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SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

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The Soft Robotics Toolkit is a collection of shared resources to support the design, fabrication, modeling, characterization, and control of soft robotic devices. The Toolkit was developed as part of educational research being undertaken in the Harvard Biodesign Lab . The ultimate aim of the Toolkit is to advance the field of soft

robotics by

PROJECTS | SOFT ROBOTICS TOOLKIT Projects. Some of the information contained in this web site includes intellectual property covered by both issued and pending patent applications. It is intended solely for research, educational and scholarly purposes by not-for-profit research organizations. If you have interest in specific technologies for commercial applications,

please

SUBSYSTEM TESTING

TESTING | SOFT ROBOTICS TOOLKIT This section describes some examples of empirical tests that have been carried out to characterize PneuNets actuators. The aim of presenting these examples is to help you think about what types of tests you may need to perform to help guide your design. You may find the methods described useful for characterizing the behavior of your own actuator

designs.

CREATE PARTS AND ASSIGN MATERIALS Create sections. Double click on Sections in the model tree to create a new section. Set it to be a homogeneous solid and assign Elastosil as the material. Create another section, a homogeneous shell with paper assigned as the material. Set the shell thickness to 0.1. You

should now have 2

EGAIN SENSORS

EGaIn Sensors. These sensors use liquid metal (eutectic Indium Gallium alloy, a.k.a. EGaIn) inside flexible microchannels. When stretched, the geometry of the channels changes resulting in a change of resistance. By measuring the change in resistance it is possible PNEUNETS BENDING ACTUATORS PneuNets (pneumatic networks) are a class of soft actuator originally developed by the Whitesides Research Group at Harvard. They are made up of a series of channels and chambers inside an elastomer. These channels inflate when pressurized, creating motion. The nature of this motion is controlled by modifying the geometry of the embedded chambers and the material properties of their walls FINITE ELEMENT MODELING This section describes a Finite Element Method (FEM) model for a particular type of fiber-reinforced actuator using the Abaqus software suite. This actuator differs from the fiber-reinforced actuators discussed in the rest of the documentation, as it consists of a cylindrical elastomeric tube, with circular cross section, and with fibers wrapped in a helical pattern around the outside of the SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

please

MODELING | SOFT ROBOTICS TOOLKIT The change in resistance can be modeled by the following formula: where R is resistance, ρ is resistivity (of the liquid metal), and L, w and h are the length, width and height of the channels. This formula can be further simplified using the fact that the Poisson’s ratio for incompressible materials is ν = 0.5. By defining the geometry MODELING, SIMULATION AND CONTROL OF SOFT ROBOTS WITH SOFA Modeling, Simulation and Control of Soft Robots with SOFA. This page consists ofa new framework to simulate and control soft robots. This framework is based on a mechanical modeling of the robot elements combined with fast real-time direct/inverse FEM solvers. The keypoint of our approach is that the same modeling is used for interactive TESTING | SOFT ROBOTICS TOOLKIT To estimate the trajectory of the tip, the soft actuator was pressurized and depressurized three times while the camera recorded the motion. The resulting image frames were post-processed and analyzed with video analysis software (Kinovea 0.8.15).The x and y coordinates of the actuator tip throughout its motion were tracked, creating a trajectory for the tip’s motion.

STRETCHSENSE

Stretch sensors are a type of sensor designed to measure soft structures, including soft robots and the human body. StretchSense, a company from New Zealand, has developed commercially available stretch sensors that can measure either stretch, bend, shear, or pressure. These stretch sensors are essentially flexible capacitors. When the sensor deforms (due to stretching or squeezing) its TACTIP | SOFT ROBOTICS TOOLKIT TacTip. The TacTip is a 3d-printed optical tactile sensor developed at Bristol Robotics Laboratory ( Chorley et al, 2009 ). It aims to fulfil the need for a cheap, robust, versatile tactile sensor, mountable on industrial robot arms and aimed at eventual integration into robot hands for manipulation. The TacTip is available to order from us by

