Design and Analysis of Soft Actuator with Enhanced Stiffness with Granular Jamming

The field of soft robotics has been increasing popularity and importance in last decade with its groundbreaking applications in the field of delicate food handling industry and rehabilitation of limbs and fingers of stroke affected patients. The area of soft robotics seeks to improve robot safety, allowing them to function in circumstances where standard robots cannot. This research is focused on pneumatically actuated soft robots as they are efficient, easily controlled, affordable, and well researched. These robots consist of one or more soft actuators, made of silicone elastomers with low material hardness. Low hardness silicone actuators are structurally weak and cannot generate functional forces, which can be rectified by simply increasing the hardness of the material, resulting in compromising softness of the robot. This research attempts to provide a solution to increase structural stability and force output of soft actuator without compromising softness of the material. These were achieved in two ways; one, by improving the cross-sectional profile of the actuator, with an addition of vacuum functionality which increases degree of freedom by one. Two, by attaching a granular jamming component to the actuator, which can change its stiffness actively based on the vacuum applied to it. In this research, the soft actuator was made of Eco-Flex 00-30 silicone and ground coffee was used as granular material for jamming. The actuator was designed on CATIA, and simulation analysis was carried out in ANSYS. A simulation study is conducted to optimize the design parameters to improve bending angle. The jamming components are attached on either side of the actuator and filled with ground coffee which provides controlled stiffness. The actuator was fabricated by molding, all molds are 3D printed with polylactic acid. The actuator was powered by an electric air pump. The actuator is evaluated for bending angle and blocking force at the tip. 280% more bending was achieved under vacuum when compared to conventional design. The blocking force was increased by 270% upon implementing jamming component. The force output obtained per unit pressure applied when compared to present literature increased by 4 times. Lastly, these methods can be implemented to improve the performance of any soft pneumatic actuators

Designing a robotic port system for laparo-endoscopic single-site surgery

Current research and development in the field of surgical interventions aim to reduce the invasiveness by using few incisions or natural orifices in the body to access the surgical site. Considering surgeries in the abdominal cavity, the Laparo-Endoscopic Single-site Surgery (LESS) can be performed through a single incision in the navel, reducing blood loss, post-operative trauma, and improving the cosmetic outcome. However, LESS results in less intuitive instrument control, impaired ergonomic, loss of depth and haptic perception, and restriction of instrument positioning by a single incision. Robot-assisted surgery addresses these shortcomings, by introducing highly articulated, flexible robotic instruments, ergonomic control consoles with 3D visualization, and intuitive instrument control algorithms. The flexible robotic instruments are usually introduced into the abdomen via a rigid straight port, such that the positioning of the tools and therefore the accessibility of anatomical structures is still constrained by the incision location. To address this limitation, articulated ports for LESS are proposed by recent research works. However, they focus on only a few aspects, which are relevant to the surgery, such that a design considering all requirements for LESS has not been proposed yet. This partially originates in the lack of anatomical data of specific applications. Further, no general design guidelines exist and only a few evaluation metrics are proposed. To target these challenges, this thesis focuses on the design of an articulated robotic port for LESS partial nephrectomy. A novel approach is introduced, acquiring the available abdominal workspace, integrated into the surgical workflow. Based on several generated patient datasets and developed metrics, design parameter optimization is conducted. Analyzing the surgical procedure, a comprehensive requirement list is established and applied to design a robotic system, proposing a tendon-driven continuum robot as the articulated port structure. Especially, the aspects of stiffening and sterile design are addressed. In various experimental evaluations, the reachability, the stiffness, and the overall design are evaluated. The findings identify layer jamming as the superior stiffening method. Further, the articulated port is proven to enhance the accessibility of anatomical structures and offer a patient and incision location independent design

Mechanical characterization, constitutive modeling and applications of ultra-soft magnetorheological elastomers

