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Soft Robotics
3D-printing air pressure sensors and actuators
Rob Scharff
Definition of soft robotics
- The application of deformable materials in robotics (Majidi, 2014)
1Rob Scharff // Graduatio...
Baymax
2Rob Scharff // Graduation project – Introduction in Soft Robotics
Characteristics
3Rob Scharff // Graduation project – Introduction in Soft Robotics
Potential applications
- Care robots/ Cooperative robots
- Industrial mechanisms
- Exploratory robots
- Protheses & orthos...
Challenges
- Controllability and position sensing
5Rob Scharff // Graduation project – Introduction in Soft Robotics
Conclusions soft robotics
- Strengths
- Compressibility, natural movements, light weight
and force-controlled actuators
- ...
Soft Robotics
3D-printing air pressure sensors and actuators
‘Air pressure technology’
Air pressure sensors
8Rob Scharff // Graduation project – Air pressure technology
Air pressure actuators
9Rob Scharff // Graduation project – Air pressure technology
Research goal
Explore and demonstrate the possibilities of
combining 3D-printed air pressure sensors with
3D-printed air p...
3D-printing
- 3D-Printing
- Ability to print flexible material
- Ability to create complex shapes
- Digital production
- N...
3D-printing air chambers
- Selective Laser Sintering (TPU 92A-1)
- High pressures
- Easy powder removal
- Polyjet (Tango P...
Bending actuator
13Rob Scharff // Graduation project – Air pressure technology
Bending actuator
14Rob Scharff // Graduation project – Air pressure technology
Bending actuator
15Rob Scharff // Graduation project – Air pressure technology
Torsion bellow
16Rob Scharff // Graduation project – Air pressure technology
Double bellow
- Bi-directional
- Stiffness
17Rob Scharff // Graduation project – Air pressure technology
Sensors
18Rob Scharff // Graduation project – Air pressure technology
Double bellow
- Bi-directional
- Stiffness
- Sensor feedback
19Rob Scharff // Graduation project
Sensor/actuator interaction
20Rob Scharff // Graduation project – Air pressure technology
Conclusions prototyping
- Strengths 3D-printing
- Ability to create complex shapes, high
development speed, customizabilit...
Interactive robot hand
- Demonstrator of the possibilities of
the technology
- Metaphor for how the technology
can improve...
Potentialities
- Bending bellows
- Sensors
- Double bellow
- Torsion bellow
23Rob Scharff // Graduation project – Interact...
Torsion
24Rob Scharff // Graduation project – Interactive robotic hand
Double bellow
25Rob Scharff // Graduation project – Interactive robotic hand
Functionalities
- Create gestures
- Interactive handshake
26Rob Scharff // Graduation project – Interactive robotic hand
Shaking hands
27Rob Scharff // Graduation project – Interactive robotic hand
Conclusions
- Introduction in soft robotics
- Applications
- Challenges
- Exploration of air pressure
technology
- Technic...
Future work
- Dynamic simulation of complex movements
- Bellow design tool
- Embedding control mechanisms in 3D-printing
-...
30Rob Scharff // Graduation project – Interactive robotic hand
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Presentation Rob Scharff at MaterialDesign

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Presentatie van Rob Scharff op de bijeenkomst van MaterialDesign "de beleving van Soft Robotics"
Hand shaking robots

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Presentation Rob Scharff at MaterialDesign

