May 28, 2021 Journal article Open Access

Francesco Visentin; Barbara Mazzolai; Fabian Meder; Saravana Prashanth Murali Babu; Saravana Prashanth Murali Babu

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{
  "DOI": "10.1002/adfm.202101121", 
  "abstract": "AbstractNature has inspired a new generation of robots that not only imitate the behavior of natural systems but also share their adaptability to the environment and level of compliance due to the materials used to manufacture them, which are typically made of soft matter. In order to be adaptable and compliant, these robots need to be able to locally change the mechanical properties of their soft material\u2010based bodies according to external feedback. In this work, a\u00a0soft actuator that embodies a highly controllable thermo\u2010responsive hydrogel and changes its stiffness on direct stimulation is proposed. At a critical temperature, this stimulation triggers the reversible transition of the hydrogel, which locally stiffens the elastomeric containment at the targeted location. By dividing the actuator into multiple sections, it is possible to control its macroscopic behavior as a function of the stiffened sections. These properties are evaluated by arranging three actuators into a gripper configuration used to grasp objects. The results clearly show that the approach can be used to develop soft actuators that can modify their mechanical properties on\u2010demand in order to conform to objects or to exert the required force.", 
  "author": [
    {
      "family": "Francesco Visentin"
    }, 
    {
      "family": "Barbara Mazzolai"
    }, 
    {
      "family": "Fabian Meder"
    }, 
    {
      "family": "Saravana Prashanth Murali Babu"
    }, 
    {
      "family": "Saravana Prashanth Murali Babu"
    }
  ], 
  "id": "77345", 
  "issued": {
    "date-parts": [
      [
        2021, 
        5, 
        28
      ]
    ]
  }, 
  "language": "eng", 
  "note": "", 
  "title": "Selective Stiffening in Soft Actuators by Triggered Phase Transition of Hydrogel-Filled Elastomers", 
  "type": "article-journal"
}