Bibliografie tematiche / Soft Robot Materials and Design

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Letteratura scientifica selezionata sul tema "Soft Robot Materials and Design"

Autore: Grafiati

Pubblicato: 22 febbraio 2025

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Articoli di riviste sul tema "Soft Robot Materials and Design"

Yu, Zhang, Huang Peiyu, You Bo, Yu Zhibin, Li Dongjie e Dong Guoqi. "Design and Motion Simulation of a Soft Robot for Crawling in Pipes". Applied Bionics and Biomechanics 2023 (5 febbraio 2023): 1–8. http://dx.doi.org/10.1155/2023/5334604.

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In recent years, soft pipeline robot, as a new concept, is proposed to adapt to tunnel. The soft pipeline robots are made of soft materials such as rubber or silicone. These materials have good elasticity, which enhance the adaptability of the soft pipeline robot. Therefore, the soft pipeline robot has better performance on deformability than rigid robot. However, the structure of tunnel is complex and varied that brought challenges on design structure of soft pipeline robot. In this paper, we propose soft pipeline robot with simple structure and easy fabrication, which can be realized straight, turning motion in a variety of tunnels with different diameters. The soft pipeline robot composed of two types of structure, which are expansion part and deformation part. Front and rear deformation part for bending and position fixation, and middle expansion part for elongation, so the pipeline soft robot can be moved in various structures of tunnels. Moreover, the locomotion ability and adaptability in tunnel are verified by simulating on software. The structure of chamber proposed in this paper can guide the design method of soft pipeline robot.

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Xu, Ruomeng, e Qingsong Xu. "Design of a Bio-Inspired Untethered Soft Octopodal Robot Driven by Magnetic Field". Biomimetics 8, n. 3 (22 giugno 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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Ambaye, Getachew, Enkhsaikhan Boldsaikhan e Krishna Krishnan. "Soft Robot Design, Manufacturing, and Operation Challenges: A Review". Journal of Manufacturing and Materials Processing 8, n. 2 (16 aprile 2024): 79. http://dx.doi.org/10.3390/jmmp8020079.

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Advancements in smart manufacturing have embraced the adoption of soft robots for improved productivity, flexibility, and automation as well as safety in smart factories. Hence, soft robotics is seeing a significant surge in popularity by garnering considerable attention from researchers and practitioners. Bionic soft robots, which are composed of compliant materials like silicones, offer compelling solutions to manipulating delicate objects, operating in unstructured environments, and facilitating safe human–robot interactions. However, despite their numerous advantages, there are some fundamental challenges to overcome, which particularly concern motion precision and stiffness compliance in performing physical tasks that involve external forces. In this regard, enhancing the operation performance of soft robots necessitates intricate, complex structural designs, compliant multifunctional materials, and proper manufacturing methods. The objective of this literature review is to chronicle a comprehensive overview of soft robot design, manufacturing, and operation challenges in conjunction with recent advancements and future research directions for addressing these technical challenges.

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Hu, Yuhan. "Research on Motion Patterns of Soft Robots Based on Bionic Structure". Highlights in Science, Engineering and Technology 114 (31 ottobre 2024): 43–48. http://dx.doi.org/10.54097/bkqftn52.

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Bionic soft robot is a new type of robot whose main body is composed of flexible material, with the advantages of adjustable size and strong environmental adaptability, which has a broad application prospect in logistics, medical care, resource exploration and other fields. Novel smart materials also shine in the design of soft robots. This paper highlights the research advancements in the locomotion patterns of bionic soft robots. The mechanism of movement of animals such as inchworms, starfish, earthworms, etc. and the soft robots designed to imitate them are introduced. Novel smart materials required to realise these designs, such as Shape Memory Alloy (SMA), dielectric elastomer (DE), a collapsible actuator (PFA), pNIPAM/CNTs hydrogel composite, are also presented. Methods to drive and control the motion of these soft robots are presented, including thermally driven shape memory alloys, pneumatic airbags, and laser-driven, magnetic field-driven, and electrically driven dielectric materials, among other types. After discussing the materials and methods, the current challenges to the innovation of motion patterns for bionic soft robots are analyzed.

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A. Al-Ibadi, Shahad, Loai A. T. Al-Abeach e Mohammed A. Al-Ibadi. "Design and Implementation of the Soft Robot's End-Effecter". Iraqi Journal for Electrical and Electronic Engineering 21, n. 1 (1 novembre 2024): 44–54. http://dx.doi.org/10.37917/ijeee.21.1.5.

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Soft robotics is a modern technique that allows robots to have more capabilities than conventional rigid robots. Pneumatic Muscle Actuators (PMAs), also known as McKibben actuators, are an example of soft actuators. This research covered the design and production of a pneumatic robot end effector. Smooth, elastic, flexible, and soft qualities materials have contributed to the creation of Soft Robot End-Effector (SREE). To give SREE compliance, it needs to handle delicate objects while allowing it to adapt to its surroundings safely. The research focuses on the variable stiffness SREE's inspiration design, construction, and manufacturing. As a result, a new four-fingered variable stiffness soft robot end effector was created. SREE has been designed using two types of PMAs: Contractor PMAs (CPMAs) and Extensor PMAs (EPMAs). Through tendons and Contractor PMAs, fingers can close and open. SREE was tested and put into practice to handle various object types. The innovative movement of the suggested SREE allows it to grip with only two fingers and open and close its grasp with all of its fingers.