Mención Internacional en el título de doctorSmart materials are bringing sweeping changes in the way humans interact with engineering devices. A myriad of state-of-the-art applications are based on novel ways to actuate on structures that respond under different types of stimuli. Among them, materials that respond to magnetic fields allow to remotely modify their mechanical properties and macroscopic shape. Ultra-soft magnetorheological elastomers (MREs) are composed of a highly stretchable soft elastomeric matrix in the order of 1 kPa and magnetic particles embedded in it. This combination allows large deformations with small external actuations. The type of the magnetic particles plays a crucial role as it defines the reversibility or remanence of the material magnetization. According to the fillers used, MREs are referred to as soft-magnetic magnetorheological elastomers (sMREs) and hard-magnetic magnetorheological elastomers (hMREs). sMREs exhibit strong changes in their mechanical properties when an external magnetic field is applied, whereas hMREs allow sustained magnetic effects along time and complex shape-morphing capabilities. In this regard, end-of-pipe applications of MREs in the literature are based on two major characteristics: the modification of their mechanical properties and macrostructural shape changes. For instance, smart actuators, sensors and soft robots for bioengineering applications are remotely actuated to perform functional deformations and autonomous locomotion. In addition, hMREs have been used for industrial applications, such as damping systems and electrical machines. From the analysis of the current state of the art, we identified some impediments to advance in certain research fields that may be overcome with new solutions based on ultrasoft MREs. On the mechanobiology area, we found no available experimental methodologies to transmit complex and dynamic heterogeneous strain patterns to biological systems in a reversible manner. To remedy this shortcoming, this doctoral research proposes a new mechanobiology experimental setup based on responsive ultra-soft MRE biological substrates. Such an endeavor requires deeper insights into the magneto-viscoelastic and microstructural mechanisms of ultra-soft MREs. In addition, there is still a lack of guidance for the selection of the magnetic fillers to be used for MREs and the final properties provided to the structure. Eventually, the great advances on both sMREs and hMREs to date pose a timely question on whether the combination of both types of particles in a hybrid MRE may optimize the multifunctional response of these active structures. To overcome these roadblocks, this thesis provides an extensive and comprehensive experimental characterization of ultra-soft sMREs, hMREs and hybrid MREs. The experimental methodology uncovers magneto-mechanical rate dependences under numerous loading and manufacturing conditions. Then, a set of modeling frameworks allows to delve into such mechanisms and develop three ground-breaking applications. Therefore, the thesis has lead to three main contributions. First and motivated on mechanobiology research, a computational framework guides a sMRE substrate to transmit complex strain patterns in vitro to biological systems. Second, we demonstrate the ability of remanent magnetic fields in hMREs to arrest cracks propagations and improve fracture toughness. Finally, the combination of soft- and hard-magnetic particles is proved to enhance the magnetorheological and magnetostrictive effects, providing promising results for soft robotics.Los materiales inteligentes están generando cambios radicales en la forma que los humanos interactúan con dispositivos ingenieriles. Distintas aplicaciones punteras se basan en formas novedosas de actuar sobre materiales que responden a diferentes estímulos. Entre ellos, las estructuras que responden a campos magnéticos permiten la modificación de manera remota tanto de sus propiedades mecánicas como de su forma. Los elastómeros magnetorreológicos (MREs) ultra blandos están compuestos por una matriz elastomérica con gran ductilidad y una rigidez en torno a 1 kPa, reforzada con partículas magnéticas. Esta combinación permite inducir grandes deformaciones en el material mediante la aplicación de campos magnéticos pequeños. La naturaleza de las partículas magnéticas define la reversibilidad o remanencia de la magnetización del material compuesto. De esta manera, según el tipo de partículas que contengan, los MREs pueden presentar magnetización débil (sMRE) o magnetización fuerte (hMRE). Los sMREs experimentan grandes cambios en sus propiedades mecánicas al aplicar un campo magnético externo, mientras que los hMREs permiten efectos magneto-mecánicos sostenidos a lo largo del tiempo, así como programar cambios de forma complejos. En este sentido, las aplicaciones de los MREs se basan en dos características principales: la modificación de sus propiedades mecánicas y los cambios de forma macroestructurales. Por ejemplo, los campos magnéticos pueden emplearse para inducir deformaciones funcionales en actuadores y sensores inteligentes, o en robótica blanda para bioingeniería. Los hMREs también se han aplicado en el ámbito industrial en sistemas de amortiguación y máquinas eléctricas. A partir del análisis del estado del arte, se identifican algunas limitaciones que impiden el avance en ciertos campos de investigación y que podrían resolverse con nuevas soluciones basadas en MREs ultra blandos. En el área de la mecanobiología, no existen metodologías experimentales para transmitir patrones de deformación complejos y dinámicos a sistemas biológicos de manera reversible. En esta investigación doctoral se propone una configuración experimental novedosa basada en sustratos biológicos fabricados con MREs ultra blandos. Dicha solución requiere la identificación de los mecanismos magneto-viscoelásticos y microestructurales de estos materiales, según el tipo de partículas magnéticas, y las consiguientes propiedades macroscópicas del material. Además, investigaciones recientes en sMREs y hMREs plantean la pregunta sobre si la combinación de distintos tipos de partículas magnéticas en un MRE híbrido puede optimizar su respuesta multifuncional. Para superar estos obstáculos, la presente tesis proporciona una caracterización experimental completa de sMREs, hMREs y MREs híbridos ultra blandos. Estos resultados muestran las dependencias del comportamiento multifuncional del material con la velocidad de aplicación de cargas magneto-mecánicas. El desarrollo de un conjunto de modelos teórico-computacionales permite profundizar en dichos mecanismos y desarrollar aplicaciones innovadoras. De este modo, la tesis doctoral ha dado lugar a tres bloques de aportaciones principales. En primer lugar, este trabajo proporciona un marco computacional para guiar el diseño de sustratos basados en sMREs para transmitir patrones de deformación complejos in vitro a sistemas biológicos. En segundo lugar, se demuestra la capacidad de los campos magnéticos remanentes en los hMRE para detener la propagación de grietas y mejorar la tenacidad a la fractura. Finalmente, se establece que la combinación de partículas magnéticas de magnetización débil y fuerte mejora el efecto magnetorreológico y magnetoestrictivo, abriendo nuevas posibilidades para el diseño de robots blandos.I want to acknowledge the support from the Ministerio de Ciencia, Innovación y Universidades, Spain (FPU19/03874), and the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement No. 947723, project: 4D-BIOMAP).Programa de Doctorado en Ingeniería Mecánica y de Organización Industrial por la Universidad Carlos III de MadridPresidente: Ramón Eulalio Zaera Polo.- Secretario: Abdón Pena Francesch.- Vocal: Laura de Lorenzi

