View source for Soft Robotics

= Soft robotics =
[[File:FourICLrobotsCover.jpg|400px|thumb|right| Miniature energy-autonomous robots with soft actuators]]
== Our vision and goal ==
Soft robotics bridges life and robotics. Soft robots demonstrate qualities similar to natural beings, thus allowing to automate tasks previously considered exclusive for humans and other living nature. We design a framework for robots with natural-like interactions with unstructured environments and with delicate objects such as human bodies.  First, we develop novel electroactive materials as robotic actuators and sensors. Next, we identify and implement function-specific movement mechanisms that are effective and specific for shape-morphing materials and structures, often finding inspiration from the nature. Finally, we develop applications in the fields of personal medicine, minimally invasive medical instruments, wearable devices, surveillance and rescue.

== Highlights ==
* UT was first to demonstrate power-autonomous terrestrial robots propelled by artificial muscles
* We have developed a method for building ionic artificial muscles on textile substrate
* We can build soft laminated materials that actuate and sense motion
 
== Capabilities ==
We develop soft robots in three stages
# New bottom-up fabrication methods for robotic materials
# Tailoring the interactions between the robotic materials and the environment
# Prototyping of soft electro-ionic devices

=== Tools we use ===
* Additive fabrication methods for building soft electroactive laminates
* Electrochemical and electromechanical impedance spectroscopy
* Microelectronic control of soft actuators

=== Equipment ===
* Customized spray-coating set-up
* Electromechanical testbenches with full electronic control
* Computer vision set-up for robotics materials characterization
* In-situ characterization of robotic materials using scanning electron microscopy 
* Dynamic mechanical analysis of robotic materials in a controlled atmosphere
* Thermal imaging of robot's action

== Primary contacts ==
* [https://orcid.org/0000-0002-9151-1548 Indrek Must]
* [https://orcid.org/0000-0002-0183-1282 Alvo Aabloo]

== Some completed student projects ==
* A self-rolling wheel based on artificial muscles
* An insect-inspored walking robot with artificial muscles
* Spray-fabrication of artificial muscles on glass fiber cloth
* Measurement device for characterization of mechano-sensing laminates
* Measurement device for mechanical properties of soft laminates

== Possible topics for students' projects ==
* Bioinspired microrobots propelled by artificial muscles
* Electroactive textiles and textile electronics
* Robotic concepts specific for artificial muscles
* Measurement methods and instruments for soft materials
* Electronic control for artificial muscles

== Porfolio ==

=== Selected Publications ===

[https://onlinelibrary.wiley.com/doi/full/10.1002/adem.201400246 Must, Indrek, et al. "Ionic and capacitive artificial muscle for biomimetic soft robotics." ''Advanced Engineering Materials'' 17.1 (2015): 84-94.]]

[https://www.sciencedirect.com/science/article/pii/S0925400517302927 Kaasik, Friedrich, et al. "Scalable fabrication of ionic and capacitive laminate actuators for soft robotics." ''Sensors and Actuators B: Chemical'' 246 (2017): 154-163.]]

=== Outreach ===
* [https://www.uttv.ee/naita?id=27125 Pehmed robotid rasketes ülesannetes (liftikõne)]
* [https://www.youtube.com/channel/UC186z2gc0XiLh12hNvPZdUQ Youtube channel: Smart Materials & Soft Robotics ]