Project

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START: Surface for TAngible RealiTy

English title START: Surface for TAngible RealiTy
Applicant Paik Jamie
Number 165694
Funding scheme Project funding
Research institution Laboratoire de robotique reconfigurable EPFL - STI - IGM - RRL
Institution of higher education EPF Lausanne - EPFL
Main discipline Mechanical Engineering
Start/End 01.11.2016 - 31.10.2019
Approved amount 367'836.00
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Keywords (8)

additive manufacturing; distributed actuation; variable stiffness; soft electronics; multi-DoF robot; distributed sensing; shape memory polymer; smart composite material fabrication

Lay Summary (Italian)

Lead
START: Surface for TAngible RealiTy (Superficie per la realtà tangibile)
Lay summary
Sintesi del progetto:
In futuro la realtà virtuale non sarà più basato soltanto sullla visione. Sarà tangibile. I più sviluppati sistemi per realtà virtuale si basano su informazioni visive mentre anche i più moderni sistemi di interazione fisica, le interfacce aptiche, stimolano il senso del tatto unicamente tramite la vibrazione.
Per migliorare la sensazione immersiva che si vuole creare con la realtà virtuale, abbiamo bisogno di una piattaforma fisica che può stimolare la pelle umana con pressione, vibrazione, temperatura e deformazione. Non ci sono dispositivi commerciali disponibili in commercio tali da fornire queste interazioni tangibili, il progetto si propone di migliorare le tecniche necessarie per il design e la fabricazione della prima interfaccia interattiva con stimolazione fisica.
Questa interfaccia non solo migliorerà le modalità di comunicazione online, ma anche l’apprendimento, l’intrattenimento e la riabilitazione fisica tramite applicazioni che combineranno informazioni tattili e visive.
 
Argomento e obbiettivi:
L’obbiettivo è il design di una interfaccia muta-forma capace di visualizzare distribuzioni di temperatura, rigidezza e vibrazione per fornire all’utente l’esclusiva opportunità di usare il suo senso del tatto nell’interazione con  le macchine. Questo dispositivo permetterà di migliorare le tecniche di apprendimento fisico e mentale.
Per raggiungere questo obbiettivo, proponiamo lo sviluppo di un sistema con gradi di libertà multipli che ci permetta di esplorare:
(A)   La auto-riconfigurazione tramite attuazione localizzata e distribuita gestita mediante i suoi gradi di libertà multiplii, il sistema sarà in grado di prendere la forma molteplici superfici
(B)   La rigidezza variabile attivando elementi a rigidezza variabile distribuiti sulla superficie riconfigurabile
(C)   Informazioni tattili distribuite tramite una rete di sensori e trasduttori che misureranno le informazioni tattili
 
Direct link to Lay Summary Last update: 18.11.2016

Lay Summary (English)

Lead
START: Surface for TAngible RealiTy
Lay summary
The future of virtual reality would no longer be just visual. It will be tangible. The latest virtual reality systems rely heavily on visual feedback while even the best of physical reality, haptic interfaces, only deliver singular vibrations as touch response. To improve the immersive sensations in virtual reality, we need a physical platform that can stimulate human skin with pressure, vibration, temperature, and stretch. There are no commercially available devices that can provide such tangible interactions, the project intends to advance the techniques required for designing and fabricating the first interactive interface with physical stimulation. would not only enhance the way we communicate online but augment the learning, entertaining and physical training processes with various application in combination with visual and tactile feedback
 
Subject and Objective:
The goal is to design a shape-shift interface capable of displaying temperature, stiffness and vibrational gradients for providing to the user the unique opportunity of using his sense of touch in interacting with machines. This will augment user learning, entertaining and physical training processes.
To achieve this goal, we propose the development of multi-DoF system that can explore:
(A) Auto-reconfiguration by demonstrating localized and distributed actuation to form various surface structures with its multi-active-DoF.
(B) Adjustable stiffness by activating localized and distributed variable stiffness capabilities of the reconfiguring surfaces.
(C) Distributed tactile feedback from network of distributed sensors and interfaces that can evaluate the tactile feedback.
 
