12. Soft Robotics¶

more in Archigram and Utopian bubble architecture https://hiddenarchitecture.net/cushicle-and-suitaloon/

Week Assignment¶

Weekly Quest

LEACTURES BY CHAMBERS AND ADRIANA CABERA

more info on week 12

Check out the weekly assignment here

Learning Outcomes	Description
Research Skills	Acquired knowledge through references and concept development
Design Skills	Learned through sketches, 2D and 3D modeling, parametric modeling, and electronic skills, simulation
Fabrication Skills	Capable of executing from file to production workflow, molding and casting, vinyl cutting, laser cutting
Documentation	Ability to document the process for others to understand and reproduce
Final Outcome	Assembling, functioning, and completing the project
Originality	Design has been thoroughly thought through and elaborated

Student Checklist:

Document the concept, sketches, references, and references to artistic and scientific publications.
Make a soft robotic sample, develop the pattern for the inflatable, and draw a sketch of the air flow:
Build a pneumatic wrist brace (basic level) or
Build a Soft Gripper (intermediate level) or
Build and document a pneumatic, digitally controlled system, electronics schematic, electronic control, and code (advanced level).
Design your own version of an inflatable/soft robot.
Experiment with different materials, such as silicones, 3D printing, parchment paper, thermoadhesive vinyl, TPU fabrics, bioplastic, and document your achievements and unexpected outcomes.
Make a small video of your inflatable/soft robot working.
Upload your digital design files (if any).
Build the electronic circuit to control your inflatable/soft robot (extra credit).

Research & Inspiration¶

my Objective

The objective for this week was to explore various methods of creating space within the realm of soft robotics. I was particularly drawn to the concept of an inflatable tent, envisioning it as a secure space that allows for unrestricted movement, providing a portable "home." My focus was on understanding bending actuation to generate concave shapes and volume. I initiated a series of experiments using vinyl heat press sheets and baking paper to craft my prototype inflatables. Looking ahead, I plan to advance to the laser cutting machine, leveraging its ability to "de-focus" and weld two layers of TPU, enabling the creation of more intricate designs. I'm eager to progress in this direction.

Actuations to explore: contraction in / out put / deflated / inflated / bending / twisting / expanding

MOOD BOARD PINTREST

my inspiration

Tomas Saraceno:

Notes¶

Soft Robotics 101

Soft Robots: Soft Actuation: Soft robots use systems that are compliant and flexible for actuation. This means they employ materials and mechanisms that allow for deformations and flexibility, in contrast to traditional rigid robotic systems.

What is "Soft"?: In the context of soft robots, "soft" refers to the pliability, flexibility, and compliance of materials and structures. Soft materials, such as elastomers and flexible polymers, enable robots to deform, stretch, and adapt to their environment.

What is "Robotics"?: Robotics is a multidisciplinary field that involves the design, construction, operation, and use of robots. Robots are programmable machines capable of carrying out tasks autonomously or semi-autonomously. Robotics encompasses various aspects, including mechanical design, electronics, computer programming, and artificial intelligence. In the context of soft robotics, the focus is on creating robots with compliant and deformable structures.

Types of Actuations:

Type	Description
Soft Robots	Systems that are compliant and flexible. Have a feedback sensory and control system
Soft Actuators	Systems that are compliant and flexible. Used for shape changes, joining, and locomotion
Fluidic	Actuated by fluids
Biological	Mimicking biological movements or structures
Thermal	Actuated by temperature changes
Chemical	Responsive to chemical stimuli
Magnetic	Actuated by magnetic fields
Hybrid	Combination of different actuation principles

notes from: emma-picanyol

BIOMIMETICS

Biomimetics, or biomimicry, is a multidisciplinary field focused on studying and emulating natural biological systems to solve human challenges and design innovative technologies. It involves drawing inspiration from the structures, processes, and functions evolved in living organisms over time. Biomimetics spans various fields, including materials science, robotics, medicine, and architecture. The goal is to create sustainable and efficient solutions by mimicking the efficiency, resilience, and adaptability found in nature. Examples include Velcro inspired by burrs and streamlined vehicles based on fish hydrodynamics. The ultimate aim is to develop technologies that harmonize with the environment.

