Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling

Acutis, A De; Calabrese, Luigi; Baù, A.; Tincani, V; Pugno, Nicola; Bicchi, Antonio; Rossi, Danilo Emilio De

doi:10.1088/1361-665x/aabe6c

Cited by 3 publications

(3 citation statements)

References 18 publications

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“…Like other shape morphing surfaces, the soft shape display is also capable of object manipulation on its surface 3,8,10,12,13,54,55 . To manipulate a round object like a ball, we use shape morphing to transform vertical surface deformation into lateral rolling, an interaction with applications to manufacturing, object conveying, and sorting 3,10,12 .…”

Section: Dynamic Object Conveyancementioning

confidence: 99%

A multifunctional soft robotic shape display with high-speed actuation, sensing, and control

Johnson,

Naris,

Sundaram

et al. 2023

Nat Commun

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Shape displays which actively manipulate surface geometry are an expanding robotics domain with applications to haptics, manufacturing, aerodynamics, and more. However, existing displays often lack high-fidelity shape morphing, high-speed deformation, and embedded state sensing, limiting their potential uses. Here, we demonstrate a multifunctional soft shape display driven by a 10 × 10 array of scalable cellular units which combine high-speed electrohydraulic soft actuation, magnetic-based sensing, and control circuitry. We report high-performance reversible shape morphing up to 50 Hz, sensing of surface deformations with 0.1 mm sensitivity and external forces with 50 mN sensitivity in each cell, which we demonstrate across a multitude of applications including user interaction, image display, sensing of object mass, and dynamic manipulation of solids and liquids. This work showcases the rich multifunctionality and high-performance capabilities that arise from tightly-integrating large numbers of electrohydraulic actuators, soft sensors, and controllers at a previously undemonstrated scale in soft robotics.

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Section: Dynamic Object Conveyancementioning

confidence: 99%

A multifunctional soft robotic shape display with high-speed actuation, sensing, and control

Johnson,

Naris,

Sundaram

et al. 2023

Nat Commun

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“…1,2 Great possibilities exist for grabbing, moving, and sorting delicate and fragile objects. [3][4][5] Actuators based on soft balloons are compliant, robust, light weight, and simple in structure and have low costs. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Body Temperature-Triggered Mechanical Instabilities for High-Speed Soft Robots

et al. 2022

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Nature offers bionic inspirations for elegant applications of mechanical principles such as the concept of snap buckling, which occurs in several plants. Exploiting mechanical instabilities is the key to fast movement here. We use the snap-through and snap-back instability observed in natural rubber balloons to design an ultrafast purely mechanical elastomer actuator. Our design eliminates the need in potentially harmful stimulants, high voltages, and is safe in operation. We trigger the instability and thus the actuation by temperature changes, which bring about a liquid/gas phase transition in a suitable volatile fluid. This allows for large deformations up to 300% area expansion within response times of a few milliseconds. A few degree temperature change, readily provided by the warmth of a human hand, is sufficient to reliably trigger the actuation. Experiments are compared with the appropriate theory for a model actuator system; this provides design rules, sensitivity, and operational limitations, paving the way for applications ranging from object sorting to intimate human-machine interaction.

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“…Considering these desirable features, they are widely used, ranging from pneumatic applications in medical and health-care robotics to wave-handling systems to transport delicate objects in industry. [19][20][21] All the mentioned examples would benefit from the increased response speed. To demonstrate the underlying potential, we present prototypes utilizing the snap-through instability of a balloon.…”

Section: Introductionmentioning

confidence: 99%