SUBSYSTEM TESTING

Object Manipulation SystemArm testingOnce a few layers of the arm were created they were testing using a lab air supply to measure the inflation time, deflation time, and how much each layer would expand. An external air compressor was used to inflate each channel individually by manually opening the flow paths to each arm channel. The final number of layer was then determined based of the LAMINAR JAMMING STRUCTURES Laminar Jamming Structures (LJS) are structures with thin layers enclosed in an airtight bag that can alternate between a highly flexible and a rigid state with a drastic increase in stiffness and damping when a pressure gradient is applied. LJS can also be used to simulate the deformation pattern of joints. Through laminar jamming,

we enable

TAKKTILE SENSORS

TakkTile sensors are an inexpensive, highly sensitive, easy-to-fabricate tactile sensor based on MEMS barometers. They provide the ability to detect gentle contacts in the range of one to several dozen grams, and can be easily embedded into soft rubber

(Tenzer, 2014).

SOFT GRIPPER FABRICATION GUIDE The Soft Gripper Fabrication Guide is a beginner level instructional guide for the introduction of soft robotics within the home or classroom. This soft gripper is made to have four legs that are inflated to pick up an object very gently, highlighting it's special suitability for delicate tasks. The gripper reinforces the principals

of soft

DOWNLOADS | SOFT ROBOTICS TOOLKIT Simplified CAD files of PneuNets for FEA (.zip) STEP files of PneuNets to import into Abaqus (.zip) CAE input file for Abaqus PneuNet model (.zip) Some of the information contained in this web site includes intellectual property covered by both issued and pending patent applications. It is intended solely for research, educational and

scholarly

SDM FINGER FABRICATION GUIDE The SDM Finger Fabrication Guide is a intermediate level instructional guide to aid in the construction of soft robotic components using easily accessible materials. The guide includes detailed instructions to make a simple actuator that can be controlled with an internal cord STEP 7: GRASPING SIMULATION The simulation in SOFA allows to reproduce grasping using a combination of constraints for frictional contact (using Coulomb's friction) and for actuators. To do this, we need to modify several elements of the simulation (see SoftGripper.py) a. Activate collision and direct simulation. In this example, we will simulate the collision

response of

SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

EGAIN SENSORS

TAKKTILE SENSORS

(Tenzer, 2014).

STEP 7: GRASPING SIMULATION The simulation in SOFA allows to reproduce grasping using a combination of constraints for frictional contact (using Coulomb's friction) and for actuators. To do this, we need to modify several elements of the simulation (see SoftGripper.py) a. Activate collision and direct simulation. In this example, we will simulate the collision

response of

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

EGAIN SENSORS

TAKKTILE SENSORS

(Tenzer, 2014).

response of

PNEUNETS BENDING ACTUATORS PneuNets (pneumatic networks) are a class of soft actuator originally developed by the Whitesides Research Group at Harvard. They are made up of a series of channels and chambers inside an elastomer. These channels inflate when pressurized, creating motion. The nature of this motion is controlled by modifying the geometry of the embedded chambers and the material properties of their walls TACTIP | SOFT ROBOTICS TOOLKIT TacTip. The TacTip is a 3d-printed optical tactile sensor developed at Bristol Robotics Laboratory ( Chorley et al, 2009 ). It aims to fulfil the need for a cheap, robust, versatile tactile sensor, mountable on industrial robot arms and aimed at eventual integration into robot hands for manipulation. The TacTip is available to order from us by LAMINAR JAMMING STRUCTURES Laminar Jamming Structures (LJS) are structures with thin layers enclosed in an airtight bag that can alternate between a highly flexible and a rigid state with a drastic increase in stiffness and damping when a pressure gradient is applied. LJS can also be used to simulate the deformation pattern of joints. Through laminar jamming,

we enable

designs.