(Mimiking things from nature: exampple grass and vine clibmers amazing example in nature)

VOCABULARY

Bend
Stretch
Expand
Rotate
Shrink
Float
Roll
Fall
Rebound

Nature and Technology

Robot ---> Natural System Artificial Muscles ---> Natural Muscles

Actuation in Nature examples:

open and close petals in response to light and heat
hydrospopic
high moisture and low moisture
hinge mechanism

TYPES OF STIMULI OF SOFT ACTUATORS:

ACTUATORS	Description
Fluidic	Responsive to fluid flow
Chemical	Responsive to chemicals
Biological	Mimicking biological systems
Thermal	Responsive to temperature
Electric	Responsive to electrical signals
Magnetic	Responsive to magnetic fields
Hybrid Systems	Combination of multiple stimuli

How does inflatable dome work?

Air blowers continuously pump air into the structure, maintaining the proper air pressure to keep the dome inflated and structurally sound. Cooling or heating HVAC units can also be used to adjust air temperature. Air-lock doors maintain pressure while handling pedestrian traffic.

bio-inspired octopus robot by J.Fras, Y. Noh,....
bubble CASTING
CREATING BUBBLES, TRAPPING AIR, MORPHING SHAPES
FLUID ACTUATED
pneubotics
CHECK THIS OUT: THERMOPLASTIC ELASTOMER TPE stacked balloon actuators

WHERE AND WHY SHOULD WE USE IT??

Unstruction Enviroments ! (eg: Otherlab pneubotics)
FOAM (fluid-drivien origami-inspired artificial muscles)
(eg: Wyss Institute, harvard SEAS MIT CSAIL)
IS SUBSTRACTION ALSO IS AN IDEA OF "INFLATING"
LIGHT-WEIGHT SKELETON AND MORE HEARVIER "SKIN" --> MIMICKING NATURE BIRDS FOR EXAMPLE
BIO-DESIGN
ROOTS IN ART AND ARCHITECTURE
FURL - SOFT PNEUMATIC PAVILLION (kinetic deisgn responsive to the space)
APOSEMA - SOFT ROBOTIC MASK (emotions read)

Design Patterns: (adriana cabrera)

stripy
curling
twisintg
square
double folding...

(eg: soft skeleton Elehphant project)

(eg: Julie Taris inflatable hood laser sealed fabriacademy 2017)

(eg: Saskia Helinska fabriacademy 2021)

INFLATABLES (BIG SCALE)

MIT printflatables- tangible media TECHNIQUE:

Honeycomb structure gel inside

SOFT ROBOTICS 101

Textile Futures Bradley Quinn EXOSKELETONS

Fluid Actuators¶

Key Features and Concepts:

Fluid actuators in the field of soft robotics are devices that utilize the principles of fluid mechanics to generate motion or force. Unlike traditional rigid actuators, fluid actuators are designed to be compliant, flexible, and deformable. These actuators are often composed of soft materials, allowing them to mimic the flexibility and adaptability found in natural organisms.

Intro:

Fluid actuators are typically made of soft materials such as elastomers or flexible polymers. This design enables them to deform and adapt to their surroundings.

Working Principle:

These actuators operate based on the manipulation of fluids, often air or liquid. Changes in fluid pressure or flow induce deformations in the soft structure, resulting in movement or force generation.

Types of FLUID Actuators:

Pneumatic Actuators: Use compressed air to drive motion.
Hydraulic Actuators: Utilize liquids, usually oil, for generating movement.
Bio-Hybrid Systems: Combine biological components with fluidic elements for enhanced functionality.

