Introduction to Microsystems

Soft robotics (special topic course)

Dr. Chris WJ Zhang

Objective of this course

Soft robots are a new type of robot, which has a great potential in developing new products in the area where the robot needs to interact with the human ubiquitously. The course aims to deliver the knowledge for the architecture of soft robots and for the design and manufacturing technology to build soft robots in applications. The learning outcome of the course includes (1) understanding the definition of soft robots, (2) grasping the design theory and methodology for soft robots, (3) being able to analyze and evaluate a soft robot.

Material to be covered

Rationale for selection of materials

The course is self-contained with no pre-requisite. Students without (rigid body) robotics background can also take this course.

Contents and instruction hours

Topics

1
2
3
4
5
6
7 / Contents of topics
Overview of (rigid body) robotics, including the notion of inverse kinematics and forward kinematics, architecture of robots, and workspace analysis.
Overview of (rigid body) sub-systems in a robot, namely body, controller, sensor, and actuator.
Definition of softness, soft robots (soft sensor, soft actuator, soft body, soft controller).
Soft actuator, soft sensor, soft controller.
Soft body, compliant mechanism
Analysis and synthesis of compliant body and soft body
Application of soft robots and project assignment /

Meeting Hours

3
3
6
6
6
6
3

List of materials for reading:

[1]  Ang Chen, W.J. Zhang, J. Li, R.X. Yin, C.L. Liu, 2016. On understanding soft robots with a General Knowledge Architecture of Systems. IEEE Conference. New Zealand Conference.

[2]  Lin Cao, 2015. On Advancing the Topology Optimization Technique to Compliant Mechanisms and Robots. PhD Thesis. Department of Mechanical Engineering, University of Saskatchewan.

[3]  Michael Wehner et al., 2016. An integrated design and fabrication strategy for entirely soft, autonomous robots, Nature, 25 August, Vol. 536.

[4]  Zhang, W., Lin, Y. and Sinha, N. 2005. "On the function-behaviour-structure model for design", The 2nd CDEN Conference.18–20 July2005,Alberta, Canada. (CD ROM, 8 pages)

[5]  Zhang, W., 2015, “Passive control versus active control”, Lecture, School of Mechanical and Power Engineering, East China University of Science and Technology, China (Shanghai).

[6]  Wang, L. & Iida, F. 2015, "Deformation in Soft-Matter Robotics: A Categorization and Quantitative Characterization", Robotics & Automation Magazine, IEEE, vol. 22, no. 3, pp. 125-139.

[7]  Trivedi, D., Rahn, C.D., Kier, W.M. & Walker, I.D. 2008, "Soft robotics: Biological inspiration, state of the art, and future research", Applied Bionics and Biomechanics, vol. 5, no. 3, pp. 99-117.

[8]  Rus, D. & Tolley, M.T., 2015. "Design, fabrication and control of soft robots", Nature, vol.521, no.7553, pp.467-475.

[9]  Onal, C. D., Chen, X., Whitesides, G. M. & Rus, D. Soft mobile robots with on-board chemical pressure generation. In 15th International Symposium on Robotics Research (ISRR 2011) 1–16 (2011).

[10] Mosadegh, B. et al. Pneumatic networks for soft robotics that actuate rapidly. Adv. Funct. Mater. 24, 2163–2170 (2014).

[11] Tolley, M. T. et al. A resilient, untethered soft robot. Soft Robot. 1, 213–223 (2014).

[12] Bartlett, N. W. et al. A 3D-printed, functionally graded soft robot powered by combustion. Science 349, 161–165 (2015).

Nature of work to be done by students

The course will be conducted by students’ reading of the above papers with weekly discussions with the instructor. The student will undertake critical comment on the paper. They will give a presentation of their reading. The students are required to perform a group project (design), which is assigned by the instructor.

Percentage assigned for evaluation

Project (design) : 40%

Exam (final)% : 40%

Assignment (critical comment on paper)* : 10%

Class discussion (presentation) : 10%

%Exam is open book and 3 hours.

*Each student will be assigned one paper over the term.

The number of hours of instruction provided: 33.

Limit of enrolment: 15.

Student Conduct: / Ethical behavior is an important part of engineering practice. Each professional engineering association has a Code of Ethics, which its members are expected to follow. Since students are in the process of becoming Professional Engineers, it is expected that students will conduct themselves in an ethical manner.
The APEGS (Association of Professional Engineers and Geoscientists of Saskatchewan) Code of Ethics states that engineers shall “conduct themselves with fairness, courtesy and good faith towards clients, colleagues, employees and others; give credit where it is due and accept, as well as give, honest and fair professional criticism” (Section 20(e), The Engineering and Geosciences Professions Regulatory Bylaws, 1997).
The first part of this statement discusses an engineer’s relationships with his or her colleagues. One of the ways in which engineering students can demonstrate courtesy to their colleagues is by helping to maintain an atmosphere that is conducive to learning, and minimizing disruptions in class. This includes arriving on time for lectures, turning cell phones and other electronic devices off during lectures, not leaving or entering the class at inopportune times, and refraining from talking to others while the instructor is talking. However, if you have questions at any time during lectures, please feel free to ask (chances are very good that someone else may have the same question as you do).
For more information, please consult the University Council Guidelines for Academic Conduct.
http://www.usask.ca/university_secretary/council/reports_forms/reports/guide_conduct.php
Academic Honesty: / The latter part of the above statement from the APEGS Code of Ethics discusses giving credit where it is due. At the University, this is addressed by university policies on academic integrity and academic misconduct. In this class, students are expected to submit their own individual work for academic credit, properly cite the work of others, and to follow the rules for examinations. Academic misconduct, plagiarism, and cheating will not be tolerated. Copying of assignments and lab reports is considered academic misconduct. Students are responsible for understanding the university’s policies on academic integrity and academic misconduct. For more information, please consult the University Council Regulations on Student Academic Misconduct and the university’s examination regulations.
http://www.usask.ca/university_secretary/honesty/StudentAcademicMisconduct.pdf
http://www.usask.ca/university_secretary/council/academiccourses.php
Safety: / The APEGS Code of Ethics also states that Professional Engineers shall “hold paramount the safety, health and welfare of the public and the protection of the environment and promote health and safety within the workplace” (Section 20(a), The Engineering and Geosciences Professions Regulatory Bylaws, 1997).
Safety is taken very seriously by the Department of Mechanical Engineering. Students are expected to work in a safe manner, follow all safety instructions, and use any personal protective equipment provided. Students failing to observe the safety rules in any laboratory will be asked to leave.

ME 898 2017 Fall, Soft Robotics, Chris Zhang Page 2