000228452 001__ 228452
000228452 005__ 20190317000723.0
000228452 0247_ $$2doi$$a10.5075/epfl-thesis-7688
000228452 02470 $$2urn$$aurn:nbn:ch:bel-epfl-thesis7688-7
000228452 02471 $$2nebis$$a10906365
000228452 037__ $$aTHESIS
000228452 041__ $$aeng
000228452 088__ $$a7688
000228452 245__ $$aDevelopment of Essential Components for Soft Wearable Technologies
000228452 260__ $$aLausanne$$bEPFL$$c2017
000228452 269__ $$a2017
000228452 300__ $$a184
000228452 336__ $$aTheses
000228452 502__ $$aProf. Auke Ijspeert (président) ; Prof. Jamie Paik (directeur de thèse) ; Prof. Reymond Clavel, Prof. Robert Full , Prof. Fumiya Iida (rapporteurs)
000228452 520__ $$aThe rising demand for safe human-robot interaction in daily tasks has motivated significant research effort in the robotics field towards compliant and conformable robots, capable of replicating complex human movements in applications such as wearable rehabilitative devices and haptic interfaces. Novel manufacturing, actuation, and sensing technologies contributed significantly to this field by providing design and manufacturing frameworks for inherently compliant robots. Although promising, these technologies are still in the early stages of development and base research for refining their design, improving their performance, and defining design criteria is still required for these technologies to reach their full potential. In this thesis, some of the main challenges hindering the effective application of robotics in wearable devices are tackled. We propose the robotic origami (robogami) framework with multiple but finite degrees of freedom (DoFs) for soft wearable devices. Robogamis are low profile robots that provide conformity and compliance with their multiple DoFs driven by soft actuation methods. The finite DoFs in these robots enable better prediction and planning of their motion while highly customizable joint designs, thanks to the layer-by-layer manufacturing and the precise quasi-2D fabrication processes, allows the multiple DoFs to be embedded to achieve the required level of conformity. The main contributions of this thesis are:  -Study of the robogami framework as a design platform for soft robots with programmable reconfiguration and compliance. -Design and validation of actuation solutions based on smart materials for independent actuation of robogami joints. -Adoption of the smart materials' variable mechanical properties to adjust the stiffness of robogami joints and the overall compliance of the robot. -Development of customized sensing methods to measure robogami joint angles and stretchable sensors based on the same principles to measure body movements. We believe that these contributions facilitate some of the main challenges for the effective application of robogamis in wearable devices for safe and yet capable interaction with humans. The highly customizable components can also be used in design frameworks other than robogamis and other applications where compliance and conformity are required.
000228452 6531_ $$aRobotic origamis
000228452 6531_ $$alayer-by-layer manufacturing
000228452 6531_ $$atendon-driven under-actuated robots
000228452 6531_ $$afunctional materials
000228452 6531_ $$aadjustable stiffness
000228452 6531_ $$acurvature sensors
000228452 6531_ $$astretchable sensors
000228452 6531_ $$asoft robots.
000228452 700__ $$0246565$$aFirouzeh, Amir$$g221830
000228452 720_2 $$0246476$$aPaik, Jamie$$edir.$$g218367
000228452 8564_ $$s14186285$$uhttps://infoscience.epfl.ch/record/228452/files/EPFL_TH7688.pdf$$yn/a$$zn/a
000228452 909C0 $$0252462$$pRRL$$xU12520
000228452 909CO $$ooai:infoscience.tind.io:228452$$pthesis$$pthesis-bn2018$$pDOI$$pSTI$$qDOI2$$qGLOBAL_SET
000228452 917Z8 $$x108898
000228452 917Z8 $$x108898
000228452 918__ $$aSTI$$cIGM$$dEDRS
000228452 920__ $$a2017-6-9$$b2017
000228452 970__ $$a7688/THESES
000228452 973__ $$aEPFL$$sPUBLISHED
000228452 980__ $$aTHESIS