of the soft actuator unit. The locomotion process of the chain-type soft robot is analyzed to provide a general rhythmic control principle for modular soft robots. A vision sensor is adopted to control the locomotion and manipulation processes of the modular soft robot in a closed loop. The experimental results indicate that the modular soft robot put forward in this paper has both locomotion and manipulation abilities.
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Dissertations / Theses on the topic "Silicone soft robots"

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Kraehn, Baptiste. "Approche intégrée matériau-procédé appliquée à la conception de doigts souples pour la manipulation dextre." Electronic Thesis or Diss., Strasbourg, 2024. http://www.theses.fr/2024STRAD042.

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Ce travail de thèse propose une approche intégrée pour le développement de doigts pneumatiques en silicone destinés à la manipulation dextre. Basée sur une démarche comparative entre l'expérimentation et la prédiction numérique, l'identification des modèles de comportement du silicone permet de prédire le comportement du doigt pneumatique. La conception de celui-ci est alors guidée par simulation, avec pour objectif de réduire la dépendance du comportement du doigt à l'effet Mullins. La méthode de fabrication retenue, l'injection basse pression, permet la mise en place d'un processus de fabrication robuste par surmoulage des renforts rigides et de la base du doigt. La conception du doigt et de l'outillage est définie de manière à permettre la production de l'assemblage complet en une unique étape d'injection
This thesis proposes an integrated approach to the design of pneumatic silicone fingers for dexterous manipulation. Based on a comparative approach between experimentation and numerical prediction, the identification of silicone behavioral models allows the prediction of pneumatic finger behavior. The design is then guided by simulation with the aim of reducing the finger's dependence on the Mullins effect. The chosen manufacturing method, low-pressure injection molding, allows a robust overmolding process for the rigid reinforcements and the base of the finger. The finger and tooling are designed to enable production of the complete assembly in a single injection step
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Mosser, Loïc. "Contribution à la conception et la fabrication de robots souples pneumatiques." Electronic Thesis or Diss., Strasbourg, 2024. http://www.theses.fr/2024STRAD009.

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Ce travail de thèse porte sur la conception de robots souples pneumatiques, pour lesquels la mise en mouvement par déformation est produite via des chambres pneumatiques. Nous contribuons à l'obtention d'un robot depuis la formulation du besoin jusqu'à la fabrication du robot. Ainsi, nous abordons les problématiques associées à la conception et la fabrication de ces robots. Pour la conception, nous proposons un algorithme génétique dont le fonctionnement est accéléré par l'usage d'un modèle d'IA permettant l'estimation rapide des comportements de nouvelles géométries et la recherche de solution. Pour la fabrication, nous proposons une plateforme instrumentée de fabrication additive de silicone permettant l'acquisition de nuages de points sur la couche produite. Des indicateurs sont alors proposés pour suivre la production en cours et l'intégrité de robots souples, et ces indicateurs sont évalués expérimentalement
This thesis covers the design of pneumatic soft robots, which move thanks to deformation using pneumatic chambers. We contribute to the design of a robot from the formulation of the need to the manufacturing of the robot. We address the problems associated with the design and manufacture of these robots. For design, we propose a genetic algorithm accelerated by the use of an AI model enabling rapid estimation of the behavior of new geometries and the search for solutions. For manufacturing, we propose an instrumented silicone additive manufacturing platform enabling the acquisition of point clouds on each produced layer. Indicators are then proposed to monitor ongoing production and the integrity of soft robots, and these indicators are evaluated experimentally
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Santos, João Guilherme Alves dos. "Bio-inspired robotic gripper with hydrogel-silicone soft skin and 3d printed endoskeleton." Master's thesis, 2017. http://hdl.handle.net/10316/82840.

