8. Soft robotics¶

Research and Ideation¶

Soft robotics is built around the idea of making robots more like living organisms — flexible, adaptable, and safe to interact with humans and the environment.

Soft Actuators:¶

Instead of rigid motors, soft robots use pneumatic, hydraulic, thermal, chemical, or electrical systems to create motion. Translating energy into motion Pneumatic - Compressed air Hydraulic - Liquid pressure (eg. water, oil) Electric - Electric energy (heat)

Soft Sensors:¶

Soft sensors measure deformation, pressure, temperature, or touch while remaining flexible and stretchable. Gain information from the environment, wearer or textile itself For example: temperature, moisture, pressure, heartrate, strain etc.

Soft grippers¶

End effectors (the “hands” of robots) Made of soft, compliant materials that can adaptively grasp objects of various shape and fragility.

There are different ways and energy sources we can use to create these actuators and sensors. Highly inspired by nature designers and scientist have found inspiration in muscles, origami and nature in general. Here are some examples of movement techniques:

Soft robots

Origami actuators

Modular soft robots

https://www.youtube.com/watch?v=M9QT-2Ms1UY

Artificial muscles

Bio mimicry¶

Bio-mimicry in soft robotics involves designing robots that imitate the structures, movements, and functions of living organisms. By studying nature, engineers create machines that move and adapt like animals or plants. For example, soft robotic arms inspired by an octopus tentacle can bend and wrap around objects with great flexibility, while designs based on worms or fish allow robots to crawl or swim through tight spaces. These bio-inspired systems use flexible materials and gentle actuation to achieve smooth, natural motion. Through bio-mimicry, soft robots become more efficient, adaptable, and capable of safely interacting with both humans and delicate environments.

Biomimicry examples

References & Inspiration¶

Scaling and multiplying robotic and kinetic scultures and movements, these studios and artist all create immersive instalations using soft robotics. The works become inverionment and creates feeligns of the robotics not only being a tool, but a whole existince in them/itself.

Morakana - link

Histolysis is a kinetic installation in recursive, slow-motion transformation. A delicate, root-like structure pulsing in peristaltic rhythms. Evoking digestion, decay, renewal.

Studio Drift - link

I Am Storm is an immersive artwork which represents the gusts of wind in a field of grass. Rooted in DRIFT’s fascination with the mesmerising rhythms of nature, this artwork draws on the essence of wind. The majority of plant species are dependent on this power: without wind there would be no waves, pollination or rain. Nothing on this planet would move.

Casey Curran - link

create kinetic environments with an internal logic and history often propelled by a simple hand crank.

A.A.Murakami - link

An artist duo based in Tokyo / London, renowned for their innovative sensory installations that explore the profound connection between art and nature.

Rhoda Ting & Mikkel Bojesen - link

Throughout their work, Nature and Culture, Natural and Synthetic and Pure and Feral exhibit undefined boundaries and Life in an open ended synthesis.

Tools and Materials¶

Tools¶

3D-printer
Heatpress
Iron
Cricut
Scissors
Airpumps
Lasercutter

Materials¶

Vinyl
Silicone
TPU fabric
Organza fabric
Baking paper
Interfacing
Tubing
Waterproof fabric

Process and works¶

I created a lot of different tests and getting to know the processes and materials using the heatpress and cutting materials by hand. The works were pressed for 25 seconds at 285 Celcius.

Samples¶

Waterproof fabric - interfusion (vliesofix) opposite from baking paper - waterproof fabric = works
TPU - bakingpaper - TPU = Works
TPU - baking paper - TPU = works
TPU - 2 layers of lycra fabric - TPU = works
Vinyl with small viny pockets - baking paper - vinyl = works (very small)
Waterproof fabric orange - Vinyl - waterproof fabric green - works (on this scale, we scaled it up and the vinyl would not glue well enough on the top side)
Waterproof fabric - Vinyl - waterproof fabric
TPU - 2 layers of oganza fabric - TPU = works

TPU inflatable¶

I tried to create even more 3D formes using tge tpu and melting different shapes together. I had to attempt this twice, since the fotst try i accidently melted parts together which werent supposed to. It is crucial to remember the bakingpaper between parts that should not fuse together.

Lasercut velding/cutting on TPU¶

It is really hard to hit the right parameters for velding on the laser-cutter because the laser has to be out of focus and move at a constant speed, we made an attempt anyways. It went ok, but there were holes in the veldings and the piece were only able to hold air while keeping a constant airflow

Lasercut TPU with fabric¶

I also tried cutting out a design in TPU and laying 2 pieces of organza in between the TPU parts and then heatpressing them for 25 seconds at 285 Celcius. The organza was more losely woven than my earlier tests fabric and the TPU went through the fabric and velded the peice together through areas of the fabric. This would work with a closer woven fabric.

Cutting the TPU Spd/Pwr 160/25
Cut TPU
Cutting the fabric two layers at a time to veld their edges together and they are easier to lay out later. Organza Spd/Pwr 100/15
The files were divided in colors dependig on material
Afterwards i layered everything out by quickly heating one side of organza to the one side of the TPU.
The baking paper was added in areas I did not want to veld the TPU together (the fringes)

the setting for cutting and velding was:

cutting baking paper Spd/Pwr 100/20
cutting TPU Spd/Pwr 160/25
cutting organza Spd/Pwr 100/15
Velding TPU Spd/Pwr 180/45 OUT OF FOCUS (approx 5mm)

You can also do the velding with the 3D printer - saskia did a very nice description on this link

Silicone soft robot¶

We created silicone soft robots using lasercut or 3D printed molds.

The process:

Mix 1:1 Ecoflex A and B components - and do it well otherwise it won't cure
shake it or vacuum it to get rid of bubbles
Poor steady and slow to avoid bubbles when pooring into the molds for top and bottom
shake again (we used the vibration from the airpressure pump)
let cure for 4 hours
mix new mixture of ecoflex and use it to glue together the top and bottom layer
let cure for 4 hours

From Vimeo¶

Link from Alessia Talo

3D print TPU with hydragels¶

Asli designed two 3D printing files for TPU containers that we could experiment with hydrogels with. First form was had chambers in one row and was connected through the chambers in a twisting order so they would be able to twist when the hydrogels expanded. OBS: The TPU has tempererature sensible and change colors.

Printing the layers stopping them before adding the top layer
Adding Hydrogels
Top layers are printed with loose uínfill so water can get in. Closed 3D print with hydrogels are placed in water for observation.

IT WORKED! some hydrogels spilled little because the print had cooled down a bit too much before the last layer was printed and didnt fuse fully. But overall it worked and not a lot of hydrogels are neede. They expand a lot.

We also did a test with another form that was a 3 legged 'star'. This one roled op and closed very nicely when filled with hydrogels and sinkied in water. The problem with these can be that the motion only work one way probably. We are waiting to see what happens when the hydrogel dries up again and if the process can be repeated. In general it is a slow motion created with the hydrogels.

Alginate Bubbles¶

We also tried making bubbles with alginate

The Process:

Attach Denim or thick breathable fabric was to an embroidery ring.
Spray with calcium cloride (cures the alginate)
add Alginate
let dry op to it lets go of the edges of the ring. Make sure you sprayed them with calcium cloride too
Spray alginate withvcalcium cloride
poke a hole to insert tube with a valve for air flow and holding the air in.
insert pipe and spray with calcium cloride around the hole to close it around the tube
spray calcium cloride inside the bubbke (through the tube if you can)
Fill with air - keep blowing up once in while

From Vimeo¶

Link from Alessia Talo