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Jyothi, Mrs N. Krishna. "Plucking Flowers using Soft Robot". International Journal for Research in Applied Science and Engineering Technology 11, n. 11 (30 novembre 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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Venter, Martin Philip, e Izak Johannes Joubert. "Generative Design of Soft Robot Actuators Using ESP". Mathematical and Computational Applications 28, n. 2 (3 aprile 2023): 53. http://dx.doi.org/10.3390/mca28020053.

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Soft robotics is an emerging field that leverages the compliant nature of materials to control shape and behaviour. However, designing soft robots presents a challenge, as they do not have discrete points of articulation and instead articulate through deformation in whole regions of the robot. This results in a vast, unexplored design space with few established design methods. This paper presents a practical generative design process that combines the Encapsulation, Syllabus, and Pandamonium method with a reduced-order model to produce results comparable to the existing state-of-the-art in reduced design time while including the human designer meaningfully in the design process and facilitating the inclusion of other numerical techniques such as Markov chain Monte Carlo methods. Using a combination of reduced-order models, L-systems, MCMC, curve matching, and optimisation, we demonstrate that our method can produce functional 2D articulating soft robot designs in less than 1 s, a significant reduction in design time compared to monolithic methods, which can take several days. Additionally, we qualitatively show how to extend our approach to produce more complex 3D robots, such as an articulating tentacle with multiple grippers.

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Morales, Jorge Eduardo, Francisco Ramírez Cruz e Francisco Eugenio López Guerrero. "An agile multi-body additively manufactured soft actuator for soft manipulators". Ingenierias 23, n. 89 (1 ottobre 2020): 14–27. http://dx.doi.org/10.29105/ingenierias23.89-4.

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With the introduction of collaborative robots in production environments, the harm to workers by using traditional robots with rigid links is inherent. A new generation of robots made from flexible soft materials that decreases collision danger by self-deforming actions has been proposed as a promising solution for the human-robot collaboration environments. Recently, by the development of additive manufacture of elastic soft materials, new design opportunities arise for these so-called soft robots. However, robustness that is required for production environments is still not achieved. This paper presents a design approach of a fully additively manufactured three-axis soft pneumatic actuator. For its use in flexible soft robotic manipulator systems, design guidelines, a direct 3D printing process with elastic materials and a low-level PLC semi-automated pressure regulation control system are presented. To validate the proposed design, the actuator is manufactured and tested for maximum contact force, bending motion reaction and its signal response.

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Tse, Zion Tsz Ho, Yue Chen, Sierra Hovet, Hongliang Ren, Kevin Cleary, Sheng Xu, Bradford Wood e Reza Monfaredi. "Soft Robotics in Medical Applications". Journal of Medical Robotics Research 03, n. 03n04 (settembre 2018): 1841006. http://dx.doi.org/10.1142/s2424905x18410064.

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Soft robotics are robotic systems made of materials that are similar in softness to human soft tissues. Recent medical soft robot designs, including rehabilitation, surgical, and diagnostic soft robots, are categorized by application and reviewed for functionality. Each design is analyzed for engineering characteristics and clinical significance. Current technical challenges in soft robotics fabrication, sensor integration, and control are discussed. Future directions including portable and robust actuation power sources, clinical adoptability, and clinical regulatory issues are summarized.

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Roshanfar, Majid, Javad Dargahi e Amir Hooshiar. "Design Optimization of a Hybrid-Driven Soft Surgical Robot with Biomimetic Constraints". Biomimetics 9, n. 1 (21 gennaio 2024): 59. http://dx.doi.org/10.3390/biomimetics9010059.

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The current study investigated the geometry optimization of a hybrid-driven (based on the combination of air pressure and tendon tension) soft robot for use in robot-assisted intra-bronchial intervention. Soft robots, made from compliant materials, have gained popularity for use in surgical interventions due to their dexterity and safety. The current study aimed to design a catheter-like soft robot with an improved performance by minimizing radial expansion during inflation and increasing the force exerted on targeted tissues through geometry optimization. To do so, a finite element analysis (FEA) was employed to optimize the soft robot’s geometry, considering a multi-objective goal function that incorporated factors such as chamber pressures, tendon tensions, and the cross-sectional area. To accomplish this, a cylindrical soft robot with three air chambers, three tendons, and a central working channel was considered. Then, the dimensions of the soft robot, including the length of the air chambers, the diameter of the air chambers, and the offsets of the air chambers and tendon routes, were optimized to minimize the goal function in an in-plane bending scenario. To accurately simulate the behavior of the soft robot, Ecoflex 00-50 samples were tested based on ISO 7743, and a hyperplastic model was fitted on the compression test data. The FEA simulations were performed using the response surface optimization (RSO) module in ANSYS software, which iteratively explored the design space based on defined objectives and constraints. Using RSO, 45 points of experiments were generated based on the geometrical and loading constraints. During the simulations, tendon force was applied to the tip of the soft robot, while simultaneously, air pressure was applied inside the chamber. Following the optimization of the geometry, a prototype of the soft robot with the optimized values was fabricated and tested in a phantom model, mimicking simulated surgical conditions. The decreased actuation effort and radial expansion of the soft robot resulting from the optimization process have the potential to increase the performance of the manipulator. This advancement led to improved control over the soft robot while additionally minimizing unnecessary cross-sectional expansion. The study demonstrates the effectiveness of the optimization methodology for refining the soft robot’s design and highlights its potential for enhancing surgical interventions.