PNEUNETS BENDING ACTUATORS PneuNets (pneumatic networks) are a class of soft actuator originally developed by the Whitesides Research Group at Harvard. They are made up of a series of channels and chambers inside an elastomer. These channels inflate when pressurized, creating motion. The nature of this motion is controlled by modifying the geometry of the embedded chambers and the material properties of their walls SDM FINGER FABRICATION GUIDE The SDM Finger Fabrication Guide is a intermediate level instructional guide to aid in the construction of soft robotic components using easily accessible materials. The guide includes detailed instructions to make a simple actuator that can be controlled with an internal cord FINITE ELEMENT MODELING This section describes a Finite Element Method (FEM) model for a particular type of fiber-reinforced actuator using the Abaqus software suite. This actuator differs from the fiber-reinforced actuators discussed in the rest of the documentation, as it consists of a cylindrical elastomeric tube, with circular cross section, and with fibers wrapped in a helical pattern around the outside of the CASE STUDY | SOFT ROBOTICS TOOLKIT Clinical need. Loss of grasping ability, whether caused by injury, disease, or other mechanisms, is a significant problem which negatively impacts quality of life in patients. It is possible to recover some lost function through intensive physical therapy, which typically involves the use of repetitive task practice (RTP). However,

RTP requires

SDM FINGERS

SDM Fingers. Shape Deposition Manufacturing (SDM) is a rapid prototyping process in which mechanisms are simultaneously fabricated and assembled through alternating steps of subtractive (milling) and additive (casting) manufacturing. One of the advantages of this process is that it is possible to embed items (such as sensors,

motors, or

ANNOUNCING THE WINNERS OF THE 2017 ANNUAL SOFT ROBOTICS Announcing the Winners of the 2017 Annual Soft Robotics Competitions. The Soft Robotics Toolkit design and research competitions are an annual event aimed at engaging and growing the soft robotics research community. To date, 500+ participants from over 250 teams competed for prizes, submitting a detailed account of the design, fabrication SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

EGAIN SENSORS

TAKKTILE SENSORS

(Tenzer, 2014).

response of

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

EGAIN SENSORS

TAKKTILE SENSORS

(Tenzer, 2014).

response of

we enable

designs.

PNEUNETS BENDING ACTUATORS PneuNets (pneumatic networks) are a class of soft actuator originally developed by the Whitesides Research Group at Harvard. They are made up of a series of channels and chambers inside an elastomer. These channels inflate when pressurized, creating motion. The nature of this motion is controlled by modifying the geometry of the embedded chambers and the material properties of their walls SDM FINGER FABRICATION GUIDE The SDM Finger Fabrication Guide is a intermediate level instructional guide to aid in the construction of soft robotic components using easily accessible materials. The guide includes detailed instructions to make a simple actuator that can be controlled with an internal cord CASE STUDY | SOFT ROBOTICS TOOLKIT Clinical need. Loss of grasping ability, whether caused by injury, disease, or other mechanisms, is a significant problem which negatively impacts quality of life in patients. It is possible to recover some lost function through intensive physical therapy, which typically involves the use of repetitive task practice (RTP). However,

RTP requires

SDM FINGERS

motors, or

EDUCATORSOUTREACH

robotics by

please

COMPONENTS | SOFT ROBOTICS TOOLKIT Components. An actuator is a component of a machine that is responsible for moving or controlling a mechanism or system. An actuator requires a control signal and a source of energy. A sensor is a device that detects and responds to some type of input from the physical environment. The specific input could be light, heat, motion,

