Upgrading and extending the life cycle of soft robots with in situ free-form liquid three-dimensional printing.

Soft robotics hardware, with numerous applications ranging from health care to exploration of unstructured environments, suffers from limited life cycles, which lead to waste generation and poor sustainability. Soft robots combine soft or hybrid components via complex assembly and disassembly workflows, which complicate the repair of broken components, hinder upgradability, and ultimately reduce their life spans. In this work, an advanced extrusion-based additive manufacturing process, in situ free-form liquid three-dimensional printing (iFL3DP), was developed to facilitate functional upgrades and repairs in soft robots.

Applications of a vacuum-actuated multi-material hybrid soft gripper: lessons learnt from RoboSoft manipulation challenge.

Soft grippers are garnering increasing attention for their adeptness in conforming to diverse objects, particularly delicate items, without warranting precise force control. This attribute proves especially beneficial in unstructured environments and dynamic tasks such as food handling. Human hands, owing to their elevated dexterity and precise motor control, exhibit the ability to delicately manipulate complex food items, such as small or fragile objects, by dynamically adjusting their grasping configurations.

A Multimodal, Reconfigurable Workspace Soft Gripper for Advanced Grasping Tasks.

A new generation of soft functional materials and actuator designs has ushered the development of highly advanced soft grippers as adaptive alternatives to traditional rigid end-effectors for grasping and manipulation applications. While being advantageous over their rigid counterparts, soft gripper capabilities such as contact effort are mostly a consequence of the gripper workspace, which in turn is largely constrained by the gripper design. Moreover, soft grippers designed for highly specific grasping tasks such as scooping grains or wide payloads are usually limited in grasping other payload types or in their manipulation versatility.

Freeform Liquid 3D Printing of Soft Functional Components for Soft Robotics.

Freeform liquid three-dimensional printing (FL-3DP) is a promising new additive manufacturing process that uses a yield stress gel as a temporary support, enabling the processing of a broader class of inks into complex geometries, including those with low viscosities or long solidification kinetics that were previously not processable. However, the full exploitation of these advantages for the fabrication of complex multilateral structures has been hindered by difficulties in controlling the interfaces between inks and supports. In this work, an in-depth study of the rheological properties and interfacial stabilities between a nanoclay-modified support and silicone-based inks enabled a better understanding of the impact printing parameters have on the extruded filament morphology, and thus on printing resolutions.

2D-Material-integrated hydrogels as multifunctional protective skins for soft robots.

Soft robots provide compliant object-machine interactions, but they exhibit insufficient material stability, which restricts them from working in harsh environments. Herein, we developed a class of soft robotic skins based on two-dimensional materials (2DMs) and gelatin hydrogels, featuring skin-like multifunctionality (stretchability, thermoregulation, threat protection, and strain sensing). The 2DM-integrated hydrogel (2DM/H) skins enabled soft robots to execute designated missions in the presence of high levels of heat and various environmental threats while maintaining mild machine temperatures.

3D Printed Compressible Quasi-Solid-State Nickel-Iron Battery.

The design of a compressible battery with stable electrochemical performance is extremely important in compression-tolerant and flexible electronics. While this remains challenging with the current battery manufacturing method, the field of 3D printing offers the possibility of producing free-standing 3D-printed electrodes with various structural configurations. Through the simple and scalable strategy, various structural configurations can be produced.

3D printed electrodes for efficient membrane capacitive deionization.

There is increasing interests in cost-effective and energy-efficient technologies for the desalination of salt water. However, the challenge in the scalability of the suitable compositions of electrodes has significantly hindered the development of capacitive deionization (CDI) as a promising technology for the desalination of brackish water. Herein, we introduced a 3D printing technology as a new route to fabricate electrodes with adjustable composition, which exhibited large-scale applications as free-standing, binder-free, and robust electrodes.

Ultrafast Three-Dimensional Printing of Optically Smooth Microlens Arrays by Oscillation-Assisted Digital Light Processing.

A microlens array has become an important micro-optics device in various applications. Compared with traditional manufacturing approaches, digital light processing (DLP)-based printing enables fabrication of complex three-dimensional (3D) geometries and is a possible manufacturing approach for microlens arrays. However, the nature of 3D printing objects by stacking successive 2D patterns formed by discrete pixels leads to coarse surface roughness and makes DLP-based printing unsuccessful in fabricating optical components.

MEMS sensors for assessing flow-related control of an underwater biomimetic robotic stingray.

A major difference between manmade underwater robotic vehicles (URVs) and undersea animals is the dense arrays of sensors on the body of the latter which enable them to execute extreme control of their limbs and demonstrate super-maneuverability. There is a high demand for miniaturized, low-powered, lightweight and robust sensors that can perform sensing on URVs to improve their control and maneuverability. In this paper, we present the design, fabrication and experimental testing of two types of microelectromechanical systems (MEMS) sensors that benefit the situational awareness and control of a robotic stingray.