81 research outputs found
Sensorized Soft Actuator Datasets
No full textCalibration and evaluation dataset that was used by Scharff, 2019. With permission of the authors, this data has been made available with this article. The calibration dataset consists of the RGBC (red, green, blue, clear) measurements of the four color sensors and the corresponding 2D marker coordinates for 1000 different actuator configurations. The evaluation dataset consists of a video where the actuator interacts with a variety of objects in combination with the corresponding RGBC-measurements
3D-printed biomimetic artificial muscles using soft actuators that contract and elongate
No full textBiomimetic machines able to integrate with natural and social environments will find ubiquitous applications, from biodiversity conservation to elderly daily care. Although artificial actuators have reached the contraction performances of muscles, the versatility and grace of the movements realized by the complex arrangements of muscles remain largely unmatched. Here, we present a class of pneumatic artificial muscles, named GeometRy-based Actuators that Contract and Elongate (GRACE). The GRACEs consist of a single-material pleated membrane and do not need any strain-limiting elements. They can contract and extend by design, as described by a mathematical model, and can be realized at different dimensional scales and with different materials and mechanical performances, enabling a wide range of lifelike movements. The GRACEs can be fabricated through low-cost additive manufacturing and even built directly within functional devices, such as a pneumatic artificial hand that is fully three-dimensionally printed in one step. This makes the prototyping and fabrication of pneumatic artificial muscle-based devices faster and more straightforward.</p
A Soft Continuum Robotic Arm with a Climbing Plant‐Inspired Adaptive Behavior for Minimal Sensing, Actuation, and Control Effort
No full textA key challenge in designing soft continuum robotic arms is the realization of intelligent behavior while minimizing sensing, actuation, and control effort. This work investigates how soft continuum arms can benefit from mimicking the distribution of flexural rigidity of searcher stems in climbing plants to accomplish this goal. A modeling approach is presented to tune both the structural design and the tactile sensor design of a soft continuum arm inspired by the flexural rigidity distribution of Mandevilla cf. splendens’ searcher stems. The resulting soft continuum arm, named Mandy, can detect suitable supports along its length and twining around them using a single sensor and actuator. Through simulations and experiments, it is shown such behavior cannot be achieved with a soft continuum arm possessing uniform structural stiffness and a standard tactile sensor design. Thus, the significance of investing greater effort in structural design, leveraging biological data, to improve the design of soft continuum arms with more compact actuation and sensing hardware, is highlighted
Proprioception of GRACE artificial muscle utilizing macro-bending principle of fiber optics
No full textThe rapid growth of artificial intelligence (AI) and deep learning technologies has catalyzed transformative advancements across various domains, with Convolutional Neural Networks (CNNs) and Transformer models spearheading this evolution. Despite their potential, deploying these complex models on resource-constrained edge devices poses significant challenges, primarily due to inherent memory and computation bottlenecks. This thesis investigates innovative compute-in-memory (CIM) architectures aimed at addressing these challenges, with a particular focus on enhancing AI acceleration in edge environments. We present a suite of CIM designs, featuring SRAM-based CIM macros that utilize a time-current-based multiply-and-accumulate (MAC) mechanism, alongside a novel hybrid CIM architecture, which seamlessly combines SRAM and non-volatile Resistive RAM (ReRAM) technologies. These designs are crafted to minimize data transfer, boost energy efficiency, and preserve computation accuracy, all of which are essential for real-time AI applications on edge devices. The SRAM CIM design achieves high throughput and energy efficiency by embedding MAC and ADC operations directly within SRAM cells. In contrast, Hybrid CIM leverages the high density of ReRAM and the rapid processing capabilities of SRAM to enhance the computation speed, precision and resilience against device variations. Moreover, we propose a hybrid CIM accelerator architecture specifically optimized for the deployment of CNNs and Transformers on edge devices. This architecture integrates ReRAM and SRAM at a fine granular level and employs a differential sensing scheme to enable efficient and accurate parameter storage and retrieval. An algorithm-architecture co-design strategy is implemented to optimize the data flow of Multi-Head Attention (MHA) in the Transformer models, effectively alleviating I/O bottlenecks and improving scalability for processing long sequences. Experimental evaluations reveal that our design achieves remarkable energy efficiency and inference throughput, outperforming existing architectures and establishing itself as a promising solution for accelerating Al on edge devices.</p
Mechanochromic Suction Cups for Local Stress Detection in Soft Robotics
