RBE Master Thesis Defense
Arnold Muralt
SiPA: Spider-inspired Pneumatic Actuator as a Programable Modular Soft Robotic Building Block
Tuesday, August 1st, 2023
1:00 PM - 2:30 PM
Location: UH 150E
Abstract: Current soft robots lack the adaptability and reprogramability of conventional robotics, resulting in limitations in the reuse and adaptability of such systems. Due to this, soft robots are commonly designed from the ground up for each discrete task. Inspired by the leg joints of spiders, we have developed a novel soft robotic actuator which permits reuse over a wide array of tasks including locomotion and grasping. Utilizing a soft silicone core, and a PET film exoskeleton we are able to reconfigure the actuator to move as required. With the modular construction of the exoskeleton, including tube and joint segments, we have developed an actuator which can be completely reconfigured, or reprogramed in just 20 minutes, by simply swapping out the exoskeleton. This actuator has the potential to address the lack of soft robotics in education, while being useful to industrial and medical applications.
Advisor:
Professor Cagdas Onal, Worcester Polytechnic Institute (WPI)
Committee:
Professor Mohammad Mahdi Agheli Hajiabadi, Worcester Polytechnic Institute (WPI)
Professor Yunus Telliel, Worcester Polytechnic Institute (WPI)