Soft Robotics With Self Healing And Sensing Capability Achieved By Digital Light Processing And Ionogels
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Soft Robotics With Self Healing And Sensing Capability Achieved By Digital Light Processing And Ionogels
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Author :
language : en
Publisher:
Release Date : 2023
Soft Robotics With Self Healing And Sensing Capability Achieved By Digital Light Processing And Ionogels written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023 with categories.
Physical Intelligence Enabled By Soft Robotic Systems
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Author : Jose Antonio Barreiros Flores
language : en
Publisher:
Release Date : 2021
Physical Intelligence Enabled By Soft Robotic Systems written by Jose Antonio Barreiros Flores and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Soft robotics is of special interest in the study of physical intelligence, aka. the intelligence that predominantly comes from the physical body and its morphology, due to the compliance of the materials and mechanisms. Soft systems have been demonstrated for complex motion, human-like sensing capabilities, morphing, self-healing, adaptation, and growth; which are abilities highly desirable in intelligent agents to endure the demanding working conditions of the real world. This dissertation explores the use of soft robotic systems as platforms to encode intelligent behavior in the body of the robot, and it presents examples of soft robotic system modules that could facilitate perception, controls and actuation in embodied AI agents, thus composing a better embodiment for them. In an advance for robotic haptic perception systems that could allow an agent to understand its embodiment and its interactions with the environment, I present 1) a self sensing membrane that estimate its deformation state based on capacitive readings and supervised learning models; 2) a stretchable optical fiber that maps bending, stretching and location of pressing into intensity and color of light; and 3) an optoelectronic robotic flesh that is scalable to cover the whole body of a robot and encodes deformation, temperature and damage stimuli into light. In an effort to facilitate controls and complex actuation in robots through means of physical intelligence, I present 1) a tendon driven actuator in which the actuation trajectory is programmed by the placement and number of tendons inside its body; and 2) a fluidic hyperelastic textile actuator that can inflate in complex 3D shapes by locally programming the mechanical properties of its membrane using digital embroidery. The challenges of artificial physical intelligence in soft robots, including fabrication, design, and simulation; and demonstrations of the system modules in real world applications are discussed in each chapter.
The Sensitive Soft Robot From Multimodal Skin To Self Healing Adaptability
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Author : Hedan Bai
language : en
Publisher:
Release Date : 2021
The Sensitive Soft Robot From Multimodal Skin To Self Healing Adaptability written by Hedan Bai and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Animals are evolved to acquire rich tactile sensations that allow them to adapt to and survive the changing environments. Robots built with conventional hardware, on the other hand, have yet to achieve the same level of sophistication for generally useful applications. In this dissertation, I present my work on a new class of multifunctional stretchable sensors that, taking inspirations from biology, provide rich tactile sensations for soft robots through novel designs combining optical sensing principles and functional organic materials. In the first part, I present stretchable distributed fiber-optic sensors (DFOS) that can resolve multimodal deformations to mimic the enabling distributed multimodal sensing function in skin's mechanoreception. With principles inspired by silica-based DFOS systems, stretchable DFOS exploits a combination of frustrated total internal reflection and wavelength-modulated absorption to distinguish and measure the locations, magnitudes, and modes (stretch, bend, or press) of mechanical deformations. We further demonstrate multilocation decoupling and multimodal deformation decoupling through a stretchable DFOS-integrated wireless glove that can reconfigure all types of finger joint movements and external presses simultaneously, with only a single sensor in real time. In the second part, I present autonomous self-healing and damage resilient stretchable optical sensors that enable soft robots to detect, adapt to, and survive damages via feedback control. Intrinsic self-healing materials can recover their mechanical properties post damages via dynamic bonds for infinite times autonomously or with external stimuli. Elasticity, toughness, and autonomous self-healing abilities are contradicting properties in self-healing elastomers to optimize simultaneously. Due to exacerbated viscoelasticity contributed by the dynamic bonds, self-healing stretchable electronic sensors suffer from drift, hysteresis and limited strain range. Combing optimization in material design and sensor design, a stretchable optical sensor has been achieved that autonomously self-heals in room temperature and provides dynamic measurements to 140% strain with no hysteresis or drift. Moreover, the sensor is damage resilient to substantial material removal by virtue of material toughness and optical sensing principle. A soft pneumatic quadruped with the self-healing sensors and self-sealing actuators is demonstrated to survive and adapt to sever damages.