The Neucuff – A Soft Robotic Exoskeleton

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Over the past six months I have been developing a soft robotic elbow orthotic for Cerebral Palsy therapy. It’s still in the early stages of prototyping and testing, but it’s making rapid progress. If all goes as planned, it should be in the hands of a team of CP doctors specializing in robotic orthotics in a few weeks.

Here’s a bit more background from the Hackaday page:

The Neucuff is an extension of the soft robotics development I’ve been doing for the past three years as lead scientist at Super-Releaser. After creating manufacturing techniques for a few different flavors of soft robot, I felt it was time to find some practical applications for the technology.

I approached a ton of people about where soft robotics could be best applied. I talked with civil engineers about exploratory robots for mapping pipes in construction sites. I talked with NASA scientists about soft robots in space. The most promising ideas came from my father, an orthopedic surgeon specializing in arthroscopy and shoulder reconstruction, and my robotics mentor, who has spent the last ten years in the medical device field.

They both described problems with therapeutic robots that a soft robotics approach could solve. Soft robots are good at spreading force evenly across a large area. Soft robots are conformal so they can fit a wide variety of applications and environments by design. This makes them an ideal candidate for Cerebral Palsy therapy.

 

You can find out more detail along with downloads, video, and schematics here.

Soft Robots (Actually) in Space

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When I spoke at the SpaceApps conference, I hadn’t realized how close I was to working with NASA in a much more official capacity. A few months earlier I developed some prototypes for Final Frontier Design, a company devoted to the design and engineering of spacesuits. This was in my role as lead scientist at Super-Releaser and the end goal was proving to NASA that mechanical counterpressure garments (like I described in my talk) could be a practical reality with some time and development. I’m pleased to announce that they approved our proposal and we will be working on a new generation of EVA gloves over the next six months.

What I’m most excited about is the opportunity to bring all of the elements of engineering, prototyping, and digital manufacture for compliant materials to create and test all of the iterations of the glove we’ll be going through. There are thrilling mechanisms and intricate problems that I believe are only workable with compliance in mind. After all, we’re interfacing with the most mechanically complex manipulator the body has to offer.

Hopefully I’ll be able to update as progress is made. I will still continue my development work at Super-Releaser and research on the Neucuff, though the frequency of updates may drop off.

Title image by Lisandro Sanchez.

The Glaucus

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The Glaucus is a soft robotic quadruped composed of a single seamless silicone part. It has a complex network of interior channels, created via a lost wax process, that turn into actuators when pressurized with air. It’s able to walk with a diagonal gait, similar to a gecko or Glaucus Atlanticus sea slug, using only two input channels.

quad_03The Glaucus was created to demonstrate a method for fabricating soft robots of nearly any geometry with arbitrary interior structures. It’s been my goal, since beginning my research into soft robotics, to simplify the process of prototyping and refining designs. Often the barrier between an interesting bench prototype and practical application is how it scales into production. If methods for experimenting with the core concepts, evaluating them in a context that represents their final manufactured state, and refining them for mass production don’t exist, the idea is very likely to languish on the bench. Continue reading

Fridge Clip

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I have an uneasy relationship with my miniature refrigerator. This chilly bastard decided to get clever and fall open over the weekend. I stepped in to the lab to find it iced up and dripping all over the floor. It was running so hard the housing climbed up to something like 90 degrees. Now, maybe I didn’t shut it properly over the weekend, but I’ve seen this fridge swing open when a gnat coughed. It was time for a change.

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Defrosting all over my floor. The trash can is there for dumping the icy slush once the drip tray filled up.

I designed a clip to solve this problem. I modeled it in a half hour and it took my Ultimaker a bit more than two to print it. I’m very happy with how it turned out. This clip has an integrated spring and a central rib to optimize the stiffness without adding tons of thickness (i.e. more print time). It attaches to the fridge body with three rivets. For the rivet holes I wrapped my drill in some electrical tape to make sure it didn’t plunge too far into the insulation and damage anything. It was installed in a snap and hopefully will prove a permanent solution to an annoying problem. Continue reading

Scrap Microwave Spot Welder

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This project involves AC power, high amperage, and high temperatures. Although this project is simple in principle replicating it on your own offers a lot of opportunities to hurt yourself. Proceed with caution.

