Self-HEaling soft RObotics

Project Information

SHERO

Grant agreement ID: 828818

DOI 10.3030/828818

Project closed

EC signature date 17 December 2018

Start date 1 June 2019

End date 30 November 2022

Funded under

• EXCELLENT SCIENCE - Future and Emerging Technologies (FET)

Total cost € 2 950 446,25

EU contribution € 2 948 571,25

Coordinated by

VRIJE UNIVERSITEIT BRUSSEL
Belgium

Deliverables

Documents, reports (9)

Experiments smart control and response system

Report on structural health monitoring for autonomously healing systems This report evaluates the methods of structural health monitoring and related response systems for smart control of the developed actuators and the utilization of the different types of sensors The smart control mechanisms will be employed to improve and prolong the performance of the actuators and autonomous action will be taken to start the healing event to repair sensed damage See also T23 in WP2

Prototype with report of self-healing actuator

Demonstration and report of the developed prototypes of selfhealing actuators Report on feasibility studies to create actuator prototypes using the SH materials based on hydrogen bonding and exchange type SH materials and a prototype with incorporated healing activation mechanisms Report on the actuator design that allows the actuator to return to a healing position after damage and subsequent healing event activation Evaluation of the healing performance See also T21 in WP2

Report characterization of SH materials (conductive and non-conductive)

Evaluation of the selfhealing properties and mechanisms of the three types of SH materials reversible addition dynamic exchange and physical interactions Report on how the chemical structure of the active groups and the architecture of the polymer network define the stimuliresponsive properties and healing behaviour of the SH materials Lessons learned will allow the creation of userdefined properties and optimized healing behaviour for a wide range of applications

Dissemination and communication report 1 at end reporting period

Report on the dissimination and communication during the first period of the project (M1-M12): prospective and published scientific papers in international journals, abstract and proceedings for conferences, and presentations at conferences, preliminary communication regarding the organization of the SHERO workshop at a conference after 2 years of the project. Track record versus dissimination goals (35 publications total and 40 conference contributions in total).

Dissemination and Exploitation Plan

Dissemination and Exploitation Plan refinement of the plan as described under section 22 Website wwwsherofeteu and project logo is ready

Demonstration PoCs integrated SH sensor-actuator modules

Demonstation and report on the proofs of concepts of the successful integration of SH sensors into SH actuator designs Evaluation of the sensing capabilities of the integrated SH sensoractuator modules for structural health monitoring Evaluation of the healing capabilities of the integrated modules i recovery of the ability of the actuator to perform similar tasks under similar conditions to the undamaged reference state and ii recovery of the sensing capabilities of the integrated sensing networks See also T31 in WP3 and the tasks in WP2

Dissemination and communication report 2 at end reporting period

Report on the dissimination and communication during the second period of the project M13M36 published scientific papers in international journals abstract andproceedings for conferences and presentations at conferences report on the SHERO workshop and communication regarding the organization of the SHERO conference following the conclusion of the project Track record versus dissimination goals 35 publications total and 40 conference contributions in total

Soft robotic bionic arm and gripper demonstrator

Assessment of two demonstrator platforms i a fullyfunctional SH soft robotic arm and ii a SH soft gripper The integrated SH sensoractuator modules from D9 are optimized for implementation into the demonstrators to achieve fullyfunctional selfhealing robotic actuators with structural health monitoring and autonomous healing capabilities See also T31 and T32 in WP3

Prototype with report of self-healing sensor network

Report on the creation and evaluation of selfhealing sensors Three types of sensing capabilities are evaluated touch pressure strain and damage First the sensor performance is evaluated for the requirements according to the sensing type Second the SH ability of the SH sensors is evaluated by comparison of the sensor performance after n healing cycles to the original sensor performance See also T22 in WP2

Open Research Data Pilot (1)

Data Management Plan

This Data Management Plan describes the planned data management, data access and data security policies of SHERO during and after the project. H2020 DMP template will be used as a template.

Publications

Peer reviewed articles (51)

3D Printable Soft Sensory Fiber Networks for Robust and Complex Tactile Sensing

Author(s): David Hardman; Thomas George Thuruthel; Antonia Georgopoulou; Frank Clemens; Fumiya Iida
Published in: Micromachines; Volume 13; Issue 9; Pages: 1540, Issue 20588585, 2022, ISSN 2058-8585
Publisher: IOP Publishing
DOI: 10.17863/cam.89151

A Healable Resistive Heater as a Stimuli-Providing System inSelf-Healing Soft Robots

Author(s): Kashef Tabrizian Seyedreza, Fatemeh Sahraeeazartamar, Joost Brancart, Ellen Roels, Pasquale Ferrentino, Guy Van Assche, Bram Vanderborght, Seppe Terryn
Published in: Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3150033