In-Mold Assembly of Multi-Functional Structures

Combining the recent advances in injection moldable polymer composites with the multi-material molding techniques enable fabrication of multi-functional structures to serve multiple functions (e.g., carry load, support motion, dissipate heat, store energy). Current in-mold assembly methods, however, cannot be simply scaled to create structures with miniature features, as the process conditions and the assembly failure modes change with the feature size. This dissertation identifies and addresses the issues associated with the in-mold assembly of multi-functional structures with miniature components. First, the functional capability of embedding actuators is developed. As a part of this effort, computational modeling methods are developed to assess the functionality of the structure with respect to the material properties, process parameters and the heat source. Using these models, the effective material thermal conductivity required to dissipate the heat generated by the embedded small scale actuator is identified. Also, the influence of the fiber orientation on the heat dissipation performance is characterized. Finally, models for integrated product and process design are presented to ensure the miniature actuator survivability during embedding process. The second functional capability developed as a part of this dissertation is the in-mold assembly of multi-material structures capable of motion and load transfer, such as mechanisms with compliant hinges. The necessary hinge and link design features are identified. The shapes and orientations of these features are analyzed with respect to their functionality, mutual dependencies, and the process cost. The parametric model of the interface design is developed. This model is used to minimize both the final assembly weight and the mold complexity as the process cost measure. Also, to minimize the manufacturing waste and the risk of assembly failure due to unbalanced mold filling, the design optimization of runner systems used in multi-cavity molds for in-mold assembly is developed. The complete optimization model is characterized and formulated. The best method to solve the runner optimization problem is identified. To demonstrate the applicability of the tools developed in this dissertation towards the miniaturization of robotic devices, a case study of a novel miniature air vehicle drive mechanism is presented

Exploiting Multi Stability of Compliant Locking Mechanism for Reconfigurable Articulation in Robotic Arm

This study analyzes a biology inspired approach of utilizing a compliant unit actuator to simplify the control requirements for a soft robotic arm. A robot arm is constructed from a series of compliant unit actuators that precisely actuate between two stable states. The extended state can be characterized as a rigid link with a high bending stiffness. The compressed state can be characterized as a flexible joint with a low bending stiffness. Without the use of an external power source, the bistable mechanism remains in each of the stable states. The unit actuator can demonstrate pseudo-linkage kinematics that require less control parameters than entirely soft manipulators. An advantage of using compliant mechanisms to design a robotic arm is that the bending stiffness ratio between the extended and compressed states is related to the frame and flexural member geometry. Post buckling characteristics of thin flexural members, combined with a cantilever style frame design gives the unit actuator versatile advantages over existing actuator designs like layer jamming and shape memory polymers. To achieve efficient movement with the optimized unit actuator design, experimental validation was performed, and a robotic arm prototype was fabricated. The tendon-driven robotic arm consisted of three modules and proved the capability of transforming and rotating in the eight configurations. The deformations of the robotic arm are accurately predicted by the kinematic model and validate the compliant mechanism arm and simple control system