No full textAdvancements in smart soft materials are enhancing the capabilities of robotic manipulators in object interactions and complex tasks. Mechanochromic materials, acting as lightweight sensors, offer easily interpretable visual feedback for localized stress detection, structural health monitoring, and energy-efficient robotic skins. Herein, an innovative mechanochromic soft end-effector capable of discerning local contact stresses during mechanical interactions with objects is presented and their relative position is ascertained. This system utilizes a reversible force-induced color switch in a thin layer of spiropyran-functionalized polydimethylsiloxane, which coats a silicone-made suction cup. The mechanochromic suction cup is integrated with a 3D-printed compact load-transferring system and electronic color-changing detection elements. The assembly may serve as a synthetic receptor for robotic actuators, discerning localized interaction forces down to 3 N. The system's resilience to varying environmental factors, including illumination, tilting, and interaction with objects of various shapes is verified. The results indicate potential for exteroceptive solutions in reconfigurable manipulation tasks without compromising the overall softness of the manipulator
LightFit: A soft robotic seat for autonomous vehicles: Improving comfort of autonomous vehicles seats with soft robotic technology
No full textThis Master’s graduation thesis is a project elaborated for the automotive manufacturer BMW AG. It explores the possibilities given by soft robotic technology to improve comfort while sitting in self-driving vehicles. The project focuses on a specific scenario: a seat that enhances the relaxation experience on the car for long distance travels. An extensive literature research is done on comfort for seat design, soft robotics and BMW strategy on autonomous driving.Prototypes and material tests are made to understand the possibilities with pneumatic soft actuators, resulting in design directions and requirements.Concepts are developed by merging soft robotics capabilities together with design opportunities for improve seat’s adaptability. A Machine Learning model is used to train a textile pneumatic actuator to automatically being able to predict its shape via an optical sensing system. This proves the concept’s feasibility. At the end of the thesis, the final concept design, named LightFit, is proposed. The latter is an automated seat with inflatable soft robotic components embedded in its structure that allow the seat to change shape. The ultimate goal of LightFit is to provide long-term comfort by adapting itself to the user’s body contour and by inducing micro-movements that can decrease perceived discomfort over prolonged sitting.Integrated Product Desig
Charinus carinae Miranda & Giupponi & Prendini & Scharff 2021, sp. nov.
No full textCharinus carinae sp. nov. urn:lsid:zoobank.org:act: 188D8800-BFCB-4E25-912D-3BA2106651CE Figs 3A–B, 4A–B, 43, 49–51; Table 4 Diagnosis This species may be separated from other Charinus in eastern South America by means of the following combination of characters: large size; cheliceral claw with 13 teeth; pedipalp coxae with seven setae encircled by dorsal rounded carina; secondary series of spines on pedipalp segments present (Figs 3A– B, 49E); distitibia of leg IV with sc and sf with six trichobothria. The presence of seven setae encircled by the dorsal rounded carina of the coxa is otherwise observed only in C. goitaca sp. nov., from which C. carinae sp. nov. differs in the greater number of ventral spines on the pedipalp patella, i.e., six spines in C. carinae sp. nov. compared with three or four spines in C. goitaca sp. nov., and the greater number of cheliceral teeth, i.e., ten in C. carinae sp. nov. compared with thirteen in C. goitaca sp. nov. Etymology This species is a patronym honoring Carine C. Gonçalves Galvão for her immeasurable support to the first author during the preparation of this work. Type material Holotype BRAZIL • ♂; Rio de Janeiro, Arraial do Cabo, Ilha de Cabo Frio, Trilha do Farol Velho; [22°52′53.29″ S, 42°00′17.17″ W]; E.H.W. leg.; MNRJ 9293. Paratypes BRAZIL • 4 ♂♂; same collection data as for holotype; MNRJ 9199. Description CARAPACE. Frontal process large, subtriangular, not visible in dorsal view (Fig. 49C); median eyes and median ocular tubercle present (Fig. 49A, C); median ocular tubercle shallow, slightly higher than carapace surface, with pair of small setae (Fig. 49C); lateral eyes well developed, pale, small seta posterior to each lateral ocular triad (Fig. 49A); lenses directed anteriorly and dorsally. STERNUM. Tritosternum projected anteriorly into blunt tubercle, surpassing base of pedipalp coxae (Fig. 49B); medial platelet (tetrasternum) and third platelet (pentasternum) with single convex platelet, with pair of large setae anteriorly, and several small setae posteriorly; metasternum with five large setae anteriorly at margin between membranous and sclerotized regions, and longitudinal row of several small setae, from anterior to posterior (Fig. 49B); four to six setae in posterior area. OPISTHOSOMA. Ventral sacs and ventral sac cover absent. GENITALIA. Male gonopod rectangular (Fig. 50C); LoL2 fimbriate with long projections (Fig. 50B, D); LoL1 acute, with spine-like projections (Fig. 50E); LaM long and thin, surpassing lateral lobes (Fig. 50A–B); fistula with small globular projection ventrally (Fig. 50F). Female unknown. CHELICERAE. Small tooth in retrolateral row of basal segment; prolateral surface with transverse row of around eight small setae, from ventral to dorsal surface; three setae at dorsodistal margin, prolateral, retromedial and retrolateral, near membranous region of claw; claw with thirteen teeth and row of setae on retrolateral surface from base to near apex (dorsal side). PEDIPALPS. Coxal rounded carina enclosing two to five small setae, and with four to five setae on anterior margin. Femur with three distinct setiferous tubercles proximal to spine 1 (Figs 3A–B, 49E); primary series with five dorsal spines, with smaller spine between spines 3 and 4, and another smaller spine between spines 4 and 5 (Figs 3A–B, 49E); five ventral spines, small spine between spines 1 and 2, two small between spines 