Rubbery logic gates

Wilson, Katherine E.; Henke, Markus; Slipher, Geoffrey A.; Anderson, Iain A.

doi:10.1016/j.eml.2016.07.001

Cited by 19 publications

(16 citation statements)

References 23 publications

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“…It demonstrates how inkjet printing may be used to produce soft robots with many densely integrated actuators. By further developing techniques to also print sensors and logic, [ 69,70 ] it will be possible to print smart soft machines.…”

Section: Resultsmentioning

confidence: 99%

Inkjet Printing of Complex Soft Machines with Densely Integrated Electrostatic Actuators

Schlatter

Grasso

Rosset

et al. 2020

Advanced Intelligent Systems

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Soft machines consist of distributed and interconnected actuators, sensors, logic elements, and ideally a power supply, integrated in a stretchable body. Their intrinsic compliance makes them interesting for a wide array of applications, from soft robotics [1] to organs on a chip. [2] The field has seen rapid growth, in view of the versatility of soft machines, [3] their ability to replicate animal-like motion, [4-7] their intrinsic safety for human interactions, [1] resilience, [8-10] and the ability to use material compliance and elasticity as a means to both simplify control and add function. [11] Given the highly integrated nature of complex soft machines, and the need for many different materials for functional and structural elements, additive manufacturing is an appealing method both to create soft machines with multiple independent actuators and to rapidly tailor dimensions, material properties, and device functions to different tasks. [12,13] As a fully printed soft machine requires no assembly, circuits and systems too complex for manual fabrication and assembly become possible. Printing has allowed complex soft structures with advanced materials, [14] but the focus to date has been mostly on pneumatic structures (i.e., printed chambers) and strain sensors for soft robot end effectors. [12,15] With a few exceptions such as the Octobot, [16] liquid-crystal artificial cilia, [17] or ionic electroactive polymers, [18-20] nearly all printed actuators are pneumatically driven fluidic elastomer actuator (FEAs) devices requiring external air pressure connections to inflate or deflate the bladders. [1,21] Fluidic actuation requires elastomers with well-defined channels but needs no electrical elements. In contrast, including electrically operated actuators embeds the electromechanical conversion into the device and reduces the number of external components. However, it adds important requirements, such as printing magnetic materials or metal coils for electromagnetic actuation, resistive tracks for Joule heating, or dielectrics with a high electrical breakdown, absence of pin holes, and the need for high thickness uniformity if electrostatic actuation is used. Actuators with embedded electrical actuation have been realized using printing processes, either partially printed in combination with additional fabrication methods or fully printed. The first category includes ionic electroactive polymers actuators, with printed polymer layers, but metallic electrodes deposited by other methods. [18,20] The second category includes hybrid pneumatic and shape memory polymer actuators with integrated Joule heating [22] or fully printed ionic microactuators. [19] In this work, we use inkjet printing to produce complex soft machines with integrated electrostatic zipping actuators in a single process. We use a three-material printing process which

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Section: Resultsmentioning

confidence: 99%

Inkjet Printing of Complex Soft Machines with Densely Integrated Electrostatic Actuators

Schlatter

Grasso

Rosset

et al. 2020

Advanced Intelligent Systems

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“…Self-healing and self-correcting DEAs would no longer suffer from this fundamental flaw and provide future soft robots with hundreds of hours of high-deformation, high-strength actuation. Recent efforts have shown exciting progress using DEAs to blur the lines between soft robot logic control and actuation (Wilson et al, 2016). Blending actuation and control in fully integrated self-healing soft robotic systems may enable a new form of materials based logic where logic and actuation components can be cut apart and physically reprogrammed without any need for software, similar to other recent developments (Zhang and Soh, 2017).…”

Section: Future Prospects and Challengesmentioning

confidence: 94%

Self-Healing and Damage Resilience for Soft Robotics: A Review

Bilodeau

Kramer

2017

Front. Robot. AI

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Advances in soft robotics will be crucial to the next generation of robot-human interfaces. Soft material systems embed safety at the material level, providing additional safeguards that will expedite their placement alongside humans and other biological systems. However, in order to function in unpredictable, uncontrolled environments alongside biological systems, soft robotic systems should be as robust in their ability to recover from damage as their biological counterparts. There exists a great deal of work on self-healing materials, particularly polymeric and elastomeric materials that can self-heal through a wide variety of tools and techniques. Fortunately, most emerging soft robotic systems are constructed from polymeric or elastomeric materials, so this work can be of immediate benefit to the soft robotics community. Though the field of soft robotics is still nascent as a whole, self-healing and damage resilient systems are beginning to be incorporated into three key support pillars that are enabling the future of soft robotics: actuators, structures, and sensors. This article reviews the state-of-the-art in damage resilience and self-healing materials and devices as applied to these three pillars. This review also discusses future applications for soft robots that incorporate self-healing capabilities.

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“…Finally, the multifunctional energy storage paradigm we are attempting to codify can be further separated into passive and active control. Within these logic mechanisms there is further opportunity for multifunctionality; the structures themselves provide control (e.g., origami 148 , bistable beams 149,150 , and elastomeric actuators [151][152][153][154]. In this context, information processing becomes another material property embodied in the physics of the soft, architected structure; enabling local computations that seamlessly integrate the sense-decide-response chain 155,156 .…”

Section: Challenges and Future Advancementsmentioning

confidence: 99%

Towards enduring autonomous robots via embodied energy

Aubin

Gorissen

Milana

et al. 2022

Nature

Self Cite

114

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Autonomous robots are comprised of actuation, energy, sensory, and control systems built from materials and structures that are not necessarily designed and integrated for multifunctionality. Yet, humans and other animals that robots strive to emulate contain highly sophisticated and interconnected systems at the cellular, tissue, and organ levels, which allow multiple functions to be performed simultaneously. Here, we examine how nature builds to establish a new paradigm for autonomous robots with Embodied Energy. Currently, most untethered robots use batteries to store energy and power their operation. To extend their operating time, additional battery blocks must be added in tandem with supporting structures, increasing their weight and reducing their efficiency. Recent advancements in energy storage techniques enable chemical or electrical energy sources to be embodied directly within the materials and mechanical systems used to create robots. This perspective highlights emerging examples of Embodied Energy, focusing on the design and fabrication of enduring autonomous robots.

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Rubbery logic gates

Cited by 19 publications

References 23 publications

Inkjet Printing of Complex Soft Machines with Densely Integrated Electrostatic Actuators

Inkjet Printing of Complex Soft Machines with Densely Integrated Electrostatic Actuators

Self-Healing and Damage Resilience for Soft Robotics: A Review

Towards enduring autonomous robots via embodied energy

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