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Più fonti

Tesi sul tema "Soft Robot Materials and Design"

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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Cloitre, Audren Damien Prigent. "Design and control of a soft biomimetic batoid robot". Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/81598.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 71-74).
This thesis presents the work accomplished in the design, experimental characterization and control of a soft batoid robot. The shape of the robot is based on the body of the common stingray, Dasyatidae, and is made of soft silicone polymers. Although soft batoid robots have been previously studied, the novelty brought by the present work centers around autonomy and scale, making it suitable for field operations. The design of the robot relies on the organismic consideration that the stingray body is rigid at its center and flexible towards its fins. Indeed, all mechanical and electrical parts are inside a rigid shell embedded at the center of the robot's flexible body. The silicone forms a continuum which encases the shell and constitutes the two pectoral fins of the robot. The core idea of this design is to make use of the natural modes of vibration of the soft silicone to recreate the fin kinematics of an actual stingray. By only actuating periodically the front of the fins, a wave propagating downstream the soft fins is created, producing a net forward thrust. Experiments are conducted to quantify the robot's swimming capabilities at different regimes of actuation. The forward velocity, the stall forces produced by the robot when it is flapping its fins while being clamped, and the power consumption of the actuation are all measured. The peak velocity of the robot is 0.35 body-length per second and is obtained for a flapping frequency of 1.4 Hz and a flapping amplitude of 30°. At a flapping frequency of 2 Hz, and an amplitude of 30°, the maximum stall forward force of the robot averages at 45 Newtons and peaks at 150 Newtons. Other data collected is used to better understand the hydrodynamics of the robot.
by Audren Damien Prigent Cloitre.
S.M.

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Liang, Heyi. "Rational Design of Soft Materials through Chemical Architectures". University of Akron / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=akron1573085345744325.

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Waltz, Victoria. "Design of novel soft materials and understanding how soft networks break using mechano-fluorescence". Electronic Thesis or Diss., Université Paris sciences et lettres, 2021. http://www.theses.fr/2021UPSLS091.

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Les matériaux élastiques peuvent se déformer de façon réversible de plusieurs fois leur taille initiale. Leur faible résistance à la fracture provient de la présence de défauts, qui lors de la déformation, entraînent la nucléation et propagation catastrophique d’une fissure, mécanisme qui reste mal compris. Cette thèse s’organise autour de deux axes : (i) le développement de nouvelles stratégies de synthèse de renforcement des élastomères, et (ii) l’étude, plus fondamentale, de la fracture dans des matériaux contrôlés modèles. Inspiré du renforcement structurel des réseaux multiples, nous avons développé deux nouvelles voies de synthèse d’élastomères renforcées : des composites à charges molles et inter-pénétrables de même nature chimique que la matrice, et des films de particules à réseaux interpénétrés synthétisées par polymérisation en émulsion. Nous avons obtenu des composites dont le durcissement à la déformation est contrôlable par la fraction volumique de particules dans la matrice. Les particules à réseaux interpénétrés obtenues par polymérisation en émulsion ont pu être fonctionnalisées pour pouvoir être connectées lors du séchage. Dans un second temps, nous avons travaillé sur des réseaux élastomères modèles contenant des mécanophores pour étudier leur fracture. Nous avons notamment amélioré une nouvelle méthode permettant la visualisation et quantification par microscopie confocal de rupture des chaînes du réseau, basée sur une activation de fluorescence lors de la rupture de liaison chimique. En variant la longueur initiale de l’entaille dans des échantillons du même réseau polymère, nous avons pu discuter les prédictions de la mécanique de rupture élastique au regard de l’endommagement par rupture de chaînes en pointe de fissure. En variant la maille des réseaux polymères, nous avons pu étudier les effets structurels du réseau sur la rupture de chaînes en pointe de fissure et discuter le modèle moléculaire de Lake et Thomas. Enfin nous avons observé in situ la formation d’une striction élastique dans des réseaux multiples. Nous avons quantifié localement la rupture de liaisons et le transfert des contraintes du premier réseau vers le deuxième. Ces nouveaux résultats seront utiles au développement de nouveaux modèles réalistes de la fracture des matériaux élastiques
Elastic materials can deform reversibly by several times their initial size. Their low resistance to fracture is due to the presence of defects, which during deformation, lead to the still poorly understood catastrophic propagation of a crack. This thesis is organized around two axes: (i) the development of new elastomers designs for toughening, and (ii) the more fundamental study of fracture in more conventional elastomeric networks. Inspired by the structural reinforcement of multiple networks, we have developed two new ways of synthesizing reinforced elastomers: firstly, composites with soft and interpenetrable fillers of the same chemical nature as the matrix and secondly, films made from particles of interpenetrated networks synthesized by emulsion polymerization. We obtained composites with tunable strain-hardening according to the volume fraction of particles in the matrix. The double network particles obtained by emulsion polymerization could be functionalized chemically, which allowed their connection by covalent bonds during the drying process. In a second stage, we investigated the mechanisms of fracture of model elastomeric networks with a newly developed method allowing the mapping and quantification of network damage by fluorescence confocal microscopy. By varying the initial notch length in samples of the same polymer network and quantifying chain scission at the crack tip, we were first able to discuss the validity of the predictions of elastic fracture mechanics. Then, by varying the chain length in the polymer networks, we were able to investigate the effects of changing the network structure on chain scission at the crack tip and discuss the molecular model of Lake and Thomas. Finally, we observed in situ the necking process in multiple networks and quantified the local bond scission accompanying the stress transfer from the first to the second network. These new results will be useful for the development of new molecular models of fracture of elastic materials

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Winters, Amy. "Why does soft matter? : exploring the design space of soft robotic materials and programmable machines". Thesis, Royal College of Art, 2017. http://researchonline.rca.ac.uk/2842/.

