8. Soft robotics¶
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¶
Estimated air flow
cut by scissors
place line of paper for air intake
ironing by placing aluminum foil on the top
inflate air by pump
Inflator bends steeper with wider middle part of trench width case.
Inflatable Silicon¶
Wendy mold Pattern¶
Tools
- Silicon: Ecoflex 00-30
- 3D Printer: Bambu Lab P1S
- cups, vinyl gloves, stir stick, scale
- Pump + Batteries
- Tube
- tooth pick
- air bulb
Step
*1. Wendy mold model 3D printing with Bambu Studio
*2. Prepare the mold and flat plate with sticks (as a frame to keep silicone on the plate).
*3. Pour equal amounts of Ecoflex liquid A and liquid B into each cup.
*4. Mix them together and slowly stir with a stick for approximately 3 minutes.
*5. 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.
*6. Leave them for 4 hours. It hardens quicker in warm condition.
*7. Remove the silicone from mold.
*8. 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.
*9. Leave it for 4 hours.
*10. Spear the side wall with tooth pick at the center of middle channel to make the air intake.
*11. Insert the air bulb into the hole of molded silicone and connect with tube to the air motor.
Starfish like Shape Pattern¶
Followed same 1.--6. steps as above.
*7. Remove the silicone from mold.
Followed same 8.--10. steps as above.
*11. Insert the air bulb into the hole of molded silicone and connect with tube to the air motor.
18 bumps channel Pattern¶
*1. 18 bumps channel patterned design down loaded (Introduced by Kae)
*2. Laser cut acrylic for "18 bumps channel pattern".
*3. Fixing 18 bumps channel position with acrylic bond.
Acrylic bond is actually melting acrylic. Therefore, use syringe to place the liquid spread into the gap between plates you want to stick.
*4. Followed same 3.--6. steps as above.
*7. Remove the silicone from mold.
*8. 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.
Then, regretted that the silicone placed on the backside of flat lid started pouring into the bumps trenches!
I had to get lid of all silicone happened to pour into the trenches with kitchen paper. Then, used brushes to paint just on the edges of trenches to stick the lid.
*9. Leave it for 4 hours.
*10. Spear the side wall with tooth pick at the center of middle channel to make the air intake.
*11. Insert the air bulb into the hole of molded silicone and connect with tube to the air motor.
For vehicle cabin application¶
I added an application idea into my NDA folder.