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Trabalho de Projeto do Mestrado Integrado em Engenharia Física apresentado à Faculdade de Ciências e Tecnologia
Neste projeto, desenvolve-se um dedo inovador e inspirado biologicamente, com fisiologia semelhante à de um dedo humano. O dedo "soft" é feito com um núcleo impresso em 3D para substituir o endoesqueleto dos dedos humanos, com uma pele elástica de silicone para substituir a camada epidérmica elástica e resiliente e um enchimento de hidrogel para substituir a camada dérmica. No dedo humano, a camada dérmica é mais macia do que a camada epidérmica e contém uma quantidade considerável de água, portanto, deve ser protegida pela camada epidérmica, que é mais resistente. Esta não só protege a camada subjacente do desgaste mecânico, mas também fornece uma barreira contra a perda de água. Por outro lado, a camada dérmica, ao ser mais suave, ajuda numa melhor adaptação local da pele para agarrar os objectos eficientemente. A camada epidérmica de silicone destina-se a ser elástica, maleável e protege o hidrogel de maneira que este não perca água ao longo do tempo. O enchimento de hidrogel do dedo é feito de poliacrilato de sódio e água destilada; o material utilizado como silicone é Ecoflex 00-30 e o endoesqueleto do dedo é feito de acrilonitrilo butadina estireno (ABS).Também foi desenvolvido um protótipo de baixo custo de uma pinça sub-atuada integrando três destes dedos. Tem um mecanismo baseado nos "push base toys" e foi inteiramente impresso numa impressora "fusion deposition modelling" (FDM) com material ácido poliláctico (PLA). Um único motor acciona o sistema puxando para cima e para baixo os tendões que estão integrados nos dedos, forçando-os abrir ou fechar, com o propósito de agarrar ou soltar objetos.Os dedos foram primeiramente testados individualmente. A força necessária para a flexão total dos dedos foi medida e comparada com uma versão anterior do dedo que contém apenas a camada epidérmica sem a camada dérmica de hidrogel. Os resultados mostram uma melhora na redução da força necessária para a flexão. Também a pinça integrada com a nova versão dos dedos foi desenvolvida e testada para agarrar vários objectos incluindo frutas macias.No final da dissertação, alguns ensaios de \textit{pick and place} são analisados e é concluído que foi conseguido um dedo "soft" óptimo que pode ser usado em pinças e próteses. Apesar do seu excelente desempenho, o preço geral dos materias usados para a pinça robótica desenvolvida nesta dissertação é de 15 Euros, incluindo o actuador. Também é apresentado trabalho futuro tanto para a pinça como para o dedo "soft".
On this project, an innovative and bio-inspired finger is developed, resembling the physiology of a biological human finger. The soft finger is made of a 3D-printed core to substitute the fingers’ endoskeleton, a silicon elastomer skin to substitute the elastic and resilient epidermal layer and a hydrogel filling to substitute the dermal layer. The dermal layer in human finger is softer than the epidermal layer and contains a considerable amount of water, and therefore should be protected by the more resilient epidermal layer, that not only protects the underlying layer from mechanical wear, but it also provides a barrier against losing the water. On the other hand, the softer dermal layer helps in better local adaptation of the skin to objects for efficient grasping. The silicone epidermal layer is intended to be elastic, malleable and protects the hydrogel from losing water over the time. The hydrogel filling of the finger is made from sodium polyacrylate (SPA) and distilled water; the material used as the silicone is Ecoflex 00-30 and the finger core is made of acrylonitrile butadine styrene (ABS).A low-cost prototype of an under-actuated gripper was also developed integrating three of these fingers. It has a mechanism based on the push base toys and it was fully printed on a fusion deposition modelling (FDM) printed with polylactic acid material (PLA). A single motor actuates the system by pulling up and down the tendons that are integrated in the fingers, making them open or close, in order to grip or drop objects.Fingers were tested first individually.The required force for full flexion of the fingers were measured and compared to a previous version of the finger that contains only the epidermal layer without containing the hydrogel dermal layer. Results show an improvement in reduction of the required force for flexion. Also the integrated gripper with the new version of the fingers were developed and tested for grasping several objects including soft fruits.At the end of the dissertation, some gripping tests are analysed and concluding that was achieved an optimal soft finger that can be used in grippers and prosthesis. Despite its excellent performance, the overall bill of materials of the full gripper developed in this dissertation is 15 Euros, including the actuator. Also future work is presented both for the gripper and the soft finger.
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Book chapters on the topic "Silicone soft robots"

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Dawood, Abu Bakar, Hareesh Godaba, and Kaspar Althoefer. "Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots." In Towards Autonomous Robotic Systems, 62–65. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-63486-5_8.