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This practice-led research examines how the emerging role of the ‘material designer’ can enrich the design process in Human Computer Interaction. It advocates embodiment as a design methodology by employing tacit knowledge; focusing on a subjective, affective and visceral engagement with computational materials. This theoretical premise is explored by drawing on the fields of soft robotics, as well as transitive and programmable materials. With the advancement and democratisation of physical computing and digital fabrication, it is now possible for designers to process, or even invent and composite new programmable materials, merging both their physical and digital capabilities. This study questions how the notion of soft can develop a distinct space for the design of novel user interfaces. This premise is applied through a phenomenological understanding of technology development—as opposed to generating data which is solely reliant on observable and measurable evidence. Bio-engineered technologies such as electroactive polymer, pneumatic and hydraulic actuator systems are deployed to explore a new type of responsive, sensual and organic materiality. Here, traditional medical diagnostic applications such as microfluidics are transferred into the experimental contexts of textiles and wearable technology. Therefore, by thinking through physical prototyping, a bodily engagement with materials and the interpretation of the elements of water, air and steam; a designer can create a fertile ground for a polyvalent imagination. Together, this methodology is used as a qualitative system for collecting and evaluating data on the significance of design-led thinking in soft robotic materials. This research concludes that there are insights to be gained from the creative practice and exploratory methods of material-led thinking in HCI that can contribute to the commercial research and development fields of wearable technology. Outputs include a prototype box of ‘Invention Tools’ for textile designers and the identification and creation of the role 04 of embodied making in relation to the imagination. Further, soft composite hybrids, incorporating elastomers, have potential applications in colour, texture and shape changing surfaces. Thus, this thesis argues that it is within the creative soft sciences that the next advancements in soft robotics may emerge.

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Hahn, Phyllis. "Flex : Exploring flexibility through solid and soft materials in woven structures". Thesis, Högskolan i Borås, Akademin för textil, teknik och ekonomi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hb:diva-15196.

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This work places itself in the field of textile design, weaving and interactive objects. It explores how the combination of solid and soft materials in a woven structure affect its flexibility and pliability. By integrating solid materials as a weaving material the work aims to propose an alternative context for woven structures, not necessarily becoming fabrics but rather objects that can be interacted with. The design process consisted of series of workshops where woven samples were made on a hand loom, weaving frame and by hand. The result are three woven structures each of which show of different flexibilities attained through the combination of solid and soft materials. The pieces are meant to be interacted with and can be shaped in various ways by folding, stacking or connecting parts of the structure. Combining solid and soft materials with the weaving technique shows the potential of interactive structures and objects which propose multiple functions, and can be developed further into products for interior design or play.

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Iqbal, Muhammad Zubair. "Design of Soft Rigid Devices for Assistive Robotics and Industrial Applications". Doctoral thesis, Università di Siena, 2021. http://hdl.handle.net/11365/1152251.

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Soft robots are getting more and more popular in rehabilitation and industrial scenarios. They often come into play where the rigid robots fail to perform certain functions. The advantage of using soft robots lies in the fact that they can easily conform to the obstacles and depict delicacy in gripping, manipulating, and controlling deformable and fragile objects without causing them any harm. In rehabilitation scenarios, devices developed on the concept of soft robots are pretty helpful in changing the lives of those who suffer body impairments due to stroke or any other accident. These devices provide support in carrying out daily life activities without the need and support of another person. Also, these devices are beneficial in the training phase where the patient is going through the rehabilitation phase and has to do multiple exercises of the upper limb, wrist, or hand. Similarly, the grippers developed on the basic principle of soft robots are very common in the industries or at least getting common. Their advantages are a lot as compared to the rigid robotics manipulators. Soft grippers tend to adapt to the shape of the object without causing any damage to it, providing a stable grasp. It can also help reduce the complexity in the design and development, for example, underactuated. Underactuated grippers use the minimum number of actuators to provide the same function that requires more actuators with a rigid gripper. Also, the soft structure allows to design specific trajectories to complete a certain grasping and manipulation task. This thesis presents devices for rehabilitation and assistive application to help people with upper limb impairment, especially wrist and hand functions. These devices have been designed to provide the people, with limited capabilities of hand and wrist functions, to live their lives with ease without being dependent on any other family member. Similarly, I present different soft grippers and a soft environment that provides different advantages and can do various grasp and manipulation tasks. I have presented results for each device, rehabilitation and assistive devices are used by a patient suffering from stroke and having limited movement of wrist and hand function. At the same time, the grippers are supported with a set of experiments that provide deep insight into the advantages of each gripper in industrial applications.

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Kalayci, Kubra. "Advanced photochemical systems with bathochromic shift for precision soft materials design". Thesis, Queensland University of Technology, 2022. https://eprints.qut.edu.au/236250/1/Kubra%2BKalayci%2BThesis.pdf.

