Soft Robotics for Chemists

Soft robots: A methodology based on embedded pneumatic networks (PneuNets) is described that enables large-amplitude actuations in soft elastomers by pressurizing embedded channels. Examples include a structure that can change its curvature from convex to concave, and devices that act as compliant grippers for handling fragile objects (e.g., a chicken egg).Chemistry and Chemical Biolog

Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications

Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified

Computational Modeling and Experimental Characterization of Pneumatically Driven Actuators for the Development of a Soft Robotic Arm

abstract: Soft Poly-Limb (SPL) is a pneumatically driven, wearable, soft continuum robotic arm designed to aid humans with medical conditions, such as cerebral palsy, paraplegia, cervical spondylotic myelopathy, perform activities of daily living. To support user's tasks, the SPL acts as an additional limb extending from the human body which can be controlled to perform safe and compliant mobile manipulation in three-dimensional space. The SPL is inspired by invertebrate limbs, such as the elephant trunk and the arms of the octopus. In this work, various geometrical and physical parameters of the SPL are identified, and behavior of the actuators that comprise it are studied by varying their parameters through novel quasi-static computational models. As a result, this study provides a set of engineering design rules to create soft actuators for continuum soft robotic arms by understanding how varying parameters affect the actuator's motion as a function of the input pressure. A prototype of the SPL is fabricated to analyze the accuracy of these computational models by performing linear expansion, bending and arbitrary pose tests. Furthermore, combinations of the parameters based on the application of the SPL are determined to affect the weight, payload capacity, and stiffness of the arm. Experimental results demonstrate the accuracy of the proposed computational models and help in understanding the behavior of soft compliant actuators. Finally, based on the set functional requirements for the assistance of impaired users, results show the effectiveness of the SPL in performing tasks for activities of daily living.Dissertation/ThesisMasters Thesis Mechanical Engineering 201

Lubrication of soft oral surfaces

Oral lubrication deals with one of the most intricate examples of biotribology, where surfaces under sliding conditions span from the hardest enamel to soft oral tissues in human physiology. Complexity further arises with surfaces being covered by an endogenous biolubricant saliva before exogenous food particles can wet, stick, or slip at the surfaces. In this review, we present a description of soft oral surfaces, comparing them with the recent approaches that have been used to study oral lubrication using in vitro to ex vivo setups. Specifically, lubrication behaviors of saliva and soft microgels are discussed highlighting instances of hydration lubrication. We have structured this information creating a strong link between theoretical concepts and oral lubrication, which has thus far remained elusive in literature. Finally, we highlighted some of the several challenges remaining in this field and discussing how emerging technologies in material science might help overcoming them

Summer Research Fellowship Project Descriptions 2018

A summary of research done by Smith College’s 2018 Summer Research Fellowship (SURF) Program participants. Ever since its 1967 start, SURF has been a cornerstone of Smith’s science education. Supervised by faculty mentor-advisors drawn from the Clark Science Center and connected to its eighteen science, mathematics, and engineering departments and programs and associated centers and units. At summer’s end, SURF participants were asked to summarize their research experiences for this publication.https://scholarworks.smith.edu/clark_womeninscience/1007/thumbnail.jp

KINE[SIS]TEM'17 From Nature to Architectural Matter

Kine[SiS]tem – From Kinesis + System. Kinesis is a non-linear movement or activity of an organism in response to a stimulus. A system is a set of interacting and interdependent agents forming a complex whole, delineated by its spatial and temporal boundaries, influenced by its environment. How can architectural systems moderate the external environment to enhance comfort conditions in a simple, sustainable and smart way? This is the starting question for the Kine[SiS]tem’17 – From Nature to Architectural Matter International Conference. For decades, architectural design was developed despite (and not with) the climate, based on mechanical heating and cooling. Today, the argument for net zero energy buildings needs very effective strategies to reduce energy requirements. The challenge ahead requires design processes that are built upon consolidated knowledge, make use of advanced technologies and are inspired by nature. These design processes should lead to responsive smart systems that deliver the best performance in each specific design scenario. To control solar radiation is one key factor in low-energy thermal comfort. Computational-controlled sensor-based kinetic surfaces are one of the possible answers to control solar energy in an effective way, within the scope of contradictory objectives throughout the year.FC

3D printing assisted development of bioinspired structure and device for advanced engineering

Smart materials with bio-inspired structure and stimuli responsive features can sense the external and internal condition changes, such as temperature, light intensity, pH or ion concentration. Those unique functions have been widely utilized in cutting edge engineering applications, such as flexible sensors, soft robotics and tissue engineering. Meanwhile, conventional manufacturing methods such as moulding, and lithography-based microfabrication still represent the mainstream force in scale up manufacturing. Considerable limitations for these technologies, such as on demand rapid prototyping, the high cost and low-volume production, remain to be overcome. In this PhD project, I explored the advanced manufacturing in facilitating the complex structure, with higher controllability, lower prototyping cost and extended applications (flexible sensors, soft robots, biomedical devices, etc.). The key practice is to utilize the high resolution 3D printing technology to create dedicated bio inspired structures based on functional materials. Combined with advanced micro/nano engineering, we have achieved a variety of techniques/prototypes for future applications, such as optical control, micro-fluidic and bio-medical systems, etc

Agricultural Structures and Mechanization

In our globalized world, the need to produce quality and safe food has increased exponentially in recent decades to meet the growing demands of the world population. This expectation is being met by acting at multiple levels, but mainly through the introduction of new technologies in the agricultural and agri-food sectors. In this context, agricultural, livestock, agro-industrial buildings, and agrarian infrastructure are being built on the basis of a sophisticated design that integrates environmental, landscape, and occupational safety, new construction materials, new facilities, and mechanization with state-of-the-art automatic systems, using calculation models and computer programs. It is necessary to promote research and dissemination of results in the field of mechanization and agricultural structures, specifically with regard to farm building and rural landscape, land and water use and environment, power and machinery, information systems and precision farming, processing and post-harvest technology and logistics, energy and non-food production technology, systems engineering and management, and fruit and vegetable cultivation systems. This Special Issue focuses on the role that mechanization and agricultural structures play in the production of high-quality food and continuously over time. For this reason, it publishes highly interdisciplinary quality studies from disparate research fields including agriculture, engineering design, calculation and modeling, landscaping, environmentalism, and even ergonomics and occupational risk prevention