Impact of Ear Occlusion on In-Ear Sounds Generated by Intra-oral Behaviors

We conducted a case study with one volunteer and a recording setup to detect sounds induced by the actions: jaw clenching, tooth grinding, reading, eating, and drinking. The setup consisted of two in-ear microphones, where the left ear was semi-occluded with a commercially available earpiece and the right ear was occluded with a mouldable silicon ear piece. Investigations in the time and frequency domains demonstrated that for behaviors such as eating, tooth grinding, and reading, sounds could be recorded with both sensors. For jaw clenching, however, occluding the ear with a mouldable piece was necessary to enable its detection. This can be attributed to the fact that the mouldable ear piece sealed the ear canal and isolated it from the environment, resulting in a detectable change in pressure. In conclusion, our work suggests that detecting behaviors such as eating, grinding, reading with a semi-occluded ear is possible, whereas, behaviors such as clenching require the complete occlusion of the ear if the activity should be easily detectable. Nevertheless, the latter approach may limit real-world applicability because it hinders the hearing capabilities.</p

Roadmap for optofluidics

Optofluidics, nominally the research area where optics and fluidics merge, is a relatively new research field and it is only in the last decade that there has been a large increase in the number of optofluidic. applications, as well as in the number of research groups, devoted to the topic. Nowadays optofluidics applications include, without being limited to, lab-on-a-chip devices, fluid-based and controlled lenses, optical sensors for fluids and for suspended particles, biosensors, imaging tools, etc. The long list of potential optofluidics applications, which have been recently demonstrated, suggests that optofluidic technologies will become more and more common in everyday life in the future, causing a significant impact on many aspects of our society. A characteristic of this research field, deriving from both its interdisciplinary origin and applications, is that in order to develop suitable solutions a. combination of a deep knowledge in different fields, ranging from materials science to photonics, from microfluidics to molecular biology and biophysics,. is often required. As a direct consequence, also being able to understand the long-term evolution of optofluidics research is not. easy. In this article, we report several expert contributions on different topics. so as to provide guidance for young scientists. At the same time, we hope that this document will also prove useful for funding institutions and stakeholders. to better understand the perspectives and opportunities offered by this research field

Synthesis of Multistable Equilibrium Compliant Mechanisms.

Whenever an engineering system operates far from its equilibrium position, the control and actuation scheme can become excessively complicated and power consuming. However, in a multistable compliant mechanism (MSCM), a passive subsystem can be integrated to afford discrete adaptability in function by providing additional equilibria thereby simplifying the actuation and control scheme. This dissertation explores the design and application of devices that exhibit multistability by exploiting compliance in design. MSCMs have the essential advantages of compliant mechanisms including reduced part-count, assembly time, wear, and increased precision, durability and reliability. However, there is no systematic method to design MSCMs and the majority of prior research is limited to design of specific types of bistable mechanisms. This is due to the fact that design of MSCMs is not intuitive and it requires enormous computational time to overcome the complexity of nonlinear behaviors. This study is motivated by the need to design MSCMs systematically without excessive computational time and complexity. The design methodology developed in this dissertation has two major components: (i) generalized methods for synthesizing bistable mechanisms and (ii) synthesis of multistable mechanisms by combining multiple bistable mechanisms. A mathematical formalism to ensure bistable behavior is first introduced. Two methods for synthesizing bistable mechanism are developed (i) by choosing “buckled” shape as initial configuration and (ii) by utilizing a reverse-lateral deformation of a clamped-pinned beam to provide bistability. Each bistable compliant mechanism works as a building block, providing either one or two additional stable states. A simplified mathematical scheme is introduced to capture essential parameters of bistable behaviors to aid in synthesis of more sophisticated multistable mechanisms. The methodology enables designers to capture design requirements mathematically, decompose the problem into feasible sub-problems, synthesize the desired MSCMs from pre-compiled combination libraries, and efficiently evaluate the designs without computationally intensive nonlinear FEA. The method also yields robust designs that are insensitive to manufacturing and other imperfections. The synthesis methodology can benefit a variety of applications including MEMS, space mechanisms, ergonomic devices, and general product design. Several novel designs and working prototypes of MSCMs are developed to demonstrate the effectiveness of the synthesis methods.Ph.D.Mechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/61608/1/ohys_1.pd

NASA SBIR abstracts of 1991 phase 1 projects

The objectives of 301 projects placed under contract by the Small Business Innovation Research (SBIR) program of the National Aeronautics and Space Administration (NASA) are described. These projects were selected competitively from among proposals submitted to NASA in response to the 1991 SBIR Program Solicitation. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 301, in order of its appearance in the body of the report. Appendixes to provide additional information about the SBIR program and permit cross-reference of the 1991 Phase 1 projects by company name, location by state, principal investigator, NASA Field Center responsible for management of each project, and NASA contract number are included