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Shiva, Ali, Agostino Stilli, Yohan Noh, Angela Faragasso, Iris De Falco, Giada Gerboni, Matteo Cianchetti, Arianna Menciassi, Kaspar Althoefer, and Helge A. Wurdemann. "Antagonistic Actuation Principle for a Silicone-based Soft Manipulator." In Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery, 65–78. New York: River Publishers, 2022. http://dx.doi.org/10.1201/9781003339588-5.

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Wang, Si-Yuan Rylan. "Soft Pneumatic Robotic Architectural System: Prefabricated Inflatable Module-Based Cybernetic Adaptive Space Model Manipulated Through Human-System Interaction." In Computational Design and Robotic Fabrication, 453–65. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-8637-6_39.

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AbstractIn this paper, a cybernetic adaptive space model based on prefabricated inflatable modules and physical interaction manipulation is introduced. The research aimed to redefine an intelligent and organic trend of residing and working by providing an adjustable and performative space system. The conjunction of human-space interaction, as well as the soft and hard architectural elements adaptive to dynamic living modalities and environmental conditions, are included in the methodology. The datasets based on the human body posture are collected through IMU sensors to provide coding inputs for defining modular inflatable structures, which anticipate generating heterogeneous morphological variations apt for flexible scenarios. The elaborated pre-fabricated samples successfully conform to the expected inflating behavior through silicone patterns. The results demonstrated the possibility of future architecture as an unrestrained configuration. Integrating the shape-shifting space within modular manufacturing and interactive technology can deprive the performance of many constraints. It can render a responsive ecosystem through a behavioral transformation of the in-habitants.
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Gil, Antonio J., Rogelio Ortigosa, Jesus Martínez-Frutos, and Nathan Ellmer. "In-silico Design and Computational Modelling of Electroactive Polymer Based Soft Robotics." In Towards Autonomous Robotic Systems, 81–91. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-15908-4_7.

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Esser, Falk, Friederike Krüger, Tom Masselter, and Thomas Speck. "Development and Characterization of a Novel Biomimetic Peristaltic Pumping System with Flexible Silicone-Based Soft Robotic Ring Actuators." In Biomimetic and Biohybrid Systems, 157–67. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-95972-6_17.

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Esser, Falk, Friederike Krüger, Tom Masselter, and Thomas Speck. "Characterization of Biomimetic Peristaltic Pumping System Based on Flexible Silicone Soft Robotic Actuators as an Alternative for Technical Pumps." In Biomimetic and Biohybrid Systems, 101–13. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-24741-6_9.

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İlman, Mehmet Mert, and Hamza Taş. "A Soft Robotic Gripper Material Study." In Design and Control Advances in Robotics, 60–73. IGI Global, 2022. http://dx.doi.org/10.4018/978-1-6684-5381-0.ch004.

