Collaborative Research: Self-powered Electrochemical Actuators toward Untethered Soft Mobile Robots

自主性对于机器人应用是至关重要的，例如在搜索和救援、监视和监视和巡逻中，因为它减少了人力并提高了效率。软机器人在这些应用中非常受欢迎，因为它们能够通过变形、重新配置和适应性在崎岖、受限或其他复杂的地形和环境中导航。车载储能和驱动系统是实现软机器人更广泛自主性的两个突出挑战，因为这些系统是不可整合的、不灵活的和笨重的。该奖项支持通过将一种新颖的3D打印可变形电池电化学执行器与软机器人结构相结合来应对这些挑战的研究，以创造自供电、无系留的移动软机器人。这种可变形电池既可以作为动力源，也可以作为执行器，具有双重功能。这项研究的成功成果将使软机器人在陆地、海底和太空探索、人机交互、健康监测、可穿戴技术以及国防和安全方面得到应用。该项目的教育和外展目标是通过多个校内外实践项目的活动促进本科生研究人员的多样性，并通过对机构暑期项目和夏令营的贡献和利用来激发K-12学生对软机器人的兴趣。本研究的目标是实现机器人功能的电化学和机械功能的闭环集成，从而开发出一种自给式、无拴系的移动软机器人系统。本论文将致力于以下三个目标的研究：1)3D打印结构电池中自供电弯曲致动器的电化学驱动与驱动耦合，2)自供电电化学致动器与单稳态结构在重复软跳跃和游泳机器人中的集成，以及3)通过实验表征、解析建模和多物理模拟相结合的方法对电化学-机械弯曲和驱动行为进行基础研究。为了实现这些目标，这项研究将集中在几个新的方面，如可控微结构的3D打印，可变形和高能量密度的碳纤维电池的设计，以及通过电化学-机械耦合实现机器人功能。该项目由跨部门机器人基础研究计划支持，由工程总监(ENG)和计算机和信息科学与工程(CEISE)共同管理和资助。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

Autonomy is crucial for robotic applications, e.g., in search and rescue, surveillance, and monitoring and patrol, as it reduces human labor and enhance efficiency. Soft robots are desirable in these applications because of their ability to navigate through rough, constrained, or otherwise complex terrains and environments though morphing, reconfiguration, and adaptability. Onboard energy storage and actuation systems are two outstanding challenges in achieving broader autonomy for soft robots because these systems are non-conformable, inflexible, and bulky. This award supports research in meeting these challenges by integrating a novel 3D printed deformable battery-based electrochemical actuator with soft robotic structures for creating self-powered, untethered mobile soft robots. The deformable battery will serve as both a power source and an actuator for dual functionality. A successful outcome of this research will enable soft robotic applications for land, undersea, and space exploration, human-machine interactions, health monitoring, wearable technology, and defense and security. The education and outreach objective of the project is to promote diversity in undergraduate researchers through multiple inside and outside-campus activities with hands-on projects, as well as to spark the interest of K-12 students in soft robots by contributing to and leveraging institutional summer programs and camps.The objective of this research to achieve a closed-loop integration of electrochemical and mechanical functions for robotic functionality towards developing a self-powered, untethered mobile soft robotic system. Three aims will be pursued: 1) coupling of electrochemical powering and actuation in 3D printed structural batteries for self-powered bending actuators, 2) integration of self-powered electrochemical actuators with monostable structures for untethered motion in repetitive soft jumping and swimming robots, and 3) fundamental investigation of electro-chemical-mechanical bending and actuation behavior through combined experimental characterization, analytical modeling, and multiphysics simulation. To attain these aims, the research will focus on several novel aspects such as 3D printing with controllable microstructure, design of deformable and high energy density carbon fiber batteries, and enabling of robotic functions through electro-chemical-mechanical coupling.This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.