moisture

SENSORS | SOFT ROBOTICS TOOLKIT Some of the information contained in this web site includes intellectual property covered by both issued and pending patent applications. It is intended solely for research, educational and scholarly purposes by not-for-profit research organizations. MODELING, SIMULATION AND CONTROL OF SOFT ROBOTS WITH SOFA Modeling, Simulation and Control of Soft Robots with SOFA. This page consists ofa new framework to simulate and control soft robots. This framework is based on a mechanical modeling of the robot elements combined with fast real-time direct/inverse FEM solvers. The keypoint of our approach is that the same modeling is used for interactive PNEUNETS BENDING ACTUATORS PneuNets (pneumatic networks) are a class of soft actuator originally developed by the Whitesides Research Group at Harvard. They are made up of a series of channels and chambers inside an elastomer. These channels inflate when pressurized, creating motion. The nature of this motion is controlled by modifying the geometry of the embedded chambers and the material properties of their walls TESTING | SOFT ROBOTICS TOOLKIT This section describes some examples of empirical tests that have been carried out to characterize PneuNets actuators. The aim of presenting these examples is to help you think about what types of tests you may need to perform to help guide your design. You may find the methods described useful for characterizing the behavior of your own actuator

designs.

EDUCATORSOUTREACH

robotics by

please

moisture

designs.

FINITE ELEMENT MODELING This section describes a Finite Element Method (FEM) model for a particular type of fiber-reinforced actuator using the Abaqus software suite. This actuator differs from the fiber-reinforced actuators discussed in the rest of the documentation, as it consists of a cylindrical elastomeric tube, with circular cross section, and with fibers wrapped in a helical pattern around the outside of the PNEUMATIC ARTIFICIAL MUSCLES Pneumatic Artificial Muscles. McKibben air muscles were invented for orthotics in the 1950s. They have the advantages of being lightweight, easy to fabricate, are self limiting (have a maximum contraction) and have load-length curves similar to human muscle. The muscles consist of an inflatable inner tube/bladder inside a braided mesh, clamped DIELECTRIC ELASTOMER ACTUATORS Dielectric elastomers actuators (DEA) are a class of electroactive polymers which work based on inducing of deformation with an electric field, which was demonstrated in 1880 by Wilhelm Conrad Roentgen by spraying charges on a piece of natural rubber (Röntgen 1880). A common design of DEAs is to sandwich a soft insulating elastomer membrane between two compliant electrodes. ABOUT | SOFT ROBOTICS TOOLKIT Toolkit Devlopment The Soft Robotics Toolkit grew out of research conducted at Harvard University and Trinity College Dublin which focused on developing better instructional kits for hands-on design courses (Dónal P. Holland et al. 2014).). The Toolkit was initially developed in the Harvard Biodesign Lab through a user-centred design approach to understanding the needs of student designers in SHOWCASE | SOFT ROBOTICS TOOLKIT Showcase features many of the devices and components that are submitted to the site through the Soft Robotic Design Competition. Students in the undergraduate and high school category, build, document, design and test their devices in order to publish their work to the Toolkit platform. SENSORS | SOFT ROBOTICS TOOLKIT Some of the information contained in this web site includes intellectual property covered by both issued and pending patent applications. It is intended solely for research, educational and scholarly purposes by not-for-profit research organizations. TESTING | SOFT ROBOTICS TOOLKIT To estimate the trajectory of the tip, the soft actuator was pressurized and depressurized three times while the camera recorded the motion. The resulting image frames were post-processed and analyzed with video analysis software (Kinovea 0.8.15).The x and y coordinates of the actuator tip throughout its motion were tracked, creating a trajectory for the tip’s motion.

STRETCHSENSE

TAKKTILE SENSORS

(Tenzer, 2014).

of soft

response of

scholarly

EDUCATORSOUTREACH

robotics by

please

MODELING, SIMULATION AND CONTROL OF SOFT ROBOTS WITH SOFA Modeling, Simulation and Control of Soft Robots with SOFA. This page consists ofa new framework to simulate and control soft robots. This framework is based on a mechanical modeling of the robot elements combined with fast real-time direct/inverse FEM solvers. The keypoint of our approach is that the same modeling is used for interactive TACTIP | SOFT ROBOTICS TOOLKIT TacTip. The TacTip is a 3d-printed optical tactile sensor developed at Bristol Robotics Laboratory ( Chorley et al, 2009 ). It aims to fulfil the need for a cheap, robust, versatile tactile sensor, mountable on industrial robot arms and aimed at eventual integration into robot hands for manipulation. The TacTip is available to order from us by LAMINAR JAMMING STRUCTURES Laminar Jamming Structures (LJS) are structures with thin layers enclosed in an airtight bag that can alternate between a highly flexible and a rigid state with a drastic increase in stiffness and damping when a pressure gradient is applied. LJS can also be used to simulate the deformation pattern of joints. Through laminar jamming,

