Elastic Inflatable Actuators for Soft Robotic Applications

The 20th century’s robotic systems have been made out of stiff materials and much of the developments in the field have pursued ever more accurate and dynamic robots which thrive in industrial automation settings and will probably continue to do so for many decades to come. However, the 21st century’s robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfil the role of robotic link and robotic actuator, where prime focus is on design and fabrication of the robotic hardware instead of software control to achieve a desired operation. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators to generate movement. This paper reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained substantial traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies including soft-lithography and additive manufacturing, and on the other hand by a market pull from the applications listed above. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication and applications.This research is supported by the Fund for Scientific Research-Flanders (FWO), and the European Research Council (ERC starting grant HIENA)

Elastic Inflatable Actuators for Soft Robotic Applications

The 20th century’s robotic systems have been made out of stiff materials and much of the developments in the field have pursued ever more accurate and dynamic robots which thrive in industrial automation settings and will probably continue to do so for many decades to come. However, the 21st century’s robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfil the role of robotic link and robotic actuator, where prime focus is on design and fabrication of the robotic hardware instead of software control to achieve a desired operation. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators to generate movement. This paper reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained substantial traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies including soft-lithography and additive manufacturing, and on the other hand by a market pull from the applications listed above. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication and applications.This research is supported by the Fund for Scientific Research-Flanders (FWO), and the European Research Council (ERC starting grant HIENA)

Unconventional elastomeric microsystems: fabrication and application

Elastomer-based microsystems hold great promise for a diverse range of applications such as rapid prototyping of lab-on-a-chip device, soft-MEMS, and soft-robotics. For better performance in such applications, unconventional elastomeric structures in terms of size, shape, and patterning trajectory, have been intensely sought after in microtechnology but their realization has been a continuous challenge. Here, as my dissertation work, I present new microfabrication schemes which enable the realizations of unconventional PDMS structures, and their applications, which will enrich the field of soft-microsystems. First, I present a new fabrication scheme for the realization of cylindrical microfluidic (MF) channels with 3D trajectories based on shaping, bonding, and assembly of sucrose fibers. Due to the high water-solubility of the sucrose templates, the scheme is a simple and environment-friendly. Also, it is cleanroom-free and cost-effective. Despite its simplicity, it enables the realization of essential 3D MF channel architectures such as highly curved MF channels, internal loops, and proper end-to-side junctions. It can, also, realize tapered junctions and stenosis which can benefit vaso-mimetic lab-on-a-chip applications. Secondly, as a practical application of the sucrose-based MF channel, I report the implementation of the bokeh-effect-based microfluidic microscopy scheme for point-of care health monitoring in highly resource-limited environment. For this work, I integrated a single polymer microlens over the sucrose-templated MF channel and retrieved magnified intra-channel images with a commercial, off-the-shelf camera. The bokeh microscope exhibited 10∼40 in magnification and 67∼252 μm of field-of-view extent, confirming their utility for point-of-care monitoring of micro-scale objects in MF channels Third, I present a new technique that enables facile fabrications of high aspect-ratio PDMS micropillars exceeding 2400 m in height and 100 in aspect-ratio. The key enabling factor is the adoption of the direct drawing technique incorporated with the in situ heating for simultaneous hardening and solidification of PDMS. The technique also allows self-aligned installation of highly reflective microspheres at the tips of the micropillars. Using the transparent PDMS micropillar as a flexible waveguide and the microsphere as a self-aligned reflector, I transformed the microsphere-tipped PDMS micropillars into all optically interrogated air-flow sensors and successfully demonstrated its air-flow sensing capability. Lastly, I present a microscale soft-robotic tentacle with spiral bending capability based on pneumatically driven bending motion of a hollow PDMS microtube. For this work, I establish a new, direct peeling-based technique for building long and thin, highly deformable microtubes and a semi-analytical model for their shape-engineering. Based on them, the artificial microrobotic tentacle exhibits the multi-turn spiraling motion with the final radius of 185 μm and squeezing force of ~ 0.78 mN. Thanks to the softness of PDMS and the spiraling motion, the micro-tentacle can function as a soft-robotic grabber of fragile micro-objects. The spiraling tentacle-based grabbing modality, the elastomeric microtube fabrication technique, and the concept of microtube shape-engineering will constitute very valuable additions to future microscale soft-robotics. Here, I organized my dissertation based on four published journal papers of which I am the first/primary author

MC 2019 Berlin Microscopy Conference - Abstracts

Das Dokument enthält die Kurzfassungen der Beiträge aller Teilnehmer an der Mikroskopiekonferenz "MC 2019", die vom 01. bis 05.09.2019, in Berlin stattfand

Microscopy Conference 2017 (MC 2017) - Proceedings

Das Dokument enthält die Kurzfassungen der Beiträge aller Teilnehmer an der Mikroskopiekonferenz "MC 2017", die vom 21. bis 25.08.2017, in Lausanne stattfand

Microscopy Conference 2017 (MC 2017) - Proceedings

Das Dokument enthält die Kurzfassungen der Beiträge aller Teilnehmer an der Mikroskopiekonferenz "MC 2017", die vom 21. bis 25.08.2017, in Lausanne stattfand

Synthesis of new pyrazolium based tunable aryl alkyl ionic liquids and their use in removal of methylene blue from aqueous solution

In this study, two new pyrazolium based tunable aryl alkyl ionic liquids, 2-ethyl-1-(4-methylphenyl)-3,5- dimethylpyrazolium tetrafluoroborate (3a) and 1-(4-methylphenyl)-2-pentyl-3,5-dimethylpyrazolium tetrafluoroborate (3b), were synthesized via three-step reaction and characterized. The removal of methylene blue (MB) from aqueous solution has been investigated using the synthesized salts as an extractant and methylene chloride as a solvent. The obtained results show that MB was extracted from aqueous solution with high extraction efficiency up to 87 % at room temperature at the natural pH of MB solution. The influence of the alkyl chain length on the properties of the salts and their extraction efficiency of MB was investigated