Applications:

Soft Robotics: Fluid actuators play a vital role in the emerging field of soft robotics, where their compliance is advantageous for tasks in unstructured environments.

Biomedical Devices: The flexibility of fluid actuators makes them suitable for applications in medical devices, such as soft grippers for delicate object manipulation.

Chemical Actuators¶

contraction in / out put / deflated - inflated

Chemical actuators in the field of soft robotics are devices that undergo shape changes or movement in response to chemical stimuli. Unlike traditional mechanical actuators, which rely on physical forces or electricity, chemical actuators respond to specific chemical signals. These actuators often utilize materials that undergo reversible chemical reactions, leading to changes in their properties and resulting in controlled movements.

Principle of Operation: Chemical actuators operate based on the principles of chemical reactions. When exposed to certain chemicals or environmental conditions, these actuators undergo transformations that cause them to change shape, expand, contract, or exhibit other controlled movements.

Material Selection: Soft robotic systems employing chemical actuators often use smart materials, such as hydrogels or polymers, that are responsive to changes in pH, temperature, or the presence of specific chemicals.

Applications: Chemical actuators find applications in various soft robotic systems, including drug delivery devices, biomedical implants, and environmental sensors. Their ability to respond to specific chemical cues makes them suitable for tasks where precise control and adaptability are essential.

Flexibility and Adaptability: Soft robotics, including chemical actuators, are known for their flexibility and adaptability to complex environments. This makes them suitable for tasks that traditional rigid robotics may struggle with.

REFERENCES:

Electroactive Actuators EAP:
(eg: UC San Diego - Jacobs school of engineering)

Magnetic Actuators¶

Field activated electroiactive polymers
mckibben muscles
weaving knitting tunable force and strain
active textile made of thin mckibben muscles tubing think artifical muscles tube diy
materials : cellulose "paper" actuation nd drying

Magnetic actuators in the realm of soft robotics are devices that generate controlled movements or deformations in response to magnetic fields. Unlike traditional mechanical actuators, which rely on direct physical contact, magnetic actuators exploit the interaction between magnetic fields and materials with magnetic properties. This approach allows for wireless and contactless manipulation of soft robotic components.

Working Principle: Magnetic actuators operate based on the principles of magnetism. When exposed to an external magnetic field, materials with magnetic properties within the soft robotic system experience forces that induce movement, deformation, or changes in shape.

Material Selection: Soft robotic systems using magnetic actuators often incorporate ferrous or magnetically responsive materials, such as ferrogels or magnetic elastomers. These materials can undergo reversible deformations in the presence of magnetic fields.

Applications: Magnetic actuators find applications in various soft robotic designs, including medical devices, minimally invasive surgery tools, and targeted drug delivery systems. Their ability to operate without direct physical contact makes them suitable for applications where precision and non-intrusiveness are crucial.

Wireless Control: One of the significant advantages of magnetic actuators is their wireless and remote controllability. By manipulating the strength and direction of the magnetic field, operators can precisely control the movement of soft robotic components.

Soft and Flexible Design: Soft robotics, including magnetic actuators, are known for their compliant and flexible structures. This allows for adaptability to complex environments, making them suitable for tasks where traditional rigid robotics may be impractical.

Equipment

MATERIALS WE CAN USE:

fabrics
paper/cardboard
TPU/TPE foile
TPU filament
Silicon Rubbers
Gelatin
HEAT PRESS
LASER CUTTER
VINYL
TRASH BAGS
MOLDS
SILICON
GELATIN BIOBASED MATERIAL

Workflow & Experiments¶

Thermovinyl + Heat Press Inflatables

Bending Actuation with Vinyl

Explosion Actuation

Materials: Heat press vinyl, baking papeer, scissors, PTU, straws, air compressor, inflation pump, silicone, gelatine, moulds

The initial focus was on bending actuation as a key technique. Utilizing a heat press, we experimented with vinyl as the primary material. The method involved using baking paper to draw and cut our design, placing it between two vinyl layers. However, we encountered challenges with the material's durability, resulting in holes upon application of pressure. A crucial lesson emerged: leaving only one film on the two vinyl layers significantly improved the material's integrity.