we enable

SUBSYSTEM TESTING

should now have 2

response of

TAKKTILE SENSORS

(Tenzer, 2014).

SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

response of

TAKKTILE SENSORS

(Tenzer, 2014).

please

STRETCHSENSE

Stretch sensors are a type of sensor designed to measure soft structures, including soft robots and the human body. StretchSense, a company from New Zealand, has developed commercially available stretch sensors that can measure either stretch, bend, shear, or pressure. These stretch sensors are essentially flexible capacitors. When the sensor deforms (due to stretching or squeezing) its LAMINAR JAMMING STRUCTURES Laminar Jamming Structures (LJS) are structures with thin layers enclosed in an airtight bag that can alternate between a highly flexible and a rigid state with a drastic increase in stiffness and damping when a pressure gradient is applied. LJS can also be used to simulate the deformation pattern of joints. Through laminar jamming,

we enable

designs.

SDM FINGERS

motors, or

CASE STUDY | SOFT ROBOTICS TOOLKIT Clinical need. Loss of grasping ability, whether caused by injury, disease, or other mechanisms, is a significant problem which negatively impacts quality of life in patients. It is possible to recover some lost function through intensive physical therapy, which typically involves the use of repetitive task practice (RTP). However,

RTP requires

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

response of

TAKKTILE SENSORS

(Tenzer, 2014).

SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

response of

TAKKTILE SENSORS

(Tenzer, 2014).

please

STRETCHSENSE

Stretch sensors are a type of sensor designed to measure soft structures, including soft robots and the human body. StretchSense, a company from New Zealand, has developed commercially available stretch sensors that can measure either stretch, bend, shear, or pressure. These stretch sensors are essentially flexible capacitors. When the sensor deforms (due to stretching or squeezing) its LAMINAR JAMMING STRUCTURES Laminar Jamming Structures (LJS) are structures with thin layers enclosed in an airtight bag that can alternate between a highly flexible and a rigid state with a drastic increase in stiffness and damping when a pressure gradient is applied. LJS can also be used to simulate the deformation pattern of joints. Through laminar jamming,

we enable

designs.

SDM FINGERS

motors, or

RTP requires

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

response of

TAKKTILE SENSORS

(Tenzer, 2014).

SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

response of

TAKKTILE SENSORS

(Tenzer, 2014).

please

STRETCHSENSE

Stretch sensors are a type of sensor designed to measure soft structures, including soft robots and the human body. StretchSense, a company from New Zealand, has developed commercially available stretch sensors that can measure either stretch, bend, shear, or pressure. These stretch sensors are essentially flexible capacitors. When the sensor deforms (due to stretching or squeezing) its LAMINAR JAMMING STRUCTURES Laminar Jamming Structures (LJS) are structures with thin layers enclosed in an airtight bag that can alternate between a highly flexible and a rigid state with a drastic increase in stiffness and damping when a pressure gradient is applied. LJS can also be used to simulate the deformation pattern of joints. Through laminar jamming,

we enable

designs.

SDM FINGERS

motors, or

RTP requires

EDUCATORSOUTREACH

robotics by

PROJECTS | SOFT ROBOTICS TOOLKITSOFT ROBOTICS JOURNALSOFT ROBOTICS KITSOFT ROBOTICS MATERIALSSOFT ROBOTICS WIKISOFT ROBOTICS INCSOFT

ROBOTICS ARM

Projects. Some of the information contained in this web site includes intellectual property covered by both issued and pending patent applications. It is intended solely for research, educational and scholarly purposes by not-for-profit research organizations. If you have interest in specific technologies for commercial applications,

please

designs.

