Shape Change Through Programmable Stiffness

McEvoy, Michael; Correll, Nikolaus

doi:10.1007/978-3-319-23778-7_59

Cited by 20 publications

(22 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A system such as the sensing skin (15) illustrates this difficulty with respect to sensing, a shape-changing material such as (14) with respect to actuation, and the smart façade with respect to a combination of both. Routing vibration signals sampled at 1 kHz becomes increasingly difficult when the number of sensors increases.…”

Section: Local Computationmentioning

confidence: 99%

“…For example, to achieve shape change in (42), the material embeds a thermistor, power electronics, and a small microcontroller colocated with each heating element to implement feedback control of a precise temperature across a bar to vary its stiffness by melting. In (14), a global controller then solves the inverse kinematics of a beam with many such variable stiffness elements in series to achieve a desired shape, and disseminates appropriate stiffness values into the robotic material where they are controlled by local feedback. An example of local control that requires neighborhood information is the rolling belt from (62), where a state transition from deflated to inflated to induce rolling motion is a function not only of the local sensor, but also of those to the left and to the right of each controller.…”

Section: Control Of Robotic Materialsmentioning

confidence: 99%

“…Examples of robotic materials that combine sensing, actuation, computation, and communication. (A) An amorphous façade that recognizes gestures and changes its opacity and color (12); (B) a dress that can localize sound sources and indicate their direction through vibro-tactile feedback (13); (C) a shape-changing variable stiffness beam (14); and (D) a robotic skin that senses touch and texture (15). of integrated computation that have been articulated by (16,18,31).…”

Section: Introductionmentioning

confidence: 99%

“…Examples shown in Fig. 2 include an amorphous façade that recognizes a user's input gestures and responds with changes in its opacity and color (12), a dress that can localize sound sources and indicate their direction using vibro-tactile feedback (13), a shapechanging variable stiffness beam (14), and a robotic skin that senses touch and texture (15).…”

mentioning

confidence: 99%

See 3 more Smart Citations

Materials that couple sensing, actuation, computation, and communication

McEvoy

Correll

2015

Science

547

361

View full text Add to dashboard Cite

Tightly integrating sensing, actuation, and computation into composites could enable a new generation of truly smart material systems that can change their appearance and shape autonomously. Applications for such materials include airfoils that change their aerodynamic profile, vehicles with camouflage abilities, bridges that detect and repair damage, or robotic skins and prosthetics with a realistic sense of touch. Although integrating sensors and actuators into composites is becoming increasingly common, the opportunities afforded by embedded computation have only been marginally explored. Here, the key challenge is the gap between the continuous physics of materials and the discrete mathematics of computation. Bridging this gap requires a fundamental understanding of the constituents of such robotic materials and the distributed algorithms and controls that make these structures smart.

show abstract

Section: Local Computationmentioning

confidence: 99%

Section: Control Of Robotic Materialsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

Materials that couple sensing, actuation, computation, and communication

McEvoy

Correll

2015

Science

547

361

View full text Add to dashboard Cite

show abstract

“…Previous studies have used low melting point materials like shape memory polymers [11][12][13], self-healing waxcoated composites [14] and electro-activate polymers [15] to tune the stiffness of a CM. Cheng et al [16] and Telleria et al [17] have used solder based materials to build a robot with thermally activated joints.…”

mentioning

confidence: 99%

A continuum manipulator with phase changing alloy

Alambeigi

Seifabadi

Armand

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

A new type of cable-driven continuum manipulator (CM) is presented, in which the stiffness of the device along its body length can be controlled using the thermomechanical properties of a phase changing alloy. The liquid phase of the alloy is used for achieving high dexterity and the solid phase for high stiffness. Joule heating and water cooling is used for transitioning the phase changing alloy between stiff and compliant states. Single-segment and two-segment working prototypes of the CM are demonstrated. The mechanical and thermodynamic features of these prototypes are discussed and their physical performance is investigated. Advantages of the presented design with phase changing alloy include: significantly improved dexterity, high payload to weight ratio, controllable stiffness, energy efficiency, and a large lumen.

show abstract

Programmable Matter with Free and High‐Resolution Transfiguration and Locomotion

Kaya,

Kravberg,

Scarpellini

et al. 2023

Adv Funct Materials

View full text Add to dashboard Cite

Abstract“hot flow in the cold changes shape in a dead world comes matter to life”Programmable matter that allows free shape transfiguration and locomotion on command promises ubiquitous access to objects or functions of interest. Current approaches for the autonomous reshaping of solid objects (smart materials, soft actuators, modular robotics) are limited in spatial resolution and shape. Solid‐liquid phase change pumping as a mechanism for the contactless transfiguring and locomotion of solid objects is introduced. Thin objects are deformed into any intended shape with sub‐millimeter resolution and the ability to freely change their topology is demonstrated, including adding or removing holes, splitting and merging. The unique locomotion of objects through millimeter‐sized constrictions narrower than their body size is demonstrated, followed by restoring the original shape. This approach opens up avenues for developing autonomous programmable matter with free shape transfiguration.

show abstract

Shape Change Through Programmable Stiffness

Cited by 20 publications

References 17 publications

Materials that couple sensing, actuation, computation, and communication

Materials that couple sensing, actuation, computation, and communication

A continuum manipulator with phase changing alloy

Programmable Matter with Free and High‐Resolution Transfiguration and Locomotion

Contact Info

Product

Resources

About