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Robotique molle

La robotique molle () est un domaine de la robotique. Ce domaine traite des « robots mous » incluant certains types de drones, et construits en matériaux ou structures souples, élastiques ou déformables tels que le silicone, le plastique, le caoutchouc et autres polymères, les tissus, etc., ou des pièces mécaniques déformables utilisées en robotique, par exemple les ressorts, les élastiques ou les absorbeurs de chocs ou de vibrations. Ce champ de la robotique semble susciter depuis le début du un intérêt croissant et pourrait contribuer à diminuer le prix de certains robots, et améliorer les réponses de la robotique classique à des questions comme celle de l'« auto-réparation », de la résilience ou de l'autoréplication. Les applications techniques des robots mous, éventuellement miniaturisés, prévues par les prospectivistes sont l’exploration de certains environnements mous (l’intérieur d'un organisme, par exemple), encombrés ou sans structure, y compris dan

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Robotique

thumb|upright=1.5|Nao, un robot humanoïde. thumb|upright=1.5|Des robots industriels au travail dans une usine. La robotique est l'ensemble des techniques permettant la conception et la réalisation de

Soft Pneumatic Actuators for Legged Locomotion

Yixin Bai, Juan Manuel Florez Marin, Jamie Paik, Benjamin Shih

Search and rescue robots are being used more frequently to access hazardous environments to assess situations and locate survivors. There are a wide range of existing mobile platforms for various situations and environments, but these robots are typically bulky, heavy or expensive, limiting their widespread and practical use in case of disaster mitigation. Also, like most robots, locomotive robots have explicit design criteria, subsequent physical parameters, and control schemes that do not leave much room for improvisation nor robustness on unknown environments. Unconventional silicone rubber-based soft pneumatic actuators (SPA) robots could offer an alter- native actuation solution to such problems: these soft robots are adjustable, disposable, and easy to fabricate, naturally conforming to the unknown environment. In the paper, a palm- sized soft legged robot is proposed to verify the feasibility of such applications.

2014

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Flame-retardant coatings are crucial for intelligent systems operating in high-temperature (300-800 degrees C) scenarios, which typically involve multi-joint discrete or continuous kinematic systems. These multi-segment motion generation systems call for conformable yet resilient skin for dexterous work, including firefighting, packaging inflammable substances, encapsulating energy storage devices, and preventing from burning. In fire scenes, a flame-retardant soft robot shall protect integrated electronic components safely and work for navigation and surveillance effectively. Here, we establish fire-resistant robotic mechanisms with montmorillonite (MMT)-biocompatible hydrogel skin, offering effective flame retardancy (similar to 78 degrees C surface temperature after 3 min in fire) and high post-fire stretchability (similar to 360% uniaxial tensile strain). Fatigue test results in the MMT-hydrogel polymer matrix to portray a change in post-fire energy consumption of similar to 21% (between the first cycle and the 200th cycle), further indicating robustness. MMT-hydrogel synthetic skin medium is then applied to everyday household items and electronics, offering appealing protections in fire scenes (

MARY ANN LIEBERT, INC2021

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Compact Pneumatic Clutch With Integrated Stiffness Variation and Position Feedback

Yongkang Jiang, Jamie Paik

Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of solutions bringing high-fidelity feedback and maintaining design and functional integrity. In this work, we propose a novel minimal clutch with integrated stiffness variation and real-time position feedback whose performance surpasses conventional jamming solutions. We introduce integrated design, modeling, and verification of the clutch in detail. Preliminary experimental results show the change in impedance force of the clutch is close to 24-fold at the maximum force density of 15.64 N/cm(2). We validated the clutch experimentally in (1) enhancing the bending stiffness of a soft actuator to increase a soft manipulator's gripping force by 73%; (2) enabling a soft cylindrical actuator to execute omnidirectional movement; (3) providing real-time position feedback for hand posture detection and impedance force for kinesthetic haptic feedback. This manuscript presents the functional components with a focus on the integrated design methodology, which will have an impact on the development of soft robots and wearable devices.

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

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ME-410: Mechanical product design and development

Study and explore design principles of the different mechatronic components and systems. We will cover in-depth especially on meso-scale actuators, sensors and body construction methods.

MICRO-618: Soft Microsystems Processing and Devices

Amongst others, following topics will be covered during the course:

Soft Microsystems and Electronics
Electroactive polymers
Printed electronics and microsystems
Inkjet printing of polymers
Stretchable electronics
Mechanical reliability
Stencil lithography
Scanning Probe Lithography

ME-628: High Strain Rate Mechanics of Materials

This course offers fundamentals concepts of material behavior under dynamic loads such as impact and shock. lt will cover experimental methods and analytical modeling approaches to describe the dynamic deformation behavior of metals, ceramics and polymeric materials.