SCHEMATIC WIRING

Schematic Wiring. The functions of each of the circuit component are explained below: Arduino: The Arduino microcontroller is the brain of the regulator system. Here, control commands are written to inflate/deflate the robot, read the system pressure from the pressure

sensor to

should now have 2

MANUAL GRIPPER

This simple, DIY gripper is simple solution for building a manually actuated gripper. This version helps students combine the SDM fingers into the component of robotic arm that can be endlessly customized. This design does not include any electronics, or sophisticated hardware however, students are still able to create and test a gripper that can have various configurations. STEP 1A: CREATE PARTS In this step, we will create the elastomeric tube and fibers that make up the actuator. Make sure to download the file fibers.py, as we will use that to create the fibers later.For a bending actuator, download the file fibers_bending.py.Create tubeTo begin, open a new project in Abaqus CAE. You should see a screen like below: DESIGN OF A STEWART PLATFORM LIKE SECTION The design of the platform is very simple. It is composed of 3 sockets that receive the actuators and hold them in place. A hole at the bottom of each socket provides the necessary space to connect a plastic tube, from the air supply to the actuator, and a central hole in the platform allows us to pass the tube that will supply the air to the actuators of the second section. TEXTILE SILICONE HYBRID SENSOR FABRICATION GUIDE The Textile Silicone Hybrid Sensor Fabrication Guide is an advanced level instructional guide for the introduction of soft sensing components into soft robotics curriculum and activities. This capacitive sensor introduces the potential for soft robots and their components to interact safely with the body and interface with other

wearable

SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

PROJECTS | SOFT ROBOTICS TOOLKITSOFT ROBOTICS JOURNALSOFT ROBOTICS KITSOFT ROBOTICS MATERIALSSOFT ROBOTICS WIKISOFT ROBOTICS INCSOFT

ROBOTICS ARM

please

designs.

SCHEMATIC WIRING

sensor to

should now have 2

MANUAL GRIPPER

wearable

ABOUT | SOFT ROBOTICS TOOLKIT Toolkit Devlopment The Soft Robotics Toolkit grew out of research conducted at Harvard University and Trinity College Dublin which focused on developing better instructional kits for hands-on design courses (Dónal P. Holland et al. 2014).). The Toolkit was initially developed in the Harvard Biodesign Lab through a user-centred design approach to understanding the needs of student designers in COMPONENTS | SOFT ROBOTICS TOOLKIT Components. An actuator is a component of a machine that is responsible for moving or controlling a mechanism or system. An actuator requires a control signal and a source of energy. A sensor is a device that detects and responds to some type of input from the physical environment. The specific input could be light, heat, motion,

moisture

SHOWCASE | SOFT ROBOTICS TOOLKIT Showcase features many of the devices and components that are submitted to the site through the Soft Robotic Design Competition. Students in the undergraduate and high school category, build, document, design and test their devices in order to publish their work to the Toolkit platform. TESTING | SOFT ROBOTICS TOOLKIT To estimate the trajectory of the tip, the soft actuator was pressurized and depressurized three times while the camera recorded the motion. The resulting image frames were post-processed and analyzed with video analysis software (Kinovea 0.8.15).The x and y coordinates of the actuator tip throughout its motion were tracked, creating a trajectory for the tip’s motion. LAMINAR JAMMING STRUCTURES Laminar Jamming Structures (LJS) are structures with thin layers enclosed in an airtight bag that can alternate between a highly flexible and a rigid state with a drastic increase in stiffness and damping when a pressure gradient is applied. LJS can also be used to simulate the deformation pattern of joints. Through laminar jamming,

we enable

TACTIP | SOFT ROBOTICS TOOLKIT TacTip. The TacTip is a 3d-printed optical tactile sensor developed at Bristol Robotics Laboratory ( Chorley et al, 2009 ). It aims to fulfil the need for a cheap, robust, versatile tactile sensor, mountable on industrial robot arms and aimed at eventual integration into robot hands for manipulation. The TacTip is available to order from us by