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The current thesis introduces novel tools via two photochemically induced ligations; [2+2] photocycloadditions and photouncaging reactions for light-controlled Staudinger-Bertozzi ligations. New chromophores were designed to provide a bathochromic shift for the activation wavelength of both reaction types to address the challenges that prevent these systems to be available for biological applications. In-depth photoreactivity studies using action plots revealed the exact wavelength dependent reactivity of the developed systems along with the effect of solvent and pH on the photoreactivity, which contributed to a fundamental understanding of these reactions. The applicability of these systems was demonstrated by hydrogel fabrication and surface patterning.

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Sherrod, Vallan Gray. "Design Optimization for a Compliant,Continuum-Joint, Quadruped Robot". BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/7766.

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Legged robots have the potential to cover terrain not accessible to wheel-based robots and vehicles. This makes them better suited to perform tasks, such as search and rescue, in real-world unstructured environments. Pneumatically-actuated, compliant robots are also more suited than their rigid counterparts to work in real-world unstructured environments with humans where unintentional contact may occur. This thesis seeks to combine the benefits of these two type of robots by implementing design methods to aid in the design choice of a 16 degree of freedom (DoF) compliant, continuum-joint quadruped. This work focuses on the design optimization, especially the definition of design metrics, for this type of robot. The work also includes the construction and closed-loop control of a four-DoF continuum-joint leg used to validate design methods.We define design metrics for legged robot metrics that evaluate their ability to traverse unstructured terrain, carry payloads, find stable footholds, and move in desired directions. These design metrics require a sampling of a legged-robot's complete configuration space. For high-DoF robots, such as the 16-DoF in evaluated in this work, the evaluation of these metrics become intractable with contemporary computing power. Therefore, we present methods that can be used to simplify and approximate these metrics. These approximations have been validated on a simulated four-DoF legged robot where they can tractably be compared against their full counterparts.Using the approximations of the defined metrics, we have performed a multi-objective design optimization to investigate the ten-dimensional design space of a 16-DoF compliant, continuum-joint quadruped. The design variables used include leg link geometry, robot base dimensions, and the leg mount angles. We have used an evolutionary algorithm as our optimization method which converged on a Pareto front of optimal designs. From these set of designs, we are able to identify the trade-offs and design differences between robots that perform well in each of the different design metrics. Because of our approximation of the metrics, we were able to perform this optimization on a supercomputer with 28 cores in less than 40 hours.We have constructed a 1.3 m long continuum-joint leg from one of the resulting quadruped designs of the optimization. We have implemented configuration estimation and control and force control on this leg to evaluate the leg payload capability. Using these controllers, we have conducted an experiment to compare the leg's ability to provide downward force in comparison with its theoretical payload capabilities. We then demonstrated how the torque model used in the calculation of payload capabilities can accurately calculate trends in force output from the leg.

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Harrison, Caroline "Niki". "Autonomous Tick Collection Robot: Evaluating Design, Materials, and Stability for Optimum Collection". University of Cincinnati / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1592134543425704.

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Libri sul tema "Soft Robot Materials and Design"

Y, Baaklini George, Vary Alex e United States. National Aeronautics and Space Administration., a cura di. Soft computing in design and manufacturing of advanced materials. [Washington, DC]: National Aeronautics and Space Administration, 1993.

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Limsiri, C. Very Soft Organic Clay Applied to Road Embankment. Abingdon: Taylor & Francis [Imprint], 2008.

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Fukuda, Kenjiro, Ryuma Niiyama, Koichi Suzumori e Kohei Nakajima. Science of Soft Robots: Design, Materials and Information Processing. Springer, 2023.

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Soft Computing in the Design and Manufacturing of Composite Materials. Elsevier, 2015. http://dx.doi.org/10.1016/c2014-0-03652-0.

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Isik, Can, Volker Zacharias, Frank Hoffmann, Takeshi Furuhashi e Lotfi A. Zadeh. Learning and Adaptation in Fuzzy Control: Soft Computing Techniques for the Design of Intelligent Systems. Wiley & Sons, Incorporated, John, 2005.

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Aleksendric, Dragan, e Pierpaolo Carlone. Soft Computing in Design and Manufacturing of Composite Material: Applications to Brake Friction and Thermoset Matrix Composites. Elsevier Science & Technology, 2015.

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Aleksendric, Dragan, e Pierpaolo Carlone. Soft Computing in the Design and Manufacturing of Composite Materials: Applications to Brake Friction and Thermoset Matrix Composites. Elsevier Science & Technology, 2015.

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Mastering ROS for Robotics Programming - Second Edition: Design, build, and simulate complex robots using the Robot Operating System. Packt Publishing, 2018.

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Gratings, mirrors, and slits: Beamline design for soft X-ray synchrotron radiation sources. Amsterdam: Gordon and Breach Science Publishers, 1997.

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Ishiguro, Akio, e Takuya Umedachi. From slime molds to soft deformable robots. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0040.

