A self-organizing robotic aggregate using solid and liquid-like collective states.

Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a modular system that blurs the distinction between soft, modular, and swarm robotics. The system consists of gear-like units that each contain a single actuator such that units can self-assemble into larger, granular aggregates using magnetic coupling. These aggregates can reconfigure dynamically and also split into subsystems that might later recombine. Aggregates can self-organize into collective states with solid- and liquid-like properties, thus displaying widely differing compliance. These states can be perturbed locally via actuators or externally via mechanical feedback from the environment to produce adaptive shape-shifting in a decentralized manner. This, in turn, can generate locomotion strategies adapted to different conditions. Aggregates can move over obstacles without using external sensors or coordinates to maintain a steady gait over different surfaces without electronic communication among units. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.

Evaluation of silicone elastomers as structural materials for microstructured adhesives.

Microstructured (sometimes referred to as gecko-like) adhesives have numerous advantages over flat films, especially for practical applications on non-ideal surfaces that may be uneven or contaminated with dust. However, due to interdependence among material surface and bulk properties, the best material to fabricate such adhesives is still unknown. In this work, we analyzed eleven commercially available silicone elastomers to evaluate their use as flat and microstructured adhesives to address multiple material related questions that may impact the choice of the 'best' material for microstructured dry adhesives. To illustrate the applicability of the measured properties to modeling microstructured surfaces, we use stalk-shaped microstructures, whose contact mechanics are well understood. We demonstrate that there is no correlation between the adhesion strength of flat and microstructured adhesives; while bulk dissipation is the most important factor influencing the adhesion strength of flat elastomers, after microstructurization, interface toughness becomes more important. Therefore, microstructured elastomers loaded with high surface energy additives may demonstrate higher adhesion than their flat counterparts. We also compare the adhesion of flat and microstructured silicone elastomers on rough substrates. In this case, we show that while flat elastomer adhesion decreases with increasing substrate roughness, microstructured silicone adhesion actually increases with increasing roughness up to 0.19 [Formula: see text]m. This is the first time an increase in adhesion strength on rough surfaces is reported for materials stiffer than 1.0 MPa.

Evaluation of Material Properties for Practical Microstructured Adhesives: Low Dust Adhesion and High Shear Strength.

The development of microstructure (gecko-like) adhesives has focused almost solely on their adhesive strength. However, for practical applications, especially in real-world environments, the adhesive's long-term performance is arguably equally important. One impediment to long-term viability is the adhesive's susceptibility to contamination. It is a challenge to develop an adhesive that can both adhere to a substrate while not becoming contaminated with dust and debris. In response, this paper experimentally explores the effect of modulus of elasticity, work of separation, and work of adhesion (adhesion energy) on the shear stress and particle detachment capabilities of wedge-shaped, directional microstructured adhesives. Particle removal is evaluated using both noncontact cleaning methods (centripetal force and electrostatic particle repulsion) and a dry contact cleaning method (load-drag-unload test). Results show that for a material with a high work of separation, high elastic modulus, and low work of adhesion, it is possible to create a microstructured adhesive with both high shear stress strength and low adhesion to dust particles. Results also show that, for dry contact cleaning, shear stress recovery mostly stems from particle rolling and not particle sliding. Moreover, shear test results show that augmenting the microstructured adhesive with electrostatic adhesion can reduce the negative effects on adhesion of a high elastic modulus materials' conformability to a substrate by providing a preload to the microstructured elements. Last, this paper is the first to report on a electrostatic/gecko-like adhesive that uses its electrostatic elements for both adhesion and dust repulsion; they were reported separately before.

Understanding the influence of silicone elastomer properties on wedge-shaped microstructured dry adhesives loaded in shear.

Anisotropic, gecko-inspired, microstructured adhesives are one of the most promising solutions for many applications in robotics and biomedical applications that require controllable adhesives to grip flat surfaces. In such adhesives, normal adhesion is negligible when loaded solely in the normal direction, but becomes available when the adhesive is loaded in shear first. However, much remains to be learned regarding the friction and failure mechanisms of microstructures loaded in shear. In response, we analysed the load-displacement profiles of wedge-shaped microstructured adhesives comprised of nine different silicone elastomers and their mixtures loaded in shear. The results show that the friction profile depends on at least three factors related to material properties: interfacial adhesion strength in the normal direction (work of separation), elastic modulus and the sample's imperfections (e.g. contamination, misalignment and moulding errors). Moreover, the work of separation influences the maximum friction load such that for materials with the same elastic modulus, the strongest interfacial adhesion yields the lowest friction force. To explain this, we suggest that strongly adhering materials will lead to a macroscopic frictional sliding of the array rather than previously reported stick-slip behaviour.