SUBSYSTEM TESTING

MANUAL GRIPPER

This simple, DIY gripper is simple solution for building a manually actuated gripper. This version helps students combine the SDM fingers into the component of robotic arm that can be endlessly customized. This design does not include any electronics, or sophisticated hardware however, students are still able to create and test a gripper that can have various configurations. FINITE ELEMENT MODELING This section describes a Finite Element Method (FEM) model for a particular type of fiber-reinforced actuator using the Abaqus software suite. This actuator differs from the fiber-reinforced actuators discussed in the rest of the documentation, as it consists of a cylindrical elastomeric tube, with circular cross section, and with fibers wrapped in a helical pattern around the outside of the SDM FINGER FABRICATION GUIDE The SDM Finger Fabrication Guide is a intermediate level instructional guide to aid in the construction of soft robotic components using easily accessible materials. The guide includes detailed instructions to make a simple actuator that can be controlled with an internal cord SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

PROJECTS | SOFT ROBOTICS TOOLKITSOFT ROBOTICS JOURNALSOFT ROBOTICS KITSOFT ROBOTICS MATERIALSSOFT ROBOTICS WIKISOFT ROBOTICS INCSOFT

ROBOTICS ARM

please

designs.

SCHEMATIC WIRING

sensor to

should now have 2

MANUAL GRIPPER

wearable

SOFT ROBOTICS TOOLKITABOUTCOMPONENTSSHOWCASEFORUMRESOURCES FOR

EDUCATORSOUTREACH

robotics by

PROJECTS | SOFT ROBOTICS TOOLKITSOFT ROBOTICS JOURNALSOFT ROBOTICS KITSOFT ROBOTICS MATERIALSSOFT ROBOTICS WIKISOFT ROBOTICS INCSOFT

ROBOTICS ARM

please

designs.

SCHEMATIC WIRING

sensor to

should now have 2

MANUAL GRIPPER

wearable

moisture

we enable

SUBSYSTEM TESTING

MANUAL GRIPPER

This simple, DIY gripper is simple solution for building a manually actuated gripper. This version helps students combine the SDM fingers into the component of robotic arm that can be endlessly customized. This design does not include any electronics, or sophisticated hardware however, students are still able to create and test a gripper that can have various configurations. FINITE ELEMENT MODELING This section describes a Finite Element Method (FEM) model for a particular type of fiber-reinforced actuator using the Abaqus software suite. This actuator differs from the fiber-reinforced actuators discussed in the rest of the documentation, as it consists of a cylindrical elastomeric tube, with circular cross section, and with fibers wrapped in a helical pattern around the outside of the SDM FINGER FABRICATION GUIDE The SDM Finger Fabrication Guide is a intermediate level instructional guide to aid in the construction of soft robotic components using easily accessible materials. The guide includes detailed instructions to make a simple actuator that can be controlled with an internal cord Skip to main content

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THE RESULTS OF THE 2018 SOFT ROBOTIC DESIGN COMPETITIONS AND PRIZE FOR RESEARCH HAVE BEEN ANNOUNCED! This year we received submissions of medical devices, aquatic vehicles, and soft sensors. These, and other soft robotic components will be published on the Toolkit to add to the growing library of soft robotic technologies. We would like to thank everyone who participated this year in the form of contributors or as part of our esteemed judging panel. Our judges, who are researchers, professional, and experts in their field have reviewed each submission for novelty, significance to the field of research, and quality of documentation. Over the past four years, we have hosted over 800 participants in the competition and have amassed a total of 127 pages of documentation sets. We could not have grown this online community without the help of our contributors. Interested in hearing more about the comeptition? Sign up for our

for announcment

and results. For the details and excerpts from each winner please visit the 2018 competition page

.