2 or 3, and small spines between spines 3 and 4, and spines 4 and 5 (Fig. 49F); additional spine, situated prolateral to primary series, between spines 1 and 2; large spine proximal to ventral spine 1, with small spine near its base. Pedipalp patella with six dorsal spines (Figs 4A–B, 49E); large setiferous tubercle distal to spine I, about one-third length of spine I (Fig. 4A–B); six ventral spines; small spine between spines II and III; two to five setiferous tubercles between spine I and distal margin. Tibia with two dorsal spines, proximal spine two-thirds length of distal spine; ventral spine situated in distal half of tibia; three long setae between spine and distal margin. Tarsus with three dorsal spines, two distal spines subequal and one-fifth length of tarsus (Fig. 49D); proximal spine smaller, ca one-third length of other two spines, situated closer to large proximal spine and with long setae at its base; ventral row of cleaning brush with 27–29 setae. LEGS. Tibia of leg I with 23 articles (up to 29 articles on regenerated legs), tarsus I with 41 articles (up to 49 on regenerated legs); tarsal organ situated close to base of claw (Fig. 51A–B); rod sensilla with six setae in shallow groove (Fig. 51C). Leg IV basitibia with four pseudo-articles; trichobothrium bt situated in proximal third; distal apex of basitibial pseudo-articles with dark, denticulate projection; distitibia trichobothrium bc situated closer to sbf than to bf; sc and sf series each with six trichobothria; distitarsus with distinct white annulus distally on first article. Measurements See Table 4. Distribution Known only from the type locality (Fig. 43).Published as part of Miranda, Gustavo Silva de, Giupponi, Alessandro P. L., Prendini, Lorenzo & Scharff, Nikolaj, 2021, Systematic revision of the pantropical whip spider family Charinidae Quintero, 1986 (Arachnida, Amblypygi), pp. 1-409 in European Journal of Taxonomy 772 on pages 101-103, DOI: 10.5852/ejt.2021.772.1505, http://zenodo.org/record/553641
Soft robotic manipulators with proprioception
No full textAgriculture and horticulture depend heavily on human labor to perform tasks that are often dirty, hazardous, and highly repetitive. One reason for the lack of automation of these tasks is the absence of suitable robotic handling equipment. Rigid robotic manipulators are typically incapable of performing dexterous manipulation tasks such as harvesting apples as they lack the ability to adapt to objects of various shapes and sizes. Such robotic manipulators need a large number of sensors and actuators to overcome these challenges, making them overly complex and not very robust. Therefore, the development of robotic manipulators for dexterous manipulation tasks has begun to focus on morphological computation, in which at least some aspects of the control are outsourced to the body of the robot. Taking inspiration from grasping mechanisms in natural systems, the field of soft robotics attempts to address this problem by constructing robots from soft materials. Although soft robotics may be the key to realizing automation of dexterous manipulation tasks, the current commercially available soft robotic grippers are only capable of performing simple pick-and-place tasks with open-loop control. This limited capability is in large part due to a lack of techniques to endow these manipulators with a sense of self-movement and body position, known as proprioception. Proprioception is a simple problem for conventional robots with rigid members and discrete joints, as the body position can be easily reconstructed using the information from encoders in the robots’ joints. However, it is a highly challenging problem for soft robots with virtually infinite degrees of freedom and above all, no suitable off-the-shelf sensors…Materials and Manufacturin
Biomimetic design of a soft robotic fish for high speed locomotion
No full textWe present a novel DC motor driven soft robotic fish which is optimized for speed and efficiency based on experimental, numerical and theoretical investigation into oscillating propulsion. Our system achieves speeds up to 0.85 m/s, outperforming the previously reported fastest free swimming soft robotic fish by a significant margin of 27%. A simple and effective wire-driven active body and passive compliant body are used to mimic highly efficient thunniform swimming. The efficient DC motor to drive the system decreases internal losses compared to other soft robotic oscillating propulsion systems which are driven by one or multiple servo motors. The DC motor driven design allows for swimming at higher frequencies. The current design has been tested up to a tailbeat frequency of 5.5 Hz, and can potentially reach much higher frequencies.Accepted Author ManuscriptMaterials and ManufacturingInternet of Thing
The Farmacy: A new small scale pharmaceutical production site
No full textThis project explores the realities of production in the Irish landscape, and speculates upon certain industries that maintain both a rural economy and Ireland’s architectural identity. The essence of this project as the name suggest, is to combine two residual industries in Ireland, farming and the pharmaceutical industry into one new synthetic architectural type, The Farmacy. These Farmacies, house a pharmaceutical production facility within the traditional scale of the smallholding or farm, while using the authentic spatial model of the Irish monastery. It provides an alternative to the existing fragmented pharmaceutical production landscape. In its density, scale, repeatability and seriality it continues to define an architecture of rural Ireland, while they also give a much-needed identity to an economically important emerging industry.The FarmacyThe Berlage Post-MSc in Architecture and Urban Desig
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