Bulletin of the American Physical Society
APS March Meeting 2023
Volume 68, Number 3
Las Vegas, Nevada (March 5-10)
Virtual (March 20-22); Time Zone: Pacific Time
Session D14: Morphing Matter: From Soft Robotics to 4D Printing IIFocus
|
Hide Abstracts |
Sponsoring Units: DSOFT Chair: Andrej Kosmrj, Princeton University; PT Brun, Princeton University Room: Room 206 |
Monday, March 6, 2023 3:00PM - 3:12PM |
D14.00001: A minimal approach to distributed control for soft robots. mannus schomaker
|
Monday, March 6, 2023 3:12PM - 3:24PM |
D14.00002: Electrically Controlled Plant Soft Actuator Wenlong Li Owing to their adaptive interfacial properties, soft actuators can be used to perform more delicate tasks than their rigid counterparts. However, traditional polymeric soft actuators rely on energy conversion for actuation, resulting in high power input or slow responses. In this presentation, we show how a Venus flytrap can be used to build on-demand actuator devices. Plant-conformable electrodes were developed as a physical interface, and frequency-dependent action potential modulation was explored as an electrical communication protocol. The resulting plant-based actuator uses Venus flytrap lobes as the actuating unit and conformable electrodes as the electrical modulating unit. The electrical actuator requires no energy conversion and is power efficient (input voltage and power as low as 1.5 V and 10−5 W, respectively). It is also responsive (response time can be modulated to around 1.3 s), compatible with complementary metal–oxide–semiconductor (CMOS)-based electronics (easily accessed using a Wi-Fi module for wireless smartphone control), modular and installable on various platforms (can be isolated from plant stem and integrated on a finger, robotic hand or manipulator), and capable of capturing fine and moving objects. |
Monday, March 6, 2023 3:24PM - 3:36PM |
D14.00003: A machine learning-aided approach to the rapid design of kirigami-inspired soft deployable structures Leixin Ma, Mrunmayi Mungekar, Vwani Roychowdhury, Mohammad Khalid Jawed Shape-morphing soft structures that spontaneously transition from planar to 3D shapes are transformative technologies with broad applications in soft robotics and deployable systems. However, the high dimensionality causes designing soft deployable structures challenging, which used to be a process of trial and error with complex local actuation and fabrication. We report a rapid design approach for fully soft structures that can achieve targeted 3D shapes through a fabrication process that happens entirely on a 2D plane. To relax the need for local actuation, we develop a much-simplified planar fabrication approach that combines the strain mismatch in the composite structure and kirigami designs. To expedite the design process and explore the capability of such a much-simplified fabrication approach, we develop and apply a symmetry-constrained active learning approach to optimize the design parameters so that target 3D shapes can be achieved. By exploring the nonlinear interplay between kirigami patterns and strain-mismatch, we can create a wide range of 3D shapes. We demonstrate the effectiveness of the rapid design procedure via a range of target shapes with increasing shape complexity, such as those inspired by the peanuts and pringles to flowers and pyramids. Tabletop experiments are conducted to fabricate the target shapes. Tabletop-controlled experiments and finite element simulations agree in these design examples. |
Monday, March 6, 2023 3:36PM - 4:12PM |
D14.00004: Morphing with flexible fibres Invited Speaker: Joel Marthelot Flexible frictional fiber aggregates behave like an elastoplastic material that, when compressed, can be molded and shaped into complex three-dimensional structures. In nature, this effective cohesion ensures the mechanical stability of natural structures such as birds nests or beaver dams. Here, we rationalize the mechanical properties of the aggregate by tensile and compressive force-displacement measurements and characterize the structural evolution of the aggregate using X-ray microtomography. We propose a simple mechanical model to capture the structural properties and effective cohesion of the assembly. |
Monday, March 6, 2023 4:12PM - 4:24PM |
D14.00005: Symmetries in Origami Metamaterials James McInerney, Xiaoming Mao, Zeb Rocklin, Glaucio H Paulino, Diego Misseroni, Siddhartha Sarkar Origami crease patterns allow unique control over thin sheets for microscale robotics, enhanced mechanical properties, and mechanical computation. While it is intractable to characterize the mechanical response of crease patterns with generic geometries, most applications rely heavily on crystallographic symmetries to achieve, or prohibit, folding of the sheet. In this talk, I present succinct analytical results that characterize exotic features of periodic origami sheets, from negative Poisson's ratios to topological phases, via such symmetries. These calculations are enabled by a novel formalism where modes are specified by potential-like quantities on the vertices and the symmetries manifest through identification of hopping-like couplings on the edges. I then discuss implications for experimental validation of the theoretical framework and applications for origami metamaterials. |
Monday, March 6, 2023 4:24PM - 4:36PM |
D14.00006: Multifunctional fluidic networks Anne S Meeussen, Katia Bertoldi, Adel A Djellouli, Ahmad Zareei, Louis-Justin Tallot, Alexia Allal Soft robots powered by pressurized fluid are enabling a variety of innovative applications in diverse areas, from biomimetics to rehabilitation. Such soft machines need suitable integrated pressure control. Currently, there is no general design strategy for building non-electronic control modules that require few inputs yet enable multiple functionalities. |
Monday, March 6, 2023 4:36PM - 4:48PM |
D14.00007: Reduce order modeling of soft hierarchical multistable metasheets with applications Juan C Osorio, Andres F Arrieta Reconfigurable structures and soft metamaterials have introduced new opportunities for robot design, shape programmability and embedded sensing. Recently, patterned metamaterials consisting of reconfigurable bistable units have gained interest due to their capability of exhibiting different energy minima, activation path dependency, and influence of local prestress in its global shape. As the unit cells can be reversibly inverted at the local scale, multiple stable shapes at the global scale are generated. These shapes are highly dependent on the unit geometry, inversion sequence, the number of units, and unit spatial distribution, which makes them difficult to analyze, predict and count. Given this, more simple yet robust models need to be utilized to predict the final state of the structure, enabling faster analysis and design. |
