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11.2 MB
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9647DF36FC0728BBB0BEBD690743A4C7929338AC
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Aug. 8, 2025, 9:33 a.m.
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(Last updated: Aug. 8, 2025, 9:35 a.m.)
| File | Size |
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| Duduta M. Soft Robotics. Building Machines from Soft Matter 2025.pdf | 11.2 MB |
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SOURCE: Duduta M. Soft Robotics. Building Machines from Soft Matter 2025
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MEDIAINFO
Textbook in PDF format Soft Robotics is a growing field in Robotics that spans disciplines to solve challenges in unique environments, such as operation near the human body. The book takes a practical approach to teaching soft robotics by introducing fundamental concepts and experimental guides for a learn-by-doing approach. It covers molecular origin of elasticity, processing and fabrication, bulk properties and practical use for a stretchable robot. This book is a product of necessity: as a teacher for a course on Soft Robotics, I have not been able to find a book that enables a novice in the field to quickly grasp the basics. When setting out to write the book, I sought a framework that helps bridge understanding between the highly diverse ideas that fall under the growing interdisciplinary field of Soft Robotics. For those less familiar with the terms, Soft Robots represent a class of machines that are made of materials as soft as living systems. The result of using these building blocks is unique capabilities that allow soft robots to operate in broad range of environments inaccessible to rigid robots, including unstructured environments (e.g., extreme environments, disaster zones), in the proximity of people (e.g., collaborative manufacturing spaces, home companions, and healthcare robotics), and beyond. With Soft Matter being a vast, interdisciplinary, and growing field, the machines made from these building blocks are becoming more complex in how they are made and how they are operated. The structure of the book is as follows: the first chapter introduces soft matter, focusing primarily on elastomers. While foams, gels, colloids, and other soft matter systems have unique and interesting properties, the vast majority of work in Soft Robotics is aimed at elastomer development and processing to produce soft structures. The second chapter describes stretchable electronic conductors, which serve as the basis for deformable resistive and capacitive sensors, as well as building blocks for electro-mechanical actuators, stretchable energy storage, and harvesting systems. The following four chapters describe the four main actuation modalities: fluid powered systems, electro-mechanical transducers, thermally responsive materials, and magnetic actuators. For each chapter, the focus is on how energy is transduced from a specific energy source into a motion that can be used for robotically-relevant mechanical work. The seventh chapter describes adhesion mechanisms, specifically electro-adhesion and gecko-inspired adhesives, which are both relevant for robotics and rely on soft materials for operation. The final chapter summarizes more advanced topics that cover other robotic building blocks, but they are not as established as the previous chapters
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