Looking at Durability and Strength

This part of my experiment showed me how important it is for inflatable structures to be tough. They need to handle weight, different weather conditions, and just be sturdy overall. Understanding these things will help figure out how these inflatable structures can be used in real life. This experiment taught me a lot about how materials work and how important it is for things to be strong and reliable.

Thermovinyl Inflatables: Step-by-Step¶

Materials:

Materials: Heat press vinyl, baking papeer, scissors, PTU, straws, air compressor, inflation pump, silicone, gelatine, moulds

_ 1 Make design on baking paper (ensure you leave a blow opening) and create vinyl outer design

_ 2 Place baking paper design inbetween vinyl (both shiny sidees facing out and matt sides in) + wrap in baking paper

_ 3 Put in heat press (140 degrees C for 15 seconds)

_ 4 Take out + peel off plastic protective layer carefully + ready to inflate!

(credits Stephanie Johnson) https://class.textile-academy.org/2024/stephanie-johnson/assignments/week09/

Hints and pointers

Add a little nugget to the outside to help you insert a straw or tube later to "actuate" the inflatable
Welding lines should be about 5x5 mm at least so make sure to give a 5mm outside margin, and don't make the welding shapes too small. the shiny sides of the vinyl should be on the outsides, the matte side facing in.
The baking paper is sandwiched between.
Laser cut the baking paper, or TPU if you want
Do not lasercut the thermovinyl! (releases chlorine)
Put this sandwich between two sheets of baking paper and heatpress until the the two sides are welded together. This goes pretty fast, take care not to burn it 140 degrees Celcius is a good start.
Peel off one or both sides (suggest only one) of the rigid plastic (it will have different results!)

credits (tips suggested loes bogers research)
(https://class.textile-academy.org/2020/loes.bogers/assignments/week12/)

Laser Welding

Material used: TPU

Laser Settings for Welding: Speed: 95 Power Max: 30 Power Min: 10

In my opinion, the most successful experiment involved the star design, TPU material and laser welding. Unfourtunaly they two versions I did both had some issues: the first one was a very close and tight design and air couldn't move properly, whilst the second was itirated and imporved but i was so excited that i tried the air compressor to give it a nice pump and it exploded....

CUT LINE

100 - Speed 35 - Power Max 10 - Power Min

WELD LINE

80 - Speed 40 - Power Max 10 - Power Min

OR

95 - Speed 30 - Power Max 10 - Power Min

Use all the jigs (38 mm) to unfocus laser

(credits Stephanie Johnson) https://class.textile-academy.org/2024/stephanie-johnson/assignments/week09/

[Javier Alboguijarro] (https://class.textile-academy.org/2022/saskia-helinska/finalproject.html)

Silicon Molds

We used the PLA mold for the gripping actuator we found at the FabLab that belonged to Samson, a Fab Academy student from the previous year. Looking at his documentation, he used this model to print the mold.

We printed the PLA mold for the bending actuator that was made Fabricademy 2022 by Saskia Helinska.

^this is for the source files of molds we used in silicone and gelatine casting.

(credits notes Asli)

Reflections¶

Reflection

Upcycling Plastics

I tried to reuse plastic packaging by melting different materials, including items from our class. It was tough at first, especially with regular trash bags, teaching me how crucial it is to choose the right materials for the job.

Inspired by Javier's research, I will want to experiment with biodegradable trash bags in the future. These are known to work well with laser cut machines. You can learn more here.

Aspiring for the Future - Bioplastics and Beyond

Looking forward, my focus shifts to future aspirations. I dream of using bioplastics to create an inflatable home, demonstrating the potential for sustainable and eco-friendly applications in soft robotics. This step goes beyond experimentation, aiming for tangible and impactful outcomes.

