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Journal Article

A Multifunctional Soft Robotic Shape Display with High-speed Actuation, Sensing, and Control

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Keplinger,  Christoph       
Dept. Robotic Materials, Max Planck Institute for Intelligent Systems, Max Planck Society;
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Citation

Johnson, B. K., Naris, M., Sundaram, V., Volchko, A., Ly, K., Mitchell, S. K., et al. (2023). A Multifunctional Soft Robotic Shape Display with High-speed Actuation, Sensing, and Control. Nature Communications, 14: 4516. doi:10.1038/s41467-023-39842-2.


Cite as: https://hdl.handle.net/21.11116/0000-0010-7A00-5
Abstract
Shape displays which actively manipulate surface geometry are an expanding robotics domain with applications to haptics, manufacturing, aerodynamics, and more. However, existing displays often lack high-fidelity shape morphing, high-speed deformation, and embedded state sensing, limiting their potential uses. Here, we demonstrate a multifunctional soft shape display driven by a 10 × 10 array of scalable cellular units which combine high-speed electrohydraulic soft actuation, magnetic-based sensing, and control circuitry. We report high-performance reversible shape morphing up to 50 Hz, sensing of surface deformations with 0.1 mm sensitivity and external forces with 50 mN sensitivity in each cell, which we demonstrate across a multitude of applications including user interaction, image display, sensing of object mass, and dynamic manipulation of solids and liquids. This work showcases the rich multifunctionality and high-performance capabilities that arise from tightly-integrating large numbers of electrohydraulic actuators, soft sensors, and controllers at a previously undemonstrated scale in soft robotics.