  1. 1. Soft Robotics 3D-printing air pressure sensors and actuators Rob Scharff
  2. 2. Definition of soft robotics - The application of deformable materials in robotics (Majidi, 2014) 1Rob Scharff // Graduation project – Introduction in Soft Robotics
  3. 3. Baymax 2Rob Scharff // Graduation project – Introduction in Soft Robotics
  4. 4. Characteristics 3Rob Scharff // Graduation project – Introduction in Soft Robotics
  5. 5. Potential applications - Care robots/ Cooperative robots - Industrial mechanisms - Exploratory robots - Protheses & orthoses 4Rob Scharff // Graduation project – Introduction in Soft Robotics
  6. 6. Challenges - Controllability and position sensing 5Rob Scharff // Graduation project – Introduction in Soft Robotics
  7. 7. Conclusions soft robotics - Strengths - Compressibility, natural movements, light weight and force-controlled actuators - Challenges - Controllability, position sensing 6Rob Scharff // Graduation project – Introduction in Soft Robotics
  8. 8. Soft Robotics 3D-printing air pressure sensors and actuators ‘Air pressure technology’
  9. 9. Air pressure sensors 8Rob Scharff // Graduation project – Air pressure technology
  10. 10. Air pressure actuators 9Rob Scharff // Graduation project – Air pressure technology
  11. 11. Research goal Explore and demonstrate the possibilities of combining 3D-printed air pressure sensors with 3D-printed air pressure actuators to improve human-robot interaction 10Rob Scharff // Graduation project – Air pressure technology
  12. 12. 3D-printing - 3D-Printing - Ability to print flexible material - Ability to create complex shapes - Digital production - No large batch sizes needed 11Rob Scharff // Graduation project – Air pressure technology
  13. 13. 3D-printing air chambers - Selective Laser Sintering (TPU 92A-1) - High pressures - Easy powder removal - Polyjet (Tango Plus) - Low pressure - Multi-material - Fused Deposition Molding (Ninjaflex) - Coating needed - Low budget 12Rob Scharff // Graduation project – Air pressure technology
  14. 14. Bending actuator 13Rob Scharff // Graduation project – Air pressure technology
  15. 15. Bending actuator 14Rob Scharff // Graduation project – Air pressure technology
  16. 16. Bending actuator 15Rob Scharff // Graduation project – Air pressure technology
  17. 17. Torsion bellow 16Rob Scharff // Graduation project – Air pressure technology
  18. 18. Double bellow - Bi-directional - Stiffness 17Rob Scharff // Graduation project – Air pressure technology
  19. 19. Sensors 18Rob Scharff // Graduation project – Air pressure technology
  20. 20. Double bellow - Bi-directional - Stiffness - Sensor feedback 19Rob Scharff // Graduation project
  21. 21. Sensor/actuator interaction 20Rob Scharff // Graduation project – Air pressure technology
  22. 22. Conclusions prototyping - Strengths 3D-printing - Ability to create complex shapes, high development speed, customizability, integration of components - Exploration of actuator principles - Rotation, stiffness, bending, bidirectional bending - Exploration of sensor principles - Feedback system 21Rob Scharff // Graduation project – Air pressure technology
  23. 23. Interactive robot hand - Demonstrator of the possibilities of the technology - Metaphor for how the technology can improve human-robot interaction 22Rob Scharff // Graduation project – Interactive robotic hand
  24. 24. Potentialities - Bending bellows - Sensors - Double bellow - Torsion bellow 23Rob Scharff // Graduation project – Interactive robotic hand
  25. 25. Torsion 24Rob Scharff // Graduation project – Interactive robotic hand
  26. 26. Double bellow 25Rob Scharff // Graduation project – Interactive robotic hand
  27. 27. Functionalities - Create gestures - Interactive handshake 26Rob Scharff // Graduation project – Interactive robotic hand
  28. 28. Shaking hands 27Rob Scharff // Graduation project – Interactive robotic hand
  29. 29. Conclusions - Introduction in soft robotics - Applications - Challenges - Exploration of air pressure technology - Technical possibilities - Robotic hand as a demonstrator 28Rob Scharff // Graduation project – Conclusions
  30. 30. Future work - Dynamic simulation of complex movements - Bellow design tool - Embedding control mechanisms in 3D-printing - Embedding other sensor technologies 29Rob Scharff // Graduation project – Conclusions
  31. 31. 30Rob Scharff // Graduation project – Interactive robotic hand

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