Microwaves are treasure troves of useful electronic components. They’ve usually got some nice microswitches, a big transformer, a magnetron, and some smaller transformers and rectifiers to drive the display. I found a decent sized microwave hanging out on the street and transformed it into a shop tool I’d been wanting for a while – a spot welder.

Why Spot Welders are Useful

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Spot welders are handy to have around the shop. They can tack together wire for quick brazing, and permanently weld sheet metal for durable enclosures. If you want a thorough guide on what you can do with a spot welder, Dan Gelbart has all the answers. I’ve been looking to up my prototyping game and have more freedom to build custom components when off the shelf parts won’t suit. Unfortunately my workshop is in Brooklyn and space is at a premium. I spent a lot of time fabricating structures out of steel wire in school and have found that it’s a good replacement for bent sheet metal and structural framing if you play your cards right. Wire is easy to store in a small shop, doesn’t take much equipment to manipulate, and can hold good tolerances in various dimensions as its behavior is very predictable. You can still find the manual I follow for a lot of my techniques on Amazon. Continue reading

DIY Infusions – Cocktail Fuel

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I’m fond of giving people gifts, but often shy away from just giving people stuff. There’s a complex dance of figuring out if it’ll be useful, if the quality’s any good, if they’ve already got one around, that muddies the water. I prefer to make something that doesn’t take up much space and has the chance of getting used up rather than living out the rest of its existence in storage. I’ve found that infusions work pretty perfectly for this job.

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I’ve gone through a lot of recipes and variations over the years (they’ll likely show up on this blog eventually) but I was especially fond of this batch made in 2013. I made 5 infusions as christmas gifts to send to friends and family. The mixes were black pepper vodka, pumpkin vodka, lady grey tea gin, raw honey vodka, and red pepper tequila. Continue reading

SOLS Adaptiv – A Wearable Soft Robot

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I was hired by SOLS to help out with their Adaptiv project. The idea was to showcase the procedural modeling techniques, materials, and technologies behind their printed insoles with a futuristic robotic shoe. Jordan Dialto, the industrial design lead at SOLS, approached me in my capacity as lead scientist at Super-Releaser to make a prototype soft robot shoe that could change shape and fit in response to the wearer.

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The external shell (purple) retaining skeleton (grey) and soft actuators (teal) joined together with reference pins to be inserted into the original mesh.

The project started out with an external shell modeled by Continuum Fashion. Although the design was elegant, this posed a challenge for introducing the robotic elements and the engineered components that would stitch everything together. Since the external shell was generated in a mesh CAD program, it didn’t fit into SolidWorks’ reference frame. This meant using the mesh as a reference and generating a simplified surface to extrude the soft robot elements and retaining skeleton from. Continue reading

Glowy Crystal Ring

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Do you like 3D printing, mold making, industrial design, jewelry, and RGB LED’s? You’re in luck, then. I just finished this tutorial for Adafruit and think it’s well worth a look.

In this project, I attempted to make an Arduino powered device that was easy to use, easy to make, and self contained. Every 3d printed component can be done in a single build without support material. The ring has a battery, switch, and USB port. Once it’s together, all you need to charge or reprogram it is a USB Micro cable.

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Soft Robots in Space

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I spoke at the NYC NASA SpaceApps conference last weekend about how soft robots might end up in space in the next few years. I covered mechanical counterpressure suits, exercise on the International Space Station, enhancing strength on EVA’s, and how space turns your heart into a sphere. Stick around for the Q&A segment at the end, where I get to field some questions from real-life astronaut Catherine Coleman.

You can see my slides here.

Cover image by ZEISS Microscopy.

Soft Robotics Talks at NYCResistor

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I’m trying to get more people playing with soft robots. I’m releasing open source design files, tutorials, and now teaching classes. They’re a useful tool to add to any roboticist’s engineering toolbox, and if they were more widely known I think we’d see them outside the research lab and applied to practical problems.

I’ve taught a couple of seminars on soft robotics (demonstrating how I fabricate the Glaucus) over the last few weeks. I’m also giving a few talks soon – one at a seminar for engineering simulations, and another at NYC’s Spaceapps Hackathon.

You can find more information on the last few classes on the Soft Robotics Technology Meetup page, the ACM-NYC Meetup page, and NYCResistor’s blog. I’ve embedded video of the ACM talk below.

 

Title photo by David Rey. You can find more of his photos of this event at the NYC Soft Robotics Technology Group Meetup here.