Soft self-healing resistive-based sensors inspired by sensory transduction in biological systems

Author(s): Antonia Georgopoulou, Joost Brancart, Seppe Terryn, Anton W. Bosman, Sophie Norvez, Guy Van Assche, Fumiya Iida, Bram Vanderborght, Frank Clemens
Published in: Applied Materials Today, Issue 23529407, 2022, ISSN 2352-9407
Publisher: elsevier
DOI: 10.1016/j.apmt.2022.101638

Autonomous dishwasher loading from cluttered trays using pre‐trained deep neural networks

Author(s): Voysey, Isobel, Thomas George Thuruthel, and Fumiya Iida.
Published in: Engineering Reports, 2021, ISSN 2577-8196
Publisher: Wiley
DOI: 10.1002/eng2.12321

Structure-property relationships of Diels-Alder-based reversible crosslinked networksfor self-healing soft robotics

Author(s): Seppe Terryn, Joost Brancart, Ellen Roels, Ali Safaei, Audrey Cuvellier, Bram Vanderborght and Guy Van Assche
Published in: advanced functional matters, Issue 16163028, 2022, ISSN 1616-3028
Publisher: wiley
DOI: 10.1021/acs.macromol.2c00434

Morphological Computation and Control Complexity

Author(s): thomas george thuruthel, fumiya Iida
Published in: IOP Conference Series: Material Science and Engineering, 2022, ISSN 1757-8981
Publisher: IOP publishing
DOI: 10.1088/1757-899x/1261/1/012011

Fabrication of a Soft Robotic Gripper With Integrated Strain Sensing Elements Using Multi-Material Additive Manufacturing

Author(s): Georgopoulou A., Vanderborght B., Clemens F.,
Published in: Frontiers in Robotics and AI, 2021, ISSN 2296-9144
Publisher: Frontiers

The Influence of the Furan and Maleimide Stoichiometry on the Thermoreversible Diels–Alder Network Polymerization

Author(s): Joost Brancart; Bram Vanderborght; Guy Van Assche; Ali Safaei; Seppe Terryn
Published in: Polymers, Issue 2, 2021, Page(s) 17, ISSN 2073-4360
Publisher: MDPI
DOI: 10.3390/polym13152522

Adhesion and stiffness matching in epoxy-vitrimers/strain sensor fiber laminates

Author(s): Jakob Langenbach, Camille Bakkali-Hassani, Quentin-Arthur Poutrel, Antonia Georgopoulou, Frank Clemens, François Tournilhac, Sophie Norvez
Published in: Applied Polymer Materials, 2021, ISSN 2637-6105
Publisher: ACS
DOI: 10.1021/acsapm.1c01648

Learning-Based Damage Recovery for Healable Soft Electronic Skins

Author(s): Seppe Terryn,David Hardman,Thomas George Thuruthel,Ellen Roels,Fatemeh Sahraeeazartamar,Fumiya Iida
Published in: Advanced Intelligent Systems, Issue 26404567, 2022, ISSN 2640-4567
Publisher: wiley
DOI: 10.1002/aisy.202200115

Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA

Author(s): Pasquale Ferrentino; Ellen Roels; Joost Brancart; Seppe Terryn; Guy Van Assche; Bram Vanderborght
Published in: IEEE Robotics & Automation magazine, Issue 2-12, 2023, Page(s) 12, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2022.3220536

Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation

Author(s): Thuruthel, TG; Hughes, Josephine; Georgopoulou, A; Clemens, F; Iida, Fumiya
Published in: Robotics and Automation Letters, Issue 3, 2021, Page(s) 2099 - 2105, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061399

A Sensorized Soft Pneumatic Actuator Fabricated with Extrusion-Based Additive Manufacturing

Author(s): Lukas Egloff; Bram Vanderborght; Frank Clemens; Antonia Georgopoulou
Published in: Actuators, Issue 10, 2021, ISSN 2076-0825
Publisher: MDPI
DOI: 10.3390/act10050102

Sensorized Robotic Skin Based on Piezoresistive Sensor Fiber Composites Produced with Injection Molding of Liquid Silicone

Author(s): Antonia Georgopoulou; Silvain Michel; Frank Clemens
Published in: Polymers, Issue 13, 2021, ISSN 2073-4360
Publisher: MDPI
DOI: 10.3390/polym13081226

Data-driven Method for Damage Localization on Soft Robotic Grippers Based on Motion Dynamics

Author(s): Arsen Abdulali, Seppe Terryn, Bram Vanderborght, Fumiya Iida
Published in: Frontiers in Robotics and AI, 2022, ISSN 2296-9144
Publisher: frontiers
DOI: 10.3389/frobt.2022.1016883

Online Morphological Adaptation for Tactile Sensing Augmentation

Author(s): Josie Hughes, Luca Scimeca, Perla Maiolino and Fumiya Iida
Published in: Frontiers in Robotics and AI, Issue 22969144, 2021, ISSN 2296-9144
Publisher: frontiers
DOI: 10.3389/frobt.2021.66503

FEA based inverse kinematic control on hyperelastic material characterisation of self healing soft robots.