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An autonomous decentralized control mechanism, where the coordination of simple individual components yields non-trivial macroscopic behavior or functionalities, is a key to understanding how animals orchestrate the large degrees of freedom of their bodies in response to different situations. However, a systematic design methodology is still missing. To alleviate this problem, we focus, in this chapter, on the plasmodium of a true slime mold (Physarum polycephalum), which is a primitive multinucleate single-cell organism. Despite its primitiveness, and lacking a brain and nervous system, the plasmodium exhibits surprisingly adaptive and versatile behavior (e.g. taxis, exploration). This ability has undoubtedly been honed by evolutionary selection pressure, and there likely exists an ingenious mechanism that underlies the animals’ adaptive behavior. We successfully extracted a design scheme for decentralized control and implemented it in an amoeboid robot with many degrees of freedom. The experimental results showed that adaptive behaviors emerge even in the absence of any centralized control architecture.

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Capitoli di libri sul tema "Soft Robot Materials and Design"

Otake, Mihoko. "Motion Design-A Gel Robot Approach". In Soft Actuators, 429–40. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-6850-9_26.

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Otake, Mihoko. "Motion Design-A Gel Robot Approach". In Soft Actuators, 343–54. Tokyo: Springer Japan, 2014. http://dx.doi.org/10.1007/978-4-431-54767-9_25.

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Jones, Benoît. "Lining materials". In Soft Ground Tunnel Design, 247–68. Boca Raton: CRC Press, 2021. http://dx.doi.org/10.1201/9780429470387-8.

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Gao, Yi, Xing Pan e Yong Pan. "The Control System Design of Intelligent Robot". In Advances in Intelligent and Soft Computing, 339–44. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-27951-5_51.

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Hoffman, Guy. "Choosing Materials for Personal Robot Design". In Designing Interactions with Robots, 132–39. Boca Raton: Chapman and Hall/CRC, 2024. http://dx.doi.org/10.1201/9781003371021-6.

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Grube, Malte, e Robert Seifried. "An Optical Curvature Sensor for Soft Robots". In ROMANSY 24 - Robot Design, Dynamics and Control, 125–32. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-06409-8_13.

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Paykari, Nasim, Seyed Hamidreza Abbasi e Faridoon Shabaninia. "Design of MIMO Mamdani Fuzzy Logic Controllers for Wall Following Mobile Robot". In Soft Computing Applications, 155–64. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-33941-7_16.

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Wang, Wenbiao, Hailiang Meng e Guanjun Bao. "Design and Modeling of a Continuous Soft Robot". In Intelligent Robotics and Applications, 333–45. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27526-6_29.

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Endo, Nobutsuna, Takuya Kojima, Keita Endo, Fumiya Iida, Kenji Hashimoto e Atsuo Takanishi. "Development of Anthropomorphic Soft Robotic Hand WSH-1RII". In Romansy 19 – Robot Design, Dynamics and Control, 175–82. Vienna: Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1379-0_22.

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Zhao, Sheng-Jie, e Chuan Wang. "The Design and Implementation of Soccer Robot Control System". In Advances in Intelligent and Soft Computing, 665–70. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-29390-0_106.

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Atti di convegni sul tema "Soft Robot Materials and Design"

Navas, Eduardo, Kai Blanco, Daniel Rodríguez-Nieto e Roemi Fernández. "Design and Implementation of an Innovative Soft Tool for Robotic Pollination". In 2024 7th Iberian Robotics Conference (ROBOT), 1–6. IEEE, 2024. https://doi.org/10.1109/robot61475.2024.10797408.

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Glasgo, Nina, Mitchell Soohoo e Yen-Lin Han. "Investigating the Design of a Soft Robot for Finger Rehabilitation". In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-92663.

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Abstract US National Health Interview Survey in 2018 found that 61 million adults aged 18 and over have disabilities. Physical rehabilitation is often prescribed to people with disabilities during their recovery process to regain their mobility. There are several rehabilitation robots available on the market. Some are made with rigid, stiff materials with limited flexibility and may be uncomfortable for patients to wear for an extended amount of time. Some recently developed rehabilitation robots are made with flexible materials like those found in living organisms, which are characterized as “soft robots”. Soft robots are generally made with polymers and actuated by pressurized gas inside of the polymer structure and potentially will be more comfortable to wear. Unlike most other soft robots with external tubes and pipes for fluid flows, in this paper, we are proposing a soft robot is actuated by heat. Our soft robot is designed by sealing a phase changing material (PCM) inside of several chambers made by polymer structure. When heat is applied, the PCM begins to change phase and the pressure inside the sealed chambers increases and expand the polymer structure to create a movement of the soft robot. In this study, we focus on constructing simulation models using ANSYS Fluent to examine the parameters relevant to our intended design. We also present a prototype to be tested in the future work.

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DeMario, Anthony, e Jianguo Zhao. "A Miniature, 3D-Printed, Walking Robot With Soft Joints". In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-68182.

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Miniature robots have many applications ranging from military surveillance to search and rescue in disaster areas. Nevertheless, the fabrication of such robots has traditionally been labor-intensive and time-consuming. This paper proposes to directly leverage multi-material 3D printing (MM3P) to fabricate centimeter-scale robots by utilizing soft materials to create soft joints in replacement of revolute joints. We demonstrate the capability of MM3P by creating a miniature, four-legged walking robot. Moreover, we establish a numerical method based on the Psuedorigid-Body (PRB) 1R model to predict the motion of the leg mechanism with multiple soft joints. Experimental results verify the proposed numerical method. Meanwhile, a functional walking robot actuated by a single DC motor is demonstrated with a locomotion speed of one body length/sec. The proposed design, fabrication, and analysis for the walking robot can be readily applied to other robots that have mechanisms with soft joints.