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Soft robots have gained superiority in outdoor applications compared to traditional robots today. This advantage is clearly due to bio-inspiration and evolving material technology. The objective of this research is to use nanotechnology to improve material qualities. For this, silicone named DragonSkin 20 (DS20), which can be employed in soft robot applications, was selected as the matrix material, while functionalized multi-walled-carbon-nanotube (MWCNT) was utilized as an additive. One of the parameters that determine the mechanical properties is the change of curing behavior. The choice of mixing technique, on the other hand, is very crucial since it affects the curing behavior. For this reason, the effects of not only the additive but also the various mixing techniques on the material behavior and curing time were reported as a result of the experiments. The results showed that the mixing methodologies plays an important role on the mechanical properties and curing time of neat and MWCNT reinforced silicone.
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Ranjbar, Sadegh, Mohammad Lakhi, Mahdi Bodaghi, Morteza Sayah Irani, and Ali Zolfagharian. "Silicone elastomer soft robots via 4D printing." In Smart Materials in Additive Manufacturing Volume 3, 167–201. Elsevier, 2024. http://dx.doi.org/10.1016/b978-0-443-13673-3.00007-9.

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Liu, Yibo, Huaping Xiao, and Shuhai Liu. "Dexterous Soft Robotic Hand with Active Palm Structure." In Advances in Transdisciplinary Engineering. IOS Press, 2024. https://doi.org/10.3233/atde241252.

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With the development of soft robotics, soft robotic hands are increasingly attracting attention. Compared with their rigid counterparts, they are safer, more adaptive, and lower cost. However, most studies have focused on the soft fingers and actuators, while the significance of the palm is usually overlooked. In this study, a pneumatic fully soft anthropomorphic hand with an active soft palm is proposed. With 12 degrees of freedom (2 in the palm), the soft robotic hand can execute metacarpal and thumb opposition motions. The hand was made using the mold casting method, and the strain energy density function of the silicone rubber is employed in the Yeoh model to calculate the relationship between the air pressure and the bending angle. Next, we tested the bending angle of the fingers and the palm under different air pressure, and grasped objects with various sizes, shapes, and weights, demonstrating good grasping ability. This soft hand can further broaden the potential applications of robotic hands.
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Natarajan, Elango, Muhammad Rusydi Muhammad Razif, AAM Faudzi, and Palanikumar K. "Evaluation of a Suitable Material for Soft Actuator Through Experiments and FE Simulations." In Research Anthology on Cross-Disciplinary Designs and Applications of Automation, 339–53. IGI Global, 2022. http://dx.doi.org/10.4018/978-1-6684-3694-3.ch018.

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Soft actuators are generally built to achieve extension, contraction, curling, or bending motions needed for robotic or medical applications. It is prepared with a cylindrical tube, braided with fibers that restrict the radial motion and produce the extension, contraction, or bending. The actuation is achieved through the input of compressed air with a different pressure. The stiffness of the materials controls the magnitude of the actuation. In the present study, Silastic-P1 silicone RTV and multi-wall carbon nanotubes (MWCNT) with reinforced silicone are considered for the evaluation. The dumbbell samples are prepared from both materials as per ASTM D412-06a (ISO 37) standard and their corresponding tensile strength, elongation at break, and tensile modulus are measured. The Ogden nonlinear material constants of respective materials are estimated and used further in the finite element analysis of extension, contraction, and bending soft actuators. It is observed that silicone RTV is better in high strain and fast response, whereas, silicone/MWCNT is better at achieving high actuation.
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Conference papers on the topic "Silicone soft robots"

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Xiao, Fei, Zhuoheng Wei, Hao Wang, Jisen Li, and Jian Zhu. "Embedded 3D Printing of Silicone for Soft Actuator with Stiffness Gradient and Programmable Workspace." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10913–18. IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10801545.

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Baysa, Matthew, Noah Turoski, Manilyn Cabrera, and Yen-Lin Han. "“EXTENSOR” SOFT ROBOT FOR CLENCHED FIST REHABILITATION AFTER STROKE." In 2023 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/dmd2023-4176.