Author(s): Ferrentino, Pasquale, Seyedreza Kashef Tabrizian, Joost Brancart, Guy Van Assche, Bram Vanderborght, and Seppe Terryn.
Published in: Robotics and Automation Magazine, 2021, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3132803

3D Printable Sensorized Soft Gelatin Hydrogel for Multi-Material Soft Structures

Author(s): David Hardman; Josie Hughes; Thomas George Thuruthel; Kieran Gilday; Fumiya Iida
Published in: Robotics and Automation Letters, Issue 4, 2021, Page(s) 5269 - 5275, ISSN 2377-3766
Publisher: IEEE
DOI: 10.17863/cam.65864

Roadmap on soft robotics: multifunctionality, adaptability and growth without borders: Section 11: Self Healing Soft Robots

Author(s): Bram Vanderborght, Joost Brancart, Seppe Terryn
Published in: multifunctional materials, Issue 23997532, 2022, ISSN 2399-7532
Publisher: research square
DOI: 10.1088/2399-7532/ac4c95

Self-Healing Ionic Gelatin/Glycerol Hydrogels for Strain Sensing Applications

Author(s): Hardman, David, Thomas George Thuruthel, and Fumiya Iida.
Published in: NPG Asia Materials, 2022, ISSN 1884-4049
Publisher: Nature Publishing Group
DOI: 10.1038/s41427-022-00357-9

2D Printing of Piezoresistive Auxetic Silicone Sensor Structures

Author(s): Frank Clemens, Mark Melnykowycz, Florian Bar, Daniel Goldenstein, Antonia Georgopoulou
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3062000

First-order dynamic modelling and control for soft robots

Author(s): Thuruthel, T. G., Renda F., & Iida, F.
Published in: Robotics and AI, 2020, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.3389/frobt.2020.00095

Quasi-static FEA model for a multi-material soft pneumatic actuator in SOFA

Author(s): Ferrentino, P., Lopez-Diaz Del Campo, A., Terryn, S., Legrand, J., Brancart, J., Van Assche, G., Vázquez Fernández-Pacheco, E., S. Vazquez, A. & Vanderborght, B.
Published in: IEEE Robotics and Automation, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3183254

A review on self-healing polymers for soft robotics

Author(s): Seppe Terryn, Jakob Langenbach, Ellen Roels, Joost Brancart, Camille Bakkali-Hassani, Quentin-Arthur Poutrel, Antonia Georgopoulou, Thomas George Thuruthel, Ali Safaei, Pasquale Ferrentino, Tutu Sebastian, Sophie Norvez, Fumiya Iida, Anton W Bosman, François Tournilhac, Frank Clemens, Guy Van Assche, Bram Vanderborght
Published in: Materials Today, 2021, ISSN 1369-7021
Publisher: Elsevier BV
DOI: 10.1016/j.mattod.2021.01.009

Processing of Self-Healing Polymers for Soft Robotics

Author(s): Ellen Roels, Seppe Terryn, Fumiya Iida, Anton W. Bosman, Sophie Norvez, Frank Clemens, Guy Van Assche, Bram Vanderborght, Joost Brancart
Published in: Advanced Materials, 2021, ISSN 1521-4095
Publisher: Wiley
DOI: 10.1002/adma.202104798

Piezoresistive sensor fiber composites based on silicone elastomers for the monitoring of the position of a robot arm

Author(s): Georgopoulou A., Michel S., Vanderborght B., Clemens F.
Published in: Sensors and Actuators A: Physical, 2021, ISSN 0924-4247
Publisher: Elsevier BV
DOI: 10.1016/j.sna.2020.112433

Additive Manufacturing for Self-Healing Soft Robots

Author(s): Ellen Roels, Seppe Terryn, Joost Brancart, Robrecht Verhelle, Guy Van Assche, Bram Vanderborght
Published in: Soft Robotics, 2020, ISSN 2169-5172
Publisher: Mary Ann Liebert, Inc.
DOI: 10.1089/soro.2019.0081

Self-Healing and High Interfacial Strength in Multi-Material Soft Pneumatic Robots via Reversible Diels–Alder Bonds

Author(s): Seppe Terryn, Ellen Roels, Joost Brancart, Guy Van Assche, Bram Vanderborght
Published in: Actuators, Issue 9/2, 2020, Page(s) 34, ISSN 2076-0825
Publisher: MDPI
DOI: 10.3390/act9020034