A New Approach to Unwanted-Object Detection in GNSS/LiDAR-Based Navigation.

In this paper, we develop new methods to assess safety risks of an integrated GNSS/LiDAR navigation system for highly automated vehicle (HAV) applications. LiDAR navigation requires feature extraction (FE) and data association (DA). In prior work, we established an FE and DA risk prediction algorithm assuming that the set of extracted features matched the set of mapped landmarks. This paper addresses these limiting assumptions by incorporating a Kalman filter innovation-based test to detect unwanted object (UO). UO include unmapped, moving, and wrongly excluded landmarks. An integrity risk bound is derived to account for the risk of not detecting UO. Direct simulations and preliminary testing help quantify the impact on integrity and continuity of UO monitoring in an example GNSS/LiDAR implementation.

Electrostatic self-cleaning gecko-like adhesives.

This paper describes the use of the electrostatic element of an electrostatic/gecko-like adhesive to repel dust particles, which have been shown to significantly affect adhesion and reliability. The result is a non-destructive, non-contact cleaning method that can be used in conjunction with other cleaning techniques, many of which rely on physical contact between the fibrillar adhesive and substrate. The paper focuses on experimental evaluation of the repulsion of 100 µm glass beads as a function of wave shape, frequency, phase number and electrode direction in relation to the gecko-like features. Results show that a two-phase square wave with the lowest practically feasible frequency can remove 100 µm glass beads from a directional gecko-like adhesive with up to 70% efficiency. Finally, using the optimized electrostatic cleaning properties, results show an approximately 25% recovery in shear stress on a rough glass for three contaminated directional gecko-like adhesives after contact with a dusty table.

A multi-digit tactile motion stimulator.

BACKGROUND: One of the hallmarks of haptic exploration is that it typically involves movement between skin and object. Explored objects may contact multiple digits simultaneously so information about motion must be integrated across digits, a process about which little is known. NEW METHOD: To fill this gap, we have developed a stimulator that allows for the simultaneous and independent delivery of motion stimuli to multiple digits. The stimulator consists of individual units that deliver motion with three degrees of freedom: rotation (to produce motion), vertical excursion (to control depth of indentation into the skin) and arm orientation (to control the direction of motion). Each degree of freedom is controlled by a single motor. The compact design of the simulator allows for the side-by-side arrangement of the stimulator units such that they impinge upon adjacent fingers. RESULTS: To demonstrate the functionality of the stimulator, we performed a series of psychophysical experiments that investigate the perception of motion on multiple fingers. We find that, while the sensitivity to changes in motion direction is equivalent whether stimuli are presented to the same or to different fingers, the perceived direction of motion depends on the relative configuration of the digits. COMPARISON WITH EXISTING METHODS: We replicated the results of previous experiments investigating motion discrimination with a single digit and were able to extend these findings by investigating motion perception across multiple digits. CONCLUSION: The novel motion stimulator will be an invaluable tool to investigate how motion information is integrated across multiple digits.

Improving controllable adhesion on both rough and smooth surfaces with a hybrid electrostatic/gecko-like adhesive.

This paper describes a novel, controllable adhesive that combines the benefits of electrostatic adhesives with gecko-like directional dry adhesives. When working in combination, the two technologies create a positive feedback cycle whose adhesion, depending on the surface type, is often greater than the sum of its parts. The directional dry adhesive brings the electrostatic adhesive closer to the surface, increasing its effect. Similarly, the electrostatic adhesion helps engage more of the directional dry adhesive fibrillar structures, particularly on rough surfaces. This paper presents the new hybrid adhesive's manufacturing process and compares its performance to three other adhesive technologies manufactured using a similar process: reinforced PDMS, electrostatic and directional dry adhesion. Tests were performed on a set of ceramic tiles with varying roughness to quantify its effect on shear adhesive force. The relative effectiveness of the hybrid adhesive increases as the surface roughness is increased. Experimental data are also presented for different substrate materials to demonstrate the enhanced performance achieved with the hybrid adhesive. Results show that the hybrid adhesive provides up to 5.1× greater adhesion than the electrostatic adhesive or directional dry adhesive technologies alone.

Robotic personal aids for mobility and monitoring for the elderly.

Two rehabilitation devices, or personal aids for mobility and monitoring (PAMM), for use by the elderly are presented. The devices are intended to delay the transition from eldercare (assisted living) facilities to nursing homes. The robotic PAMMs provide support, guidance, and health monitoring. Two experimental systems are described: a cane and a walker. Issues of mobility, sensing, and control, as well as experimental data from trials in an assisted living facility using both systems are presented.