SEE ENTRIES FROM PREVIOUS COMPETITIONS WHAT IS THE SOFT ROBOTICS TOOLKIT? The Soft Robotics Toolkit is a collection of shared resources to support the design, fabrication, modeling, characterization, and control of soft robotic devices. The Toolkit was developed as part of educational research being undertaken in the Harvard Biodesign Lab . The ultimate aim of the Toolkit is to advance the field of soft robotics by allowing designers and researchers to build upon each other’s work. The Toolkit includes an open source fluidic control board , detailed design documentation describing a wide range of soft robotic components (including actuators and sensors), and related files that can be downloaded and used in the design, manufacture, and operation of soft robots. In combination with low material costs and increasingly accessible rapid prototyping technologies such as 3D printers, laser cutters, and CNC mills, the Toolkit enables soft robotic components to be produced easily and affordably. Each section of the site focuses on a soft robotic device or component, and includes the following sections: * DESIGN: A description of the device and how it works, with related design files that can be downloaded and guidelines on potential modifications you could make to the design. * FABRICATION: A bill of materials listing all of the parts, materials, and equipment you will need to build your own device, plus a detailed set of instructions for you to follow. * MODELING: A discussion of modeling and analysis approaches you can use to predict and understand the behavior of the device and optimize

your design.

* TESTING: In order to validate your models and better understand your device, you will need to carry out empirical tests. This section describes the tests that other designers and researchers have carried out and that may provide inspiration for the design of your own

experiments.

* CASE STUDIES: Examples of how others have used the device or component for real-world applications. * DOWNLOADS: All of the files related to the design, fabrication, modeling, testing, and control of the device. The content on this site is drawn from projects carried out in a number of research labs . Our aim is to improve and expand the toolkit by welcoming feedback and contributions from the soft robotics community. To read more about the development of the Soft Robotics Toolkit please read our publications

, detailing the

research behind this resource. If you have an interest in advancing the field and engaging with this community, please get in touch

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LATEST NEWS

PROJECT HIGHLIGHT: THE APOSMA MASK

October 1, 2017

The Aposma Mask , a conceptual soft robotic prosthetic, is made to enhance the emotions of the wearer using colorful liquid actuated through internal channels of the mask. The project was created as part of a Masters thesis project by Sirou Peng

, Adi Meyer

and Silvia Rueda , students at the ... Read more about Project Highlight: The Aposma Mask SOFT ROBOTICS TOOLKIT NEWS - SEPTEMBER 2017

September 7, 2017

ANNOUNCING 'RESOURCES FOR EDUCATORS' TAB The Soft Robotics Toolkit team is pleased to announce the launch of the Resources for Educators

tab!

Here at the Soft Robotics Toolkit, we strive to continue our efforts to make content available to a broader audience, from our seasoned users all the way to those just starting to experiment with soft robots. In keeping with that goal we have launched a... Read more about Soft Robotics Toolkit News - September 2017

News

_Some of the information contained in this web site includes intellectual property covered by both issued and pending patent applications. It is intended solely for research, educational and scholarly purposes by not-for-profit research organizations. _ _If you have interest in specific technologies for commercial applications, please contact us here

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Text

EDUCATORSOUTREACH

robotics by

please

SUBSYSTEM TESTING

designs.

should now have 2

EGAIN SENSORS

EDUCATORSOUTREACH

robotics by

please

STRETCHSENSE

SUBSYSTEM TESTING

we enable

TAKKTILE SENSORS

(Tenzer, 2014).

of soft

scholarly

response of

EDUCATORSOUTREACH

robotics by

please

we enable

SUBSYSTEM TESTING

should now have 2

EGAIN SENSORS

TAKKTILE SENSORS

(Tenzer, 2014).

response of

EDUCATORSOUTREACH