Smart Soft Robotics

Isabelle M. Jacinto*, Domenic Cipollone and Kostas Sierros, Benjamin M. Statler College of Engineering and Mineral Resources, West Virginia University, Morgantown, WV 26505

Field (Broad Category): Engineering (Physical Sciences & Engineering) 

Student’s Major: Engineering Track 3 - Chemical Engineering 

Soft robotics is an emergent field that allows for the use of inherently safe materials. Moreover, the soft nature of the bodies provides theoretically infinite degrees of freedom, allowing robotic systems to change their morphology, form, and function. However, many of these systems are currently tethered and require the use of pneumatic pumps. As a solution, this work explores the use of internally actuated soft robotics that utilize an internal heating element. The systems consist of silicone and ethanol emulsion, which when heated, induces a liquid to vapor transition and promotes expansion. The composites are tested under uniaxial compression to evaluate body stiffness as a function of internal temperature and ethanol volume fraction. The expansion is normalized to characterize the degree of expansion as a function of the heating element surface area and applied power. Finally, the expansion is characterized as a function of time to explore the speed of the heating and cooling cycle. With these fundamental characterizations, the soft bodies will be implemented to change the morphology and control response of robotic systems. Possible future work includes developing soft robots with embedded tactile sensors. 

Funding: 

Program/mechanism supporting research/creative efforts: WVU's Research Apprenticeship Program (RAP) & accompanying HONR 297-level course