Direct link to Lay Summary Last update: 18.11.2016

Responsible applicant and co-applicants

Employees

Publications

Publication
Multi-DoF Force Characterization of Soft Actuators
Joshi Sagar, Paik Jamie (2019), Multi-DoF Force Characterization of Soft Actuators, in IEEE Robotics and Automation Letters, 4(4), 3679-3686.
Designing minimal and scalable insect-inspired multi-locomotion millirobots
Zhakypov Zhenishbek, Mori Kazuaki, Hosoda Koh, Paik Jamie (2019), Designing minimal and scalable insect-inspired multi-locomotion millirobots, in Nature, 571(7765), 381-386.
Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding
Zhakypov Zhenishbek, Mete Mustafa, Fiorentino Julien, Paik Jamie (2019), Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding, in 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea (South)IEEE, Seoul, Korea (South), Korea (South).
An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size
Zhakypov Zhenishbek, Heremans Florian, Billard Aude, Paik Jamie (2018), An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size, in IEEE Robotics and Automation Letters, 3(4), 2894-2901.
Soft robot design methodology for ‘push-button’ manufacturing
Paik Jamie (2018), Soft robot design methodology for ‘push-button’ manufacturing, in Nature Reviews Materials, 3(6), 81-83.
A reconfigurable interactive interface for controlling robotic origami in virtual environments
Huang Jian-Lin, Zhakypov Zhenishbek, Sonar Harshal, Paik Jamie (2018), A reconfigurable interactive interface for controlling robotic origami in virtual environments, in The International Journal of Robotics Research, 37(6), 629-647.
Design Methodology for Constructing Multimaterial Origami Robots and Machines
Zhakypov Zhenishbek, Paik Jamie (2018), Design Methodology for Constructing Multimaterial Origami Robots and Machines, in IEEE Transactions on Robotics, 34(1), 151-165.
Tribot: A deployable, self-righting and multi-locomotive origami robot
Zhakypov Zhenishbek, Belke Christoph H., Paik Jamie (2017), Tribot: A deployable, self-righting and multi-locomotive origami robot, in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BCIEEE, Vancouver, BC.
A Novel Torsional Shape Memory Alloy Actuator: Modeling, Characterization, and Control
Zhakypov Zhenishbek, Huang Jian-Lin, Paik Jamie (2016), A Novel Torsional Shape Memory Alloy Actuator: Modeling, Characterization, and Control, in IEEE Robotics & Automation Magazine, 23(3), 65-74.
Design of Low-Profile Compliant Transmission Mechanisms
Giraud Frederic H., Zhakypov Zhenishbek, Paik Jamie, Design of Low-Profile Compliant Transmission Mechanisms, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, ChinaIEEE, Macau, China.
Pneumatic supply system parameter optimization for soft actuators
JoshiSagar, PaikJamie, Pneumatic supply system parameter optimization for soft actuators, in Soft Robotics.

Datasets

Dataset for multi-locomotion robot Tribot

Author Zhakypov, Zhenishbek
Publication date 26.01.2020
Persistent Identifier (PID) 10.5281/zenodo.3628022
Repository Zenodo
Abstract
The dataset contains .mat files with raw and estimated data for plotting a multi-locomotion robot Tribot locomotion performance of the related Nature manuscript. The file also contains detailed data tables for robot specs, materials used, power consumption and comparison table for similar sized robots and insects reported in the literature.

Dataset for DOI: 10.1109/LRA.2019.2927936. "Multi-DoF Force Characterization of Soft Actuators"

Author Joshi, Sagar
Publication date 26.01.2020
Persistent Identifier (PID) 10.5281/zenodo.3627900
Repository Zenodo
Abstract
This dataset contains the raw measurement data and MATLAB scripts for the following publication: S. Joshi and J. Paik, "Multi-DoF Force Characterization of Soft Actuators," in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3679-3686, Oct. 2019. doi: 10.1109/LRA.2019.2927936The .csv files contain measured values of soft actuator pressure, displacement and force output. The MATLAB scripts help to extract and plot this raw data.

Collaboration

Group / person Country
Types of collaboration
Adaptive Robotics Laboratory, Osaka University Japan (Asia)
- in-depth/constructive exchanges on approaches, methods or results
- Publication
- Exchange of personnel

Scientific events

Active participation

Title Type of contribution Title of article or contribution Date Place Persons involved
RoboTac 2019 Poster Force Characterization Of Meso-Scale Haptic Devices 04.11.2019 Macao, Macao Paik Jamie; Joshi Sagar;
RoboTac 2019 Workshop Poster Haptigami: a Fingertip Haptic Device with Vibrotactile and 3-DoF Kinesthetic Feedback 04.11.2019 Macao, Macao Joshi Sagar; Paik Jamie;
Eversion and Growing Soft Robots Workshop Talk given at a conference Minimal and Scalable Design of Multi-locomotion Origami Millirobots 14.04.2019 Seol, Korean Republic (South Korea) Paik Jamie; Zhakypov Zhenishbek;