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Abstract Stroke is a leading cause of mobility impairments. As more people suffer from stroke, there is a growing need for rehabilitation. Rehabilitation robots have been proven effective in assisting patients in their rehabilitation process. However, many existing rehabilitation robots are costly, so the accessibility to patients in need is limited. Soft robot technology has great potential to make rehabilitation more accessible. This paper presents a proof-of-concept soft robot design that could be used for finger rehabilitation, especially for those who suffer from clenched fists after a stroke. Using silicone elastomer and pneumatic actuation, we successfully fabricated a soft robot that curled in its resting state to fit under the patient’s clenched fist and straightened when actuated by compressed air to push the patient’s fingers open. With a unique approach to bonding the two-layer silicone elastomer structure, our soft robot can change shape to straight from its original curling state with a small air pressure (2 to 3 psi). Preliminary testing results demonstrate our soft robot’s functionality and provide valuable insights for us to optimize our design further to reach our eventual goal as a rehabilitation device that assists finger rehabilitation.
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Weigand, Felix, Anh Minh Nguyen, Jan Wolff, and Arthur Seibel. "Toward Industrial Silicone 3D Printing of Soft Robots." In 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). IEEE, 2021. http://dx.doi.org/10.1109/robosoft51838.2021.9479196.

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Rajendran, Sunil Kumar, and Feitian Zhang. "Learning Based Speed Control of Soft Robotic Fish." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-8977.

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Bioinspired robotics takes advantage of biological systems in nature for morphology, action and perception to build advanced robots of compelling performance and wide application. This paper focuses on the design, modeling and control of a bioinspired robotic fish. The design utilizes a recently-developed artificial muscle named super coiled polymer for actuation and a soft material (silicone rubber) for building the robot body. The paper proposes a learning based speed control design approach for bioinspired robotic fish using model-free reinforcement learning. Based on a mathematically tractable dynamic model derived by approximating the robotic fish with a three-link robot, speed control simulation is conducted to demonstrate and validate the control design method. Exampled with a three-link reduced-order dynamic system, the proposed learning based control design approach is applicable to many and various complicated bioinspired robotic systems.
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Harris, Hannah, Adia Radecka, Raefa Malik, Roberto Alonso Pineda Guzman, Jeffrey Santoso, Alyssa Bradshaw, Megan McCain, Mariana Kersh, and Holly Golecki. "Development and Characterization of Biostable Hydrogel Robotic Actuators for Implantable Devices: Tendon Actuated Gelatin." In 2022 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/dmd2022-1049.

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Abstract While the field of medical device design has made tremendous progress in recent decades, implantable devices continue to be plagued by the body’s immune response and fibrosis. The field of soft robotics uses low modulus materials that compliance match surrounding tissues to help address this issue. Traditionally, silicone has been the material of choice for soft robots. Although durable and elastic, implanted silicone often leads to fibrosis. To advance the use of soft robotics in medical devices, new materials must be explored. We hypothesize that protein-based soft robotic actuators hold promise for implantable medical devices by not only matching moduli surrounding tissues but also providing physiologically relevant chemical cues. Biocompatible soft actuators that achieve the functionality of silicone counterparts may promote integration with host cells and support long-term implant safety. Additionally, controlled degradation may hold promise for post-surgical support devices or drug delivery. Here, we develop and characterize crosslinked gelatin (GEL) actuators. The development of biomaterial soft actuators with properties comparable to synthetic analogues expands the applications of soft robotic devices for medical devices and healthcare applications.
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Pai, Nikhil, Andrea Contreras Esquen, Coskun Tekes, Amir Ali Amiri Moghadam, and Ayse Tekes. "Design and Development of a Fish-Like, Soft Biomimetic Robot." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-94635.