Tips

TIPS:

TPU IS QUITE A DELICATE MATERIAL TIP NEVER USE A COMPRESSOR MACHINE FOR BLOWING AIR.. IT EXPLODES...

VYNILE HEAT PRESS TIP KEEP ONE LAYER OF THE CLEAR (RIGID) PLASTIC FOR BETTER DURABILITY

PLASTIC TRASH BAGS DIDN'T WORK.. HAVE TO STILL TRY "BIODEGRADABLE" SUPERMARKET TRASH BAGS...JAVIER TESTED THEM IN SPAIN AND WORKED...LET'S HOPE IN AMSTERDA IT'S THE SAME.

Another critical aspect surfaced during experimentation the durability and tenacity of the inflatable structures. The need for these structures to withstand factors such as body weight, environmental conditions (water, wind, humidity), and overall robustness became evident. Failures in this phase underscored the necessity of considering these factors for practical applications of inflatable structures.

Results¶

Favorite Outcome

UPCYCLING INFLATABLES ---> HEAD PIECE

Tools¶

Files

Hacks

center images and text:
mp4 in loop:

(((

(. . )

)))

HYPERLIKNG IN A SENTENCE:

((( Check out the weekly assignment [here] (http://fabricademy.fabcloud.io/handbook/assessment/criteria/#12-soft-robotics) )))

Future References¶

Dig Deeper

Inspired by the ecological philosophy of Félix Guattari and the visionary thinking of architects and theorists such as Buckminster Fuller, Peter Cook, and Yona Friedman (tomas saraceno)

Future Directions: HOW TO BLOW YOUR INFLATABLE? Exploring Inflation Methods for Eco-Friendly Soft Robotics

BRANCHIE Concept :

FACEBOOK 2013: Ooh I just had idea for the Bio-Engineering page - how about a biological gills-to-respirator ?device? Where it would filter O2 from the water so you could breathe it... Or even a non-biological gills-to-lungs machine. That'd probably be a nice step towards underwater bio-domes (self sustaining ecosystems). I'd think most any Seastead that gets going would have at least some underwater sections to it, and completely underwater Seasteads could be a huge part of our near future

Manual Inflation:

Exploring the feasibility of manual inflation methods ensures simplicity and accessibility. This approach aligns with the goal of creating portable and user-friendly inflatable structures. Techniques such as hand-pumping or manual compression may be investigated for their practicality.

Mechanical Inflation:

Incorporating mechanical systems for inflation introduces a layer of automation. This could involve designing mechanisms that can be operated by hand or by a mechanical device, providing a balance between user control and efficiency.

Electrical Inflation:

The use of electrical systems, including small fans or blowers, opens up possibilities for rapid and controlled inflation. However, the challenge lies in balancing the energy consumption to maintain eco-friendliness. Exploring energy-efficient components and technologies will be crucial

Solar-Powered Inflation:

Embracing solar panel energy for inflation aligns with the commitment to sustainability. Integrating solar-powered systems not only reduces the environmental impact but also enhances the autonomy of the inflatable structures, making them suitable for various settings.

Hacking Existing Objects:

A creative approach involves repurposing and hacking existing objects for inflation. Consideration is given to objects like leaf blowers, hair dryers, small fans, or fish tank air blowers. This method not only reduces the need for new components but also taps into readily available resources

Environmental Considerations:

Each method of inflation will be evaluated against environmental criteria, including energy efficiency, recyclability of components, and overall ecological impact. The goal is to minimize the carbon footprint throughout the lifecycle of the inflatable structures.

Integration of Solar Energy:

Incorporating solar panels to harness renewable energy for the inflation process. This not only aligns with sustainability goals but also enhances the versatility of the inflatables, making them suitable for off-grid or outdoor scenarios.

BE CURIOUS

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