Slide 4
3d printing
3D printing, an additive manufacturing (AM) process, builds objects layer by layer
from 3D model data, contrasting with traditional machining. This technology can
produce complex geometries without post-processing and with minimal material waste,
using a range of materials, including shape memory polymers and other smart
materials. 3D printing enables greater design freedom, allowing for the creation of
unique, low-volume products cost-effectively. It also allows conventional
assemblies to be manufactured as single, intricate structures. Environmentally
friendly, 3D printing’s application is expanding across industries like robotics,
healthcare, and aerospace, with substantial growth anticipated. Recently, 3D
printing has become essential for fabricating soft robots for diverse applications.
Soft robots
Soft robotics is a young research field inspired by natural mechanisms optimized
over centuries. Unlike traditional robots made from hard materials, which limit
flexibility and adaptation to obstacles, soft robots are elastic and can deform
safely. Although rigid robots are precise and powerful, they lack the multi-
functionality seen in nature. Soft robots, however, represent the next generation
of robotics with their ability to safely interact with humans and maneuver through
tight spaces, much like how an octopus can squeeze through small openings. Their
elastic structure allows them to adapt without creating damaging internal
pressures.
Relation between 3D printing
and soft rob.
3D printing plays a crucial role in the development of soft robots by allowing for
precise customization and complex shapes. Unlike traditional robots, soft robots
use materials like shape memory coils and muscle-like actuators. These materials
can be produced with 3D printing, although challenges exist, such as deformation
during printing due to material softness. Innovations like UltiCast and the use of
hydrogels have improved 3D printing for soft robotics, enabling the creation of
flexible, functional structures. Applications include medical tools like robotic
gloves that assist with hand movement and rescue robots that navigate rough
terrain. 3D printing's versatility in combining soft and hard materials has paved
the way for advanced soft robots, improving safety in human-robot interactions.
Slide 5
Biometric soft structures are innovative devices that mimic natural biological
forms and functions. They utilize soft materials and technologies like 3D printing
to create flexible, adaptive systems. These structures find applications in
medicine, robotics, and biomimetics, ensuring safer interactions with the
environment and humans.
Slide 6
Katzschmann et al. developed a hydraulic autonomous soft robotic fish, showcasing
its locomotion in three dimensions. They utilized 3D printing technology to create
soft body parts, enabling the incorporation of arbitrary internal fluidic channels
and facilitating various body deformations for continuous bending. The fish's nose,
also 3D printed, served as a waterproof housing for the installed electronics,
including a motor driver, microcontroller, and wireless communication system. <--
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Slide 7
Onal and Rus created a bio-inspired soft robot using 3D printing, mimicking the
shape and motion of a snake. This autonomous robot can undulate like a real snake,
powered by onboard computation, control, and actuation capabilities. It features
four bidirectional actuators that generate a wave motion from head to tail. The
fabrication process took 14 hours, allowing the soft robotic snake to achieve an
average locomotion speed of 19 mm/s.
Slide 8.
Homberg et al. utilized 3D printing to fabricate a multi-fingered soft robotic hand
capable of gripping various solid objects, such as CDs, paper, pens, and soda cans.
Resistive bend sensors were installed in each finger to differentiate between
objects. The hand could recognize a range of objects using data stored from
internal flex sensors, with each finger possessing independent sensing
capabilities.
Slide 10.
A soft robotic glove developed by Harvard scientists aids in rehabilitation and
assistance at home. It features soft actuators with molded elastomeric chambers
that create motion through fluid pressurization. Fabricated in stages using 3D
printing, the glove can be customized to meet individual patient needs. This
robotic glove helps restore movement for disabled individuals by providing targeted
physiotherapy.
Slide 11.
A soft robot designed for gait rehabilitation in spinalized rodents features a 3D-
printed main frame and molds for soft actuators. Additionally, a soft robotic
sensing unit has been created for measuring human gait, incorporating printed soft
sensors, electronics, and a 3D-printed mold for assembly.
