Proposal of artistic expression through the intersection of computational design, biology and digital fabrication.
Molding
Parametric design, Laser cut molds
Soft robot
Soft structure,Ecoflex silicon
Mechanical control
Air pump motor, solenoide
Electronics and code
Board design, code
Proposal
The proposal is based on an interactive wearable that reacts with movement, as a form of artistic expression, imitating animals that are capable of voluntary self-transformation.
The project is carried out through computer design and digital fabrication, using the soft robotics technique.
Soft interective wearable
Even though the human being is in a continuous process of internal transformation, I asked myself;
Would it be possible to transform ourselves externally as well as the self-transforming beings?
My objective has been to answer these questions, proposing a form of non-verbal expression through transformation, using a garment like as a second skin that reacts voluntarily with inputs. Model: Melissa Rios
Ultransonic Sensor
The soft wearable has an ultrasonic distance sensor incorporated, which generates an interaction between the user and the environment. When an object or person is very close, the wearable reacts by swelling and expanding, and thus the body can transform by expressing a non-verbal reaction.
Texture
As they expand, wearable air bubbles simulate the skin of autotransformers, designed based on biomimicry inspired by the octopus of blue rings.
Oxman coined the term, and pioneered the field of, Material Ecology, which considers computation, fabrication, and the material itself as inseparable dimensions of design. In this approach, products and buildings are biologically informed and digitally engineered by, with and for, Nature.
I have always been attracted to those beings that are capable of modifying their shape and color, either as protection, defense, camouflage, or sexual purpose. I call them self-transforming beings.
Biomimicry
Biomimicry is learning from and then emulating nature’s forms, processes, and ecosystems to create more sustainable designs.
Research
Soft robots
First research
In firts instance I have based my personal references and observation on this species in particular Semibalanus balanoides, for the realization of the parametric design.The intention of the prototype was to generate a superior rigid structure and a soft structure in the interior where air bubbles could be seen coming and going from the holes. More details of the proposal in week 13.
For this 3D print model I have used the 3d ultimaker 2+ printer, with a new filament in transparent PLA, provided by the brand. I have selected this material to be able to add lighting at the base of the modules and take advantage of its translucent texture.
Test_ fluidic + air
The concept of self-transformation is based on form but also on color. Therefore I did the test where I could observe the behavior of the fluid in the soft robotic, the behavior of the air superimposed on the fluid, the behavior of the fluid superimposed on the air. The silicone layers are superimposed on one another so that the patterns between the two coincide.
Test_Chanching color
The voluntary color change can be controlled by the same channel system, but incorporating fluid, for this you need to generate an internal closed system, which allows the fluid to enter and exit with a peristaltic pump, which I could not achieve. In this case for the test, the color is injected by means of a syringe, which is connected by tubes that exert pressure with the liquid inside the soft robotic.
Octopus skin
In my search to imitate the skin of an octopus, I did a texture test, mixing drops of water with colorant in the ecoflex mixture, generating many bubbles and catching some liquid droplets between the silicone, giving an appearance very similar to that of the octopus. , also in the upper part I have also added a pattern, simulating the suckers.
Results
This is the detail of the texture test result, where you can open the drops of liquid trapped between the silicone.
For the design of molds I followed the tutorial Grasshopper voronoi attractor created by parametric house.
It has been an intensive process in the knowledge of the Grasshopper plugin, being able to parametrically adapt the design to the body of the prototype. The inspiration of the mold is based on the voronoi, imitating the pattern of the skin of the blue-ringed octopus.
I have used the rinhoceros for the design of the molds, which are divided into three layers, which must overlap each other.
For the design you should think about the flow of air, and the flow of liquid, as well as the size of the layers, not exceeding a thickness of 3mm of silicone.
In this graph we can visualize the different layers of the softrobotic, the number 1. is the layer or skin that closes the lower layer 2. with the channels where the air has to flow.
The layer 1 has a slight superior texture, in order to have a visual and tactile appearance closer to the concept of biomimicry.
Accesory design
This 3d model represents the access that the wearable must carry on the back with the board, the motors and the batteries with a design based on the same pattern of voronois. This accessory must be printed on ninja flex, or any flex filament to be comfortable and give mobility to the user.
int solenoidPin = 4; //This is the output pin on the Arduino we are using
void setup() {
// put your setup code here, to run once:
pinMode(solenoidPin, OUTPUT); //Sets the pin as an output
}
void loop() {
// put your main code here, to run repeatedly:
digitalWrite(solenoidPin, HIGH); //Switch Solenoid ON
delay(2000); //Wait 1 Second
digitalWrite(solenoidPin, LOW); //Switch Solenoid OFF
delay(2000); //Wait 1 Second
}
/*
* Ultrasonic Sensor HC-SR04 and Arduino Tutorial
*
* by Dejan Nedelkovski,
* www.HowToMechatronics.com
*
*/
// defines pins numbers
const int trigPin = 0;
const int echoPin = 1;
// defines variables
long duration;
int distance;
void setup() {
pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
pinMode(2,OUTPUT);
//Serial.begin(9600); // Starts the serial communication
}
void loop() {
// Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
if (distance<10){
digitalWrite(2,HIGH);
}
else{
digitalWrite(2,LOW);
}
}
Designing Board
Bodymimicry Board files
This board is an adaptation of Robert Hart original board, with whom I have had the privilege of working, at the Science Center Lab at Harvard, and whom I thank for all his time and patience and his unconditional support in this phase of the project.
The board can be controlled manually by pressing the buttons, which allow the softrobot to be inflated and deflated, or digitally programming the microcontroller.
Welding the softrobotic board
I have welded two different boards, one with a jack for the power supply, and the other without the jack to be able to connect directly to a 9v battery. Both boards allow the entry of two solenoids, and an input through the avrisp connection.
Bodymimicry electronic system
The final electronic system is based on the digital control of a solenoid, as output and the motion sensor as intput, both are connected to the board with an attiny45 microcontroller. The motor works independently connected to a battery. The system consists in that the solenoid lets the air that it receives from the engine pass or lets it escape depending on the serial it receives from the sensor.
UHC-SR04 Ultrasonic sensor + softrobotic
* Ultrasonic Sensor HC-SR04 and Arduino Tutorial
*
* by Dejan Nedelkovski,
* www.HowToMechatronics.com
*
*/
// defines pins numbers
const int trigPin = 0;
const int echoPin = 1;
// defines variables
long duration;
int distance;
void setup() {
pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
pinMode(2,OUTPUT);
//Serial.begin(9600); // Starts the serial communication
}
void loop() {
// Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
if (distance<10){
digitalWrite(2,HIGH);
}
else{
digitalWrite(2,LOW);
}
}
Materials
List
Thanks for the unconditional support to:
Stephanir Zopf, Dotun Ajewole, José Tomás Domínguez, Aleza Epstein,
Abhishek Bali, Nuria Robles, Anastasia Pistofidou, Cecilia Raspanti, Adriana Cabrera, Robert Hart, Michael Smith and Melissa Rios