Knowledge transfer events

Active participation

Title Type of contribution Date Place Persons involved
EPFL Open Days Performances, exhibitions (e.g. for education institutions) 15.09.2019 Lausanne, Switzerland Joshi Sagar; Zhakypov Zhenishbek; Paik Jamie;
Swiss Robotics Industry Day Performances, exhibitions (e.g. for education institutions) 01.11.2018 Lausanne, Switzerland Paik Jamie; Zhakypov Zhenishbek; Joshi Sagar;


Communication with the public

Communication Title Media Place Year
Talks/events/exhibitions Hard challenges of soft robotics SCHUNK Denmark International 2019
Talks/events/exhibitions Novel haptic interfaces for studying human perception in virtual environments International 2019
Talks/events/exhibitions Origami Robots Hannover Messe International 2019
Media relations: print media, online media Robot-ants that can jump, communicate and work together International 2019
New media (web, blogs, podcasts, news feeds etc.) Soft Robotics with Jamie Paik IEEE RAS Soft Robotics Podcast International 2019
Talks/events/exhibitions Soft robots for invisible intuitive interactions International 2019
Talks/events/exhibitions TED: Origami robots that reshape and transform themselves International 2019
Media relations: print media, online media These robo-ants can work together in swarms to navigate tricky terrain TechCrunch International 2019
Media relations: radio, television Tiny robot leaps around carrying its own battery, electronics ArsTechnica International 2019

Awards

Title Year
Best Poster Award 2019
PhD Thesis Distinction 2019

Associated projects

Number Title Start Funding scheme
177027 Laser Micro-Machining System for Meso-Manufacturing 01.03.2018 R'EQUIP

Abstract

The future of virtual reality (VR) would no longer be just visual. It will be tangible. The latest VR systems rely heavily on visual feedback while even the best of physical reality, haptic interfaces, only deliver singular micro-vibrations as feedback. To render an effective exteroceptive understanding of the environment, we need a physical platform that can stimulate human skin in terms of all four mechano-receptor modules (pressure, vibration, temperature, and stretch). A compliant platform that generates more diverse stimulations will improve human-machine experience. Such interactive interface with physical stimulation would not only enhance the way we communicate online but augment the learning, entertaining and physical training processes with various application in combination with visual and tactile feedback. The goal of The Surface for TAngible RealiTy, START, is to develop a moldable platform to transfer rich proprioceptive senses. To achieve this, we need 1) a modular physical interactive interface that 2) activates different tactile modalities upon command 3) over a distributed area. START will transform at will, transferring various tactile sensations of an environment / object via multiple scales and modes of physical stimulation.The objectives of the START project is to ultimately create a comprehensive design, develop materials and fabrication process for a device comprised of multiple functional layers with variable stiffness structures, sensors and active elements in an multi-DoF system that can explore: 1) auto-reconfiguration by demonstrating localized and distributed actuation to form various surface structures with its multi-active-DoF; 2) adjustable stiffness by activating localized and distributed variable stiffness capabilities of the reconfiguring surfaces; 3) distributed tactile feedback from network of distributed sensors and interfaces that can evaluate the tactile feedback. START is an application-driven project that faces three distinctive challenges. 1) Advances in design methodology to achieve structural compliance: We will study the structural and material-level effects of different thick-film-based functional layers (> 200 µm) on each other and on the discrete embedded components that include sensors, electronics, and smart materials. We will examine different design platforms in 2D and compliant mechanism to achieve the functional modularity and universality of the START.2) Novel actuation system for multi-scale and distributed actuation: We will investigate the applicability of the latest actuation systems in the low-profile, multi-DoF methods encompassing soft / smart actuators, and electrical motors. We will examine the distributed multi-DoF actuation system via simulation model and verify the distributed system controllability. 3) Advances in fabrication technology and material selection: We will extend beyond 2D and 2.5D fabrication methods that are often reserved for MEMS process. We will explore smart composite materials fabrication processes, additive manufacturing, and various lithography techniques to derive structural and functional integrity.Concurrent physical feedback systems are mostly tied to visual or vibratory actuation only. The START project and its prototypes will revolutionize the data and tactile information transmission via its multi-actuated feedback system. START will enhance the user stimulation via multiple channels and modes of actuation that will transfer dense and complex exteroceptive data instantaneously. The rich dataset retrieved from the device can be used to study the mechanics and methodology of learning and communications. START, a novel quasi-2D robotic platform, also will further the latest research on materials, multi-DoF, multi material system integration, and fabrication methods for wearable robots. The findings from each milestone prototype, engineered materials, and novel electronic components will benefit diverse fields of studies and applications including architecture, medicine, pedagogy, rehabilitation, and entertainment.
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