Soft Robotics

Soft robotics

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

• First-in-the-world power-autonomous terrestrial robot propelled by artificial muscles,
• Fabrication of ionic artificial muscles on textile platform,
• Soft sensors for motion and humidity,

Capabilities

• Development of robotic materials
• Prototyping electro-ionic devices

Tools we use

• Bottom-up fabrication of artificial muscles
• Electrochemical and electromechanical impedance spectroscopy
• Microelectronic control

Equipment

• Custom spray-coating set-up
• Electromechanical testbenches with full electronic control and computer vision feedback

Primary contacts

Indrek Must

Alvo Aabloo

Some completed student projects

• Self-rolling wheel based on artificial muscles
• Robotic walking insect with artificial muscles
• Spray-fabrication of artificial muscles on glass fiber cloth
• Measurement device for characterization of mechanosensing laminates
• Measurement device for mechanical properties of soft laminates

Possible topics for students' projects

• Electromorphic laminates in novel configurations
• Electroactive textiles and textile electronics
• Robot concepts on artificial muscles
• Measurement methods and instruments for soft materials
• Electronic control for artificial muscles

Porfolio

Selected Publications

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

• Pehmed robotid rasketes ülesannetes (liftikõne)
• Youtube channel: Smart Materials & Soft Robotics