Our group currently focuses on pneumatic and vacuum-based designs for building new types of large-scale soft robots. These robots will be used for handling large yet fragile objects and to interact with humans in their house or used to take care of them. We focus on design solutions to augment the capabilities of these robots.
The addition of a twist during the manufacturing of shape memory alloy coil gives them a higher performance. This new type of SMA coil was then implemented in a jumping tensegrity robot.
Yoon Seop Chung, Ji-Hyeong Lee, Jae Hyuck Jang, Hyouk Ryeol Choi and Hugo Rodrigue, 2019, “Jumping Tensegrity Robots based on Torsionally Pre-strained SMA Springs ,” ACS Applied Materials & Interfaces, Vol. 11, No. 43, pp. 40793-40799.
The pairing of pouch motors or serial pneumatic artificial muscles (sPAMs) can be used to increase their performance in terms of displacement and force. This simple concept was used for the actuation of a simple robotic arm.
Namsoo Oh, Yeong Jae Park, Seongbok Lee, Haneol Lee, and Hugo Rodrigue, Published online ahead of print, “Design of Paired Pouch Motors for Robotic Applications,” Advanced Materials Technologies.
A vacuum-based soft linear actuator was developed capable of deformations up to 99.7% of their length and of lifting payloads up to 40 kg. This actuator has a large potential for robotic applications.
Jin-Gyu Lee and Hugo Rodrigue, 2019, “Origami-based Vacuum Pneumatic Artificial Muscles with Large Contraction Ratios,” Soft Robotics, Vol. 6, No. 1.
This shape memory alloy and polymer based soft morphing wrist and gripper was developed by Prof. Hugo Rodrigue during his Ph.D. at Seoul National University. It is capable of recovering from buckling and of producing twisting deformations.
Rodrigue, H. et al., 2015, “Fabrication of Wrist-like SMA-based Actuator by Double Smart Soft Composite Casting,” Smart Materials and Structures, Vol. 24, No. 12, No. 125003