Monday, March 6, 2023 4:48PM - 5:00PM |
D14.00008: Optimal Design for Artificial Organoids: Inverse Design of Muscle-Epithelial Bilayer Morphing System Yenan Shen, Andrej Kosmrlj Research shows that muscle cells can be optogenetically modified, causing the muscle to contract in response to external laser lights. This discovery provides a new approach to designing and making artificial organoids by morphing a muscle-epithelial bilayer system (a contracting optogenetically modified muscle layer on top of an inactive epithelial layer). By 3D printing the designed muscle layer pattern and shining a laser on it, we can control the resulting contraction shape of the bilayer system. Literature has shown that such bilayer systems can produce large nonlinear deformation. However, most works focus only on the forward problem: understanding the deformation from a given set of pre-chosen parameters. In this work, we are posing the inverse problem: understanding how to choose design parameters given a desired deformed shape. Our goal is to design the muscle layer pattern optimally. To achieve this goal, we built a finite element (FEM) model simulating the nonlinear deformations and studied the inverse design problem with a large dataset generated by the FEM model. Understanding the inverse design problem of the bilayer system is useful for designing artificial organoids, and this methodology can be extended broadly to the design of soft robotics. |
Monday, March 6, 2023 5:00PM - 5:12PM |
D14.00009: Towards functional shells using architectured inflatable materials Nathan Vani, Etienne Reyssat, José Bico, Benoit Roman The opportunities offered by shape morphing materials have recently been of great interests in the fields of soft robotics, biomedical engineering, and architectural design. In particular, inflatable materials can be programmed to reach specific shapes after actuation by carefully designing their overall channel geometry. This allows for meta-materials that are light-weight, easily deployed, and highly reusable with a straightforward actuation method. |
Monday, March 6, 2023 5:12PM - 5:24PM |
D14.00010: Multistable inflatables for meter scale reconfigurable structures Yi Yang, Hye Jun Youn, Jin Feng, Katia Bertoldi Very popular among children in the form of party balloons, inflatables have also been employed in science and engineering to enable the design of a variety of systems, including temporary shelters, airbags, soft robots, and shape-morphing structures. In general, the targeted shape of the fully pressurized structure is preprogrammed prior to inflation and there is a one-to-one relation between the deflated and inflated shape. In this talk, we introduce a design strategy based on multistability to realize inflatables that can support a variety of shapes in the inflated state. We first gain an understanding of the physics governing the response of our inflatables through experiments and analyses. Then, since the phenomenon is scale-independent and only relies on inextensible elastic membranes, we use the proposed principles to build deployable and reconfigurable furniture. |
Monday, March 6, 2023 5:24PM - 5:36PM |
D14.00011: Spatially programming stretchability in an elastomer composite with UV light Michelle C Yuen, Robert J Wood Spatial modulation of stretchability is advantageous for applications including on-skin electronics, soft robotics, and deployable shape-morphing structures. In this work, we combine silicone elastomer and UV-curable thermoset resin to form an interpenetrating polymer network with orthogonal cross-linking reactions. The composite can be selectively UV-treated to create regions of high and low stretchability within a structure or substrate. By modifying the material components, composition ratios, and UV-exposure time, a range of stiffnesses and extensibilities can be embodied in the composite material. Features with varying stretchability can be spatially patterned with length scales from micro- to macroscale using laser micromachining, digital light projection, and photolithography approaches. We demonstrate how this material can be structured not only with a priori design-and-fabricate approaches to create immutable structures, but also with on-the-fly modification of material mechanics through the combined application of strain and UV-treatment. This combination of inputs to the composite substrate can be leveraged to create 3D structures that could not be achieved with a single-step patterning process and to alter the trajectory and form of inflatable, deployable structures. |
Monday, March 6, 2023 5:36PM - 5:48PM |
D14.00012: Autonomous Control of a Mobile Robot using a Mechanical Metamaterial “Brain” Cyrill Bösch, Giovanni Bordiga, Connor M McCann, Eder Medina, Michelle C Yuen, Yichu Jin, Oluwaseun Araromi, Andreas Fichtner, Katia Bertoldi We present an autonomous mobile robot that is controlled exclusively by a flexible mechanical metamaterial without any digital electronics. The metamaterial — based on the rotating square mechanism — is mounted onto a wheeled mobile base and acts simultaneously as the sensory system that detects contact with obstacles and as the “brain” that computes appropriate motor control voltages to react to those contacts, seeking to free the robot from the obstacle and continue moving through the environment. This tactile control paradigm is loosely inspired by the concept of “thigmotaxis” in biological locomotion. |
Follow Us |
Engage
Become an APS Member |
My APS
Renew Membership |
Information for |
About APSThe American Physical Society (APS) is a non-profit membership organization working to advance the knowledge of physics. |
© 2024 American Physical Society
| All rights reserved | Terms of Use
| Contact Us
Headquarters
1 Physics Ellipse, College Park, MD 20740-3844
(301) 209-3200
Editorial Office
100 Motor Pkwy, Suite 110, Hauppauge, NY 11788
(631) 591-4000
Office of Public Affairs
529 14th St NW, Suite 1050, Washington, D.C. 20045-2001
(202) 662-8700