Printable Pouch Motors Xu Sun Biomimetic Robotics Lab

Printable Pouch Motors Xu Sun Biomimetic Robotics Lab MIT Mechanical Engineering May 2014

Agenda • Printable Actuators with Computer Aided Design • Current work • • • Tape and sticker demo: it can be used in everyday objects Pouch performance and control Haptic wearable: master to slave robotic hand Miniature pouches and scalability Others: thermally actuated pouches, printable valves

Printable Actuators with Computer Aided Design Preparing for International Journal of Robotics Research: Ryuma Niiyama, Xu Sun, Cynthia Sung, Byoungkwon An, Daniela Rus, and Sangbae Kim

Fabrication Process Heat Drawing Heat Stamping

Integrating PPR Fabrication Processes • Pouch motor with self-folding structure, and computer aided design? • Pneumatic structures that can move with no electronics at all … • Pouch motor with Penn’s pick and place 3 D printer? • Pouch motors are made with thermoplastic materials. They should be able to thermally bind to 3 D printed structures.

Pouch Actuators and Potentials • video

Force (N) Performance: Linear Tension Test 160 140 120 100 5 k. Pa 80 10 k. Pa 20 k. Pa 40 k. Pa 60 80 k. Pa 40 20 0 0. 055 0. 065 0. 075 0. 08 -20 Position (m) Test set up

Performance: Angular Torsion Test set up Ryuma Niiayama, Daniela Rus, Sangbae Kim, Pouch Motors: Printable/ Inflatable Soft Actuators for Robotics, ICRA 2014,

Control: the idea • Tension - Knowing the relationship between tension force and pressure at a given position (distance between the two joints), by controlling pressure, we can control tension force. • Torque – Similarly, knowing the relationship between torque and pressure at a given angular position (starting angle of the two joints), by controlling pressure, we can control torque.

Control: the method • Velostat and strain gauge for pressure sensing • Velostat is a back, opaque, volume-conductive, carbon-impregnated polyolefin 4. 5 4 3. 5 3 2. 5 pressure reading velostat reading 2 inverse velostat 1. 5 1 0. 5 0 0 20 40 60 80

Miniature Pouches Ryuma Niiyama, Xu Sun, Michael Smith, Rob Wood and Sangbae Kim

Thermally Actuated Pouches • video