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Cohen, Eliad, Vishesh Vikas, Barry Trimmer e Stephen McCarthy. "Design Methodologies for Soft-Material Robots Through Additive Manufacturing, From Prototyping to Locomotion". In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47507.

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Soft material robots have gained interest in recent years due to the mechanical potential of non-rigid materials and technological development in the additive manufacturing (3D printing) techniques. The incorporation of soft materials provides robots with potential for locomotion in unstructured environments due to the conformability and deformability properties of the structure. Current additive manufacturing techniques allow multimaterial printing which can be utilized to build soft bodied robots with rigid-material inclusions/features in a single process, single batch (low manufacturing volumes) thus saving on both design prototype time and need for complex tools to allow multimaterial manufacturing. However, design and manufacturing of such deformable robots needs to be analyzed and formalized using state of the art tools. This work conceptualizes methodology for motor-tendon actuated soft-bodied robots capable of locomotion. The methodology relies on additive manufacturing as both a prototyping tool and a primary manufacturing tool and is categorized into body design & development, actuation and control design. This methodology is applied to design a soft caterpillar-like biomimetic robot with soft deformable body, motor-tendon actuators which utilizes finite contact points to effect locomotion. The versatility of additive manufacturing is evident in the complex designs that are possible when implementing unique actuation techniques contained in a soft body robot (Modulus discrepancy); For the given motor-tendon actuation, the hard tendons are embedded inside the soft material body which acts as both a structure and an actuator. Furthermore, the modular design of soft/hard component coupling is only possible due to this manufacturing technique and often eliminates the need for joining and fasteners. The multi-materials are also used effectively to manipulate friction by utilizing soft/hard material frictional interaction disparity.

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Bui Duc, Trung Tin, e Jovana Jovanova. "Design of a Bio-Inspired Soft Robot for Break Bulk Manipulation in Transport Engineering". In ASME 2021 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/smasis2021-67646.

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Abstract This research explores the possibility of upscaling bio-inspired designed soft robots in transport engineering application with the focus on grabbing and manipulating break bulk such as windmill blades or rolls of steel. Upscaling current state soft robotic systems includes challenges regarding the structural strength of the robot. Also certain actuation methods could be affected by upscaling the actuators as well. The design of the proposed bio-inspired soft robot is determined by analysing the functions and constraints of the design as well as evaluating different types of gripping solutions based on the different types of shapes of the object. In this research the claw gripping is selected to be applied in break bulk manipulation. This gripping solution could potentially be combined with the vacuum gripping solution to be able to manipulate more types of objects. The three fingers of the claw are designed based on the trunk of an elephant as the trunk of an elephant can lift heavy loads and can therefore be seen as a good starting point to design a high load capacity gripper.

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van Adrichem, Romeo C., e Jovana Jovanova. "Human Acceptance As Part of the Soft Robot Design". In ASME 2021 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/smasis2021-68268.

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Abstract As machines and robots become a increasingly larger part of society, it is important that they are fully accepted. If the machines are not utilized as intended, it is not only a waste of time and energy, but also of valuable resources. This acceptance by humans of robots is based on how well the interaction with robots is trusted. Trust of robots can be based on three approaches: physical safety, operational understanding, and the social aspect of training. It is important to also consider these aspects when designing machines that will interact with humans, since acceptance by the people is key for the correct utilization of the machines. A possible approach to solve the issues around trust are soft robots. These machines are adaptable to a situation by either a physical flexibility or a digital anticipation due to sensing and control. This adaptiveness to humans in different ways makes Soft Robotics easier to accept then regular rigid machines. With their reduced or prevented effect if collided with humans they are safer. Because of the reduced operational complexity and digital simulations they are therefore easier to understand. Training becomes also easier as operator can experience the flexible nature of soft material themselves as well have augmented reality or virtual reality to assist them in training and operating. All these benefits of Soft Robotics will eventually lead to better acceptance of robots and should therefore be taken into account when designing robots to enable a flourishing automatized society.

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Bianchi, Giovanni, Aldo Agoni e Simone Cinquemani. "Design of a Pneumatic Growing Robot Inspired to Plants’ Roots". In ASME 2021 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/smasis2021-67686.

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Abstract Although plants are usually seen as static organisms, they exhibit a wide range of movements that only in recent years have been considered as a source of inspiration for robots. The motion of roots is one of the most interesting, because they are extraordinary diggers, able to navigate in unstructured environments, finding their way around obstacles. Moreover, root growth is featured by high energy efficiency because they penetrate the soil adding new material at their tip, without moving the already grown part, preventing friction from dissipating energy and reducing the inertia. A robot inspired to roots’ growth could be employed in search and rescue operations or in environmental monitoring. In this work the design of a soft robot inspired to root’s growth is presented. The body of the robot consists of a cylindrical plastic membrane folded inside itself. When air is blown from the base, the body of the robot is inflated, and its tip is everted increasing its length. On the external surface some Velcro stripes are mounted, which keep the membrane folded. Inside the tip a head is mounted, where the mechanism controlling the direction of growth is placed. It consists of a housing for some balloons, which can be inflated selectively, and their expansion exerts a pressure on the external surface able to open the Velcro stripes. The direction of growth is controlled by selecting which balloon to inflate. The robot has been built and a kinematic model of its motion in the plane has been developed and compared with experimental results.

