Soft Robotics: Difference between revisions

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= Soft robotics =
[[File:FourICLrobotsCover.jpg|400px|thumb|right| Miniature energy-autonomous robots with soft actuators]]
[[File:FourICLrobotsCover.jpg|400px|thumb|right| Miniature energy-autonomous robots with soft actuators]]
== Our vision and goal ==
== 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.
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 ==
== Highlights ==
* First-in-the-world power-autonomous terrestrial robot propelled by artificial muscles,
* UT was first to demonstrate power-autonomous terrestrial robots propelled by artificial muscles
* Fabrication of ionic artificial muscles on textile platform,
* We have developed a method for building ionic artificial muscles on textile substrate
* Soft sensors for motion and humidity,
* We can build soft laminated materials that actuate and sense motion
   
   
== Capabilities ==
== Capabilities ==
* Development of robotic materials
We develop soft robots in three stages
* Prototyping electro-ionic devices  
# 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 ===
=== Tools we use ===
 
* Additive fabrication methods for building soft electroactive laminates
*  
* Electrochemical and electromechanical impedance spectroscopy
* Microelectronic control of soft actuators


=== Equipment ===
=== 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


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


{{Team|
{{TeamMember|Indrekm|Indrek Must|associate professor}}
{{TeamMember|Alvo|Alvo Aabloo|professor, head of the lab}}
}}


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


== Possible topics for students' projects ==
== Possible topics for students' projects ==
* Electromorphic laminates in novel configurations
[[Soft robotics student projects|List of currently active and timely projects are here]]
* Electroactive textiles and textile electronics
* Robot concepts on artificial muscles
* Measurement methods and instruments for soft materials
* Electronic control for artificial muscles


== Porfolio ==
== Porfolio ==


===Reasonable projects...===
=== Research Projects ===
 
...


=== Selected Publications ===
=== Selected Publications ===
[[File:thumb-scalable.jpg|50px]] [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.]]
 
[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 ===
=== Outreach ===
 
* [https://www.uttv.ee/naita?id=27125 Pehmed robotid rasketes ülesannetes (liftikõne)]
[https://www.uttv.ee/naita?id=27125 Pehmed robotid rasketes ülesannetes (liftikõne)]
* [https://www.youtube.com/channel/UC186z2gc0XiLh12hNvPZdUQ Youtube channel: Smart Materials & Soft Robotics ]
[https://www.youtube.com/channel/UC186z2gc0XiLh12hNvPZdUQ Youtube channel: Smart Materials & Soft Robotics ]

Latest revision as of 09:32, 14 August 2019

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

  1. New bottom-up fabrication methods for robotic materials
  2. Tailoring the interactions between the robotic materials and the environment
  3. 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

Indrek Mustassociate professor
Alvo Aablooprofessor, head of the lab

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

List of currently active and timely projects are here

Porfolio

Research Projects

...

Selected Publications

Must, Indrek, et al. "Ionic and capacitive artificial muscle for biomimetic soft robotics." Advanced Engineering Materials 17.1 (2015): 84-94.]

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