Skip to content

Pellicular Morphing Surfaces for Soft Robots

Research output: Contribution to journalArticle

Standard

Pellicular Morphing Surfaces for Soft Robots. / Digumarti, Krishna Manaswi; Conn, Andrew T.; Rossiter, Jonathan.

In: IEEE Robotics and Automation Letters, Vol. 4, No. 3, 8653848, 01.07.2019, p. 2304-2309.

Research output: Contribution to journalArticle

Harvard

Digumarti, KM, Conn, AT & Rossiter, J 2019, 'Pellicular Morphing Surfaces for Soft Robots', IEEE Robotics and Automation Letters, vol. 4, no. 3, 8653848, pp. 2304-2309. https://doi.org/10.1109/LRA.2019.2901981

APA

Vancouver

Digumarti KM, Conn AT, Rossiter J. Pellicular Morphing Surfaces for Soft Robots. IEEE Robotics and Automation Letters. 2019 Jul 1;4(3):2304-2309. 8653848. https://doi.org/10.1109/LRA.2019.2901981

Author

Digumarti, Krishna Manaswi ; Conn, Andrew T. ; Rossiter, Jonathan. / Pellicular Morphing Surfaces for Soft Robots. In: IEEE Robotics and Automation Letters. 2019 ; Vol. 4, No. 3. pp. 2304-2309.

Bibtex

@article{5f6cf8c623fa4d4382ac4ddc4af0bbae,
title = "Pellicular Morphing Surfaces for Soft Robots",
abstract = "Soft structures in nature endow organisms across scales with the ability to drastically deform their bodies and exhibit complex behaviours while overcoming challenges in their environments. Inspired by microstructures found in the cell membranes of the Euglena family of microorganisms, which exhibit giant changes in shape during their characteristic euglenoid movement, this paper presents the design, fabrication and characterisation of bio-inspired deforming surfaces. The result is a surface of interconnected strips, that deforms in 2D and 3D due to simple shear between adjacent members. We fabricate flexible polymeric strips and demonstrate three different shapes arising out of the same actuation by imposing various constraints. We characterise the strips in terms of the force required to separate them and show that the bio-inspired cross section of these strips enables them to hold up to 8N of force with a meagre 0.5mm of material thickness, while still being flexible to deform. Further, the design of a soft robot module, with an actively deformable surface has been presented which replicates the mechanism of shape change seen in the Euglena. This work shows the potential for this new form of shape morphing surface in realising bio-mimetic soft robots exhibiting large changes in shape.",
keywords = "biologically-inspired robots, flexible robots, mechanism design, Soft robot materials and design",
author = "Digumarti, {Krishna Manaswi} and Conn, {Andrew T.} and Jonathan Rossiter",
year = "2019",
month = "7",
day = "1",
doi = "10.1109/LRA.2019.2901981",
language = "English",
volume = "4",
pages = "2304--2309",
journal = "IEEE Robotics and Automation Letters",
issn = "2377-3766",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
number = "3",

}

RIS - suitable for import to EndNote

TY - JOUR

T1 - Pellicular Morphing Surfaces for Soft Robots

AU - Digumarti, Krishna Manaswi

AU - Conn, Andrew T.

AU - Rossiter, Jonathan

PY - 2019/7/1

Y1 - 2019/7/1

N2 - Soft structures in nature endow organisms across scales with the ability to drastically deform their bodies and exhibit complex behaviours while overcoming challenges in their environments. Inspired by microstructures found in the cell membranes of the Euglena family of microorganisms, which exhibit giant changes in shape during their characteristic euglenoid movement, this paper presents the design, fabrication and characterisation of bio-inspired deforming surfaces. The result is a surface of interconnected strips, that deforms in 2D and 3D due to simple shear between adjacent members. We fabricate flexible polymeric strips and demonstrate three different shapes arising out of the same actuation by imposing various constraints. We characterise the strips in terms of the force required to separate them and show that the bio-inspired cross section of these strips enables them to hold up to 8N of force with a meagre 0.5mm of material thickness, while still being flexible to deform. Further, the design of a soft robot module, with an actively deformable surface has been presented which replicates the mechanism of shape change seen in the Euglena. This work shows the potential for this new form of shape morphing surface in realising bio-mimetic soft robots exhibiting large changes in shape.

AB - Soft structures in nature endow organisms across scales with the ability to drastically deform their bodies and exhibit complex behaviours while overcoming challenges in their environments. Inspired by microstructures found in the cell membranes of the Euglena family of microorganisms, which exhibit giant changes in shape during their characteristic euglenoid movement, this paper presents the design, fabrication and characterisation of bio-inspired deforming surfaces. The result is a surface of interconnected strips, that deforms in 2D and 3D due to simple shear between adjacent members. We fabricate flexible polymeric strips and demonstrate three different shapes arising out of the same actuation by imposing various constraints. We characterise the strips in terms of the force required to separate them and show that the bio-inspired cross section of these strips enables them to hold up to 8N of force with a meagre 0.5mm of material thickness, while still being flexible to deform. Further, the design of a soft robot module, with an actively deformable surface has been presented which replicates the mechanism of shape change seen in the Euglena. This work shows the potential for this new form of shape morphing surface in realising bio-mimetic soft robots exhibiting large changes in shape.

KW - biologically-inspired robots

KW - flexible robots

KW - mechanism design

KW - Soft robot materials and design

UR - http://www.scopus.com/inward/record.url?scp=85063582434&partnerID=8YFLogxK

U2 - 10.1109/LRA.2019.2901981

DO - 10.1109/LRA.2019.2901981

M3 - Article

VL - 4

SP - 2304

EP - 2309

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

SN - 2377-3766

IS - 3

M1 - 8653848

ER -