8. Soft robotics¶
My target this week;
develop haptic posture awareness and breath controlling system
Learning outcomes¶
- Research skills: the participant has acquired knowledge through references and Concept development
- Design skills: the participant has learnt through sketches, 2D and 3D modeling, simulations and (paper) prototypes
- Fabrication skills: the participant is able of executing from file to production workflow, molding and casting, vinylcutting, laser cutting
- Documentation: Anyone can go through the process, understand it and reproduce it
- Final outcome: Is the project assembled, functioning and complete
- Originality: Has the design been thought through and elaborated?
Student checklist¶
- Document the concept, sketches, references (also to artistic and scientific articles)
-
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 silicone, 3d printing, parchment paper, thermoadesive vynil, TPU fabrics, bioplastic, 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¶
I was very much inspired by following projects mostly done in MIT-Media Lab Tangible Media Group.
FibeRobo:Jack Forman, et al in MIT Media Lab / MIT-CBA
OmniFiber:Ozgun Kilic, et al in MIT Media Lab
aSpire:Kyung Yun Choi, et al in MIT Media Lab
Auto-Inflatables:Penny Webb, et al in MIT-Media Lab
aeroMorph:Jifei Ou, et al in MIT-Media Lab
References & Inspiration¶
Process and workflow¶
Inflatable vinyl sheet¶
Considering Soft Robotics for seat shoulder area additional support, I started my work by following one of above page's work.
Tools
- Thermo transfer vinyl sheets
- Kitchen paper
- Pump + Batteries
- Tube
- Iron (to heat the vinyl sheets)
- Scissors
Step
1. Design and print out patterns
2. Put Kitchen paper on the printed pattern paper and trace the pattern on kitchen paper.
3. Cut the traced pattern with scissors.
4. Place thermo transfer vinyl sheets by sandwiching the pattern traced kitchen paper.
5. Heat by pressing the sandwiched set with iron.(around 120C-deg).
Holding Shape Pattern¶
Inflatable Silicon¶
Tools
- Silicon: Ecoflex 00-30
- 3D Printer: Bambu Lab P1S
- cups, vinyl gloves, stir stick, scale
- Pump + Batteries
- Tube
- tooth pick
- air bulb
Step
- Prepare the mold and flat plate with sticks (as a frame to keep silicone on the plate).
- Pour equal amounts of Ecoflex liquid A and liquid B into each cup.
- Mix them together and slowly stir with a stick for approximately 3 minutes.
- Pour the silicone(mixed liquid) very slowly into the mold and flat plate so that there is no bubbles left. If necessary, tap the molds until bubbles disappear.
- Leave them for 4 hours. It hardens quicker in warm condition.
- Remove the silicone from mold.
- Mix Ecoflex A and B to seal the molded silicone. Put the mixed liquid on the silicone surface from flat plate and place the silicone from the mold on to it.
- Leave it for 4 hours.
- Spear the side wall with tooth pick at the center of middle channel to make the air intake.
- Insert the air bulb into the hole of molded silicone and connect with tube to the air motor.
Starfish like Shape Pattern¶
Tools¶
My hand drawn sketches are ... Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis aute irure dolor in reprehenderit in voluptate velit esse cillum dolore eu fugiat nulla pariatur. Excepteur sint occaecat cupidatat non proident, sunt in culpa qui officia deserunt mollit anim id est laborum.
Step¶
This model 1 was obtained by..
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Step¶
The laser cut nesting 2 was created using..
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Step¶
...
My hand drawn sketches are ...
This model 1 was obtained by..
The laser cut nesting 2 was created using..
footnote fabrication files
Fabrication files are a necessary element for evaluation. You can add the fabrication files at the bottom of the page and simply link them as a footnote. This was your work stays organised and files will be all together at the bottom of the page. Footnotes are created using [ ^ 1 ] (without spaces, and referenced as you see at the last chapter of this page) You can reference the fabrication files to multiple places on your page as you see for footnote nr. 2 also present in the Gallery.
3D Models¶
upload the 3d models of MakeHuman, Final 3d modelled body, 3D Scans, etc
This schematic [^4] was obtained by..
This tutorial [^5] was created using..
footnote fabrication files
Fabrication files are a necessary element for evaluation. You can add the fabrication files at the bottom of the page and simply link them as a footnote. This was your work stays organised and files will be all together at the bottom of the page. Footnotes are created using [ ^ 1 ] (without spaces, and referenced as you see at the last chapter of this page) You can reference the fabrication files to multiple places on your page as you see for footnote nr. 2 also present in the Gallery.
Code Example¶
Use the three backticks to separate code.
// the setup function runs once when you press reset or power the board
void setup() {
// initialize digital pin LED_BUILTIN as an output.
pinMode(LED_BUILTIN, OUTPUT);
}
// the loop function runs over and over again forever
void loop() {
digitalWrite(LED_BUILTIN, HIGH); // turn the LED on (HIGH is the voltage level)
delay(1000); // wait for a second
digitalWrite(LED_BUILTIN, LOW); // turn the LED off by making the voltage LOW
delay(1000); // wait for a second
}
Results¶
Video¶
From Vimeo¶
Sound Waves from George Gally (Radarboy) on Vimeo.