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Abstract Among the robotic systems, biomimetic robots performing fish-like locomotion have been the focus of much attention recently as there are many applications for swimming robots, including monitoring of underwater environments, detection of pollution, and disaster relief. This study presents the design and development of a biomimetic fish-like robot based on real carp locomotion. The robot has five main body parts including the head, soft neck, hinged body, compliant tail, and caudal fin. The head houses three ultrasonic sensors to guide the robot while connected to the body through two degrees of freedom (DOF) soft link resembling the neck vertebrate. The 2 DOF soft link enables the head to bend up, down, left, and right which is essential for controlling the soft robot’s direction. The body is connected to the soft tail using a quick return crank mechanism to actuate the tail. The tail integrates a soft tail and a rigid caudal fin. While all parts of the soft fish-like robot are 3D printed using polylactic acid (PLA), thermoplastic polyurethane (TPU), the mold is made from silicone rubber to waterproof. The ultrasonic sensors are utilized to detect obstacles so that the robot may maneuver around. The swimming pattern only for two-dimensional motion is tested in the air and underwater. According to the experimental results, the proposed robot better imitates the fish through its soft 2 DOF link and tail.
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Yi Sun, Yun Seong Song, and Jamie Paik. "Characterization of silicone rubber based soft pneumatic actuators." In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013). IEEE, 2013. http://dx.doi.org/10.1109/iros.2013.6696995.

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Kunze, Julian, Giovanni Soleti, Daniel Bruch, Gianluca Rizzello, and Paul Motzki. "Design and Demonstration of a 3D Soft-Robotics Module Based on Rolled Dielectric Elastomer Actuators (RDEAs)." In ASME 2024 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2024. http://dx.doi.org/10.1115/smasis2024-139481.

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Abstract As robots increasingly collaborate with humans and navigate complex, unstructured environments, soft robots have emerged as an alternative to rigid ones. These robots, partially or entirely made of compliant materials, offer enhanced adaptability and safety. Common actuation methods include pneumatics, hydraulics, shape memory alloys, and dielectric elastomer actuators (DEAs). This study introduces a bending module for a segmented soft robotics arm, actuated by rolled DEAs (RDEAs). They offer a high energy density, bandwidth, self-sensing capabilities and simple manufacturing. Our RDEAs are assembled from two sheets of 50 μm-thick silicone film with carbon-black-based electrodes, wound into a flexible roll. The segment itself consists of two circular platforms, comprised of milled printed circuit boards (PCBs), which are connected via a custom designed low-friction ball joint. Nine RDEAs, which are actuated by a three-channel voltage amplifier, are arranged around the platform and enable controlled bending of up to 25° in all directions. A demonstrator showcases the system’s capabilities, allowing playback of prerecorded trajectories or interactive control via a game controller, which emphasizes the aspect of human-robot interaction. Future work involves stacking multiple systems to create a highly articulated soft robotics arm and adapting self-sensing and control algorithms.
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Zheng, G., O. Goury, M. Thieffry, A. Kruszewski, and C. Duriez. "Controllability pre-verification of silicone soft robots based on finite-element method." In 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. http://dx.doi.org/10.1109/icra.2019.8794370.

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Yirmibesoglu, Osman Dogan, John Morrow, Steph Walker, Walker Gosrich, Reece Canizares, Hansung Kim, Uranbileg Daalkhaijav, Chloe Fleming, Callie Branyan, and Yigit Menguc. "Direct 3D printing of silicone elastomer soft robots and their performance comparison with molded counterparts." In 2018 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2018. http://dx.doi.org/10.1109/robosoft.2018.8404935.

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Reports on the topic "Silicone soft robots"

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Diaz Armas, Nathalia, Shilpa Thakur, Jinde Zhang, Geet Bhandari, Sevil Turkoglu, Drupad Kadiyala Bhavani, Pratap M. Rao, Cagdas D. Onal, and Joey Mead. Braided Composite System with Haptic Feedback for Teleoperation. Universidad de los Andes, December 2024. https://doi.org/10.51573/andes.pps39.gs.pc.3.

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A pneumatic-driven soft robotic actuator made from braided nylon coated with silicone elastomer was created using a new fabrication process, with the aim of providing haptic feedback to the fingers in teleoperation applications. The resulting haptic actuator was designed to be flexible, lightweight, and wearable, offering a comfortable user experience. Through the manipulation of the braiding angle, multiple devices were fabricated, focusing on their effective ness in transmitting haptic sensations to the user’s finger.
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