Joint Entropy-based Morphology Optimization of Soft Strain Sensor Networks for Functional Robustness

Author(s): Thomas George Thuruthel, Josie Hughes, Fumiya Iida
Published in: IEEE Sensors Journal, 2020, Page(s) 1-1, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2020.2995237

Electronic skins and machine learning for intelligent soft robots

Author(s): Benjamin Shih, Dylan Shah, Jinxing Li, Thomas G. Thuruthel, Yong-Lae Park, Fumiya Iida, Zhenan Bao, Rebecca Kramer-Bottiglio, Michael T. Tolley
Published in: Science Robotics, Issue 5/41, 2020, Page(s) eaaz9239, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.aaz9239

Effect of the Elastomer Matrix on Thermoplastic Elastomer-Based Strain Sensor Fiber Composites

Author(s): Antonia Georgopoulou, Claudia Kummerlöwe, Frank Clemens
Published in: Sensors, Issue 20/8, 2020, Page(s) 2399, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20082399

Closing the Control Loop with Time-Variant EmbeddedSoft Sensors and Recurrent Neural Networks

Author(s): Thomas George Thuruthel, Paul Gardner, Fumiya Iida
Published in: Mary Ann Liebert, 2022, ISSN 2169-5172
Publisher: Mary Ann Liebert
DOI: 10.1089/soro.2021.0012

Epoxy Vitrimer Materials by Lipase-Catalyzed Network Formation and Exchange Reactions

Author(s): Camille Bakkali-Hassani, Paolo Edera, Jakob Langenbach, Qentin-Arthur Poutrel, Sophie Norvez, Matthieu Gresil, Francois Tournilhac
Published in: ACS Macro Letters, Issue 12, 2023, Page(s) 338−343, ISSN 2161-1653
Publisher: American Chemical Society
DOI: 10.1021/acsmacrolett.2c00715

Soft Self-Healing Fluidic Tactile Sensors with Damage Detection and Localization Abilities.

Author(s): George Thuruthel, Thomas; Bosman, Anton W; Hughes, Josie; Iida, Fumiya
Published in: VOLUME=21;ISSUE=24;ISSN=1424-8220;TITLE=Sensors, Issue 2, 2021, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)

Pellet-based fused deposition modeling for the development of soft compliant robotic grippers with integrated sensing elements

Author(s): Antonia Georgopoulou; Frank Clemens
Published in: Crossref, Issue 20588585, 2022, ISSN 2058-8585
Publisher: IOP Publishing
DOI: 10.1088/2058-8585/ac6f34

Self-healing sensorized soft robots

Author(s): Roels, Ellen, Terryn, Seppe, Brancart, Joost, Sahraeeazartamar, Fatemeh, Clemens, Frank, Van Assche, Guy, Vanderborght, Bram
Published in: Materials Today Electronics, Issue 27729494, 2022, ISSN 2772-9494
Publisher: Elsevier
DOI: 10.1016/j.mtelec.2022.100003

Lipase-Catalyzed Epoxy–Acid Addition and Transesterification: from Model Molecule Studies to Network Build-Up

Author(s): Camille Bakkali-Hassani, Quentin-Arthur Poutrel, Jakob Langenbach, Sélène Chappuis, Jonny J. Blaker, Matthieu Gresil, and François Tournilhac
Published in: Biomacromolecules, 2021, ISSN 1526-4602
Publisher: ACS
DOI: 10.1021/acs.biomac.1c00820

Epoxy homopolymerisation as a tool to tune thermo-mechanical properties and fracture toughness of vitrimer

Author(s): Tangthana-umrung, K., Quentin-Arthur Poutrel, Matthieu Gresil
Published in: Macromolecules, 2021, ISSN 0024-9297
Publisher: American Chemical Society
DOI: 10.1021/acs.macromol.1c00861

Piezoresistive Elastomer-Based Composite Strain Sensors and Their Applications

Author(s): Antonia Georgopoulou; Antonia Georgopoulou; Frank Clemens
Published in: ACS Applied Electronic Materials, Issue 2, 2020, ISSN 2637-6113
Publisher: American Chemical Society
DOI: 10.1021/acsaelm.0c00278

Dicarboxylic acid-epoxy vitrimers: influence of the off-stoichiometric acid content on cure reactions and thermo-mechanical properties

Author(s): Quentin Arthur Poutrel; Jonny J. Blaker; Constantinos Soutis; François Tournilhac; Matthieu Gresil
Published in: "Polymer Chemistry, Royal Society of Chemistry - RSC, 2020, 11 (33), pp.5327-5338. ⟨10.1039/d0py00342e⟩", Issue