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Jovanova, Jovana, Simona Domazetovska e Vasko Changoski. "Smart Material Actuation of Multi-Locomotion Robot". In ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/smasis2019-5675.

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Abstract The focus of this research is modeling, simulation and prototyping of multi-locomotion bio-inspired robot. The actuation is based on shape memory alloys (SMAs) smart materials to achieve different styles of movements. Soft-bodied robots have potential to exploit morphological computation to adapt and interact with reduced control complexity. Observing the movement of a caterpillar that could produce different locomotion such as crawling and rolling, our team designed and developed a bio-inspired robot. Analytical models of the different bio-inspired movements are derived and analyzed in Matlab in this work. The models rely on segmented approach actuated by smart materials in order to achieve the desired position. Smart material actuators are a promising but challenging actuation mechanism because of their design, large deformation possibilities, external stimuli shape change and high power density. The body parts are from a soft silicon elastomer. Between the silicone body parts, SMA spring are embedded, used as actuation force. Between the two segments, SMA spring as actuators are generation strain to bend the body and achieve crawling and lifting. This work is initial modeling for multi locomotion of soft bio-inspired robot and will be followed by a detailed analytical and numerical modeling and simulation, finalizing with a functional prototype.

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Rizov, Tashko, Jelena Djokikj e Jovana Jovanova. "Enchanced Functionality Design of Soft Grabbing Robot With Virtual Reality". In ASME 2022 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/smasis2022-90772.

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Abstract The design phase in robotics engineering is the core action for defining functionality. In soft robotics, especially in soft grabbing mechanisms, the challenge is to envision the interaction with different objects in terms of shape, size and stiffness. By enhancing the design phase with virtual reality (VR), all involved entities in the process are provided with a visualization method that facilitates the process and supports the functionality definition. In this way, utilizing VR, we exploit the possibilities of the designed soft grabbing robot and at the same time analyze different applications. When it comes to grabbing objects, application can vary over industry and sizes: from harvesting fruits and vegetables in the agricultural industry, over sorting objects in warehouses, to handling break bulk in ports. In this paper we demonstrate the use of VR in the conceptual design phase of a smart robotic grasper inspired by elephant’s trunk. By applying VR in the early stages of the design process, we can analyze the robot and its interaction with the environment and intervene if needed in the CAD model. With this approach we are saving resources but more importantly time and at the end of the design stage we are confident in the robot’s functionality and performances.

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Lewis, Cody, Jared Legg e Minchul Shin. "Development of Soft Body Rescue-Bot Using 3D Printing". In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-86860.

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The use of robots in search and rescue operations has increased dramatically over the years. A robot is able to detect survivors of a dangerous situation, like an earthquake, without putting the operator’s life in danger as well. There are many types of robots being developed for search and rescue purposes, but a smaller and more durable robot will be beneficial for designs in the future. The purpose of our project is to research and design a soft body robot that is capable of locating individuals in search and rescue operations. The robot has a design similar to a car which will allow the control of the robot to be easy to use. It has been designed with a self-righting mechanism in case the vehicle flips over or gets stuck. The robot has a small size so that it can fit through small holes that a person could not enter. The robot will be capable of traversing over uneven terrain, including small ledges through an actuator. The actuator will be designed to cause the robot to spring over or on a ledge. According to simulations from SolidWorks, the wheels of the robot can also withstand a drop from 2 meters. The design and material of the wheels will be further tested and changed to increase the performance of the wheel. Once a design has been chosen, the body of the robot will be designed. Current designs of ground rescue robots will be studied in order to attain a better understanding on what designs work best. The hope is to make the robot more durable than previous designs using a soft material as the outer shell of the robot. A soft material should allow the robot to be able to absorb impacts from falling debris or unexpected falls. Once the design of the robot has been optimized, a prototype will be created. The next step will be to code the robot so that it can be controlled with a remote. The current proposal is to use an Arduino board to send and receive signals from that remote. Then a camera will be attached to the robot which will allow the operator to see where the robot is and where the survivors are located.

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Rapporti di organizzazioni sul tema "Soft Robot Materials and Design"

Robles, Marcelo. Safety and efficacy study of cross-linked hyaluronic acid filler in nasolabial folds. Editorial Lugones, dicembre 2023. http://dx.doi.org/10.47196/0573.

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Introduction: facial aging causes cellular and anatomical changes, resulting in loss of soft tissue volume. Due to aesthetic demand, hyaluronic acid is a very good option for filling facial folds and wrinkles. Objectives: verify the effectiveness and safety of the application of cross-linked hyaluronic acid (CLHA) for filling nasolabial folds and its permanence over time. Design: observational and descriptive clinical, longitudinal and prospective, 12 months long. Materials and methods: a total of 100 patients (86 women and 14 men) with moderate to severe nasolabial folds were studied between July 2018 and December 2019. CLHA 30 mg/ml was used for facial filler (Estrianon Hyaluronic Facial Implant 30®, Allanmar International Company S.R.L., Argentina). Results: the adverse effects subsided within 7 days in 97% of the patients and in the rest of the patients within 14 days. The initial application was up to 1 ml per groove in the most severe cases. Regarding its effectiveness as a filler, its average duration was found to be up to 8 months with the corresponding reapplications. Conclusions: Estrianon Hyaluronic Facial Implant 30® is a safe product, its duration depends largely on the age of the patient, their habits and the condition of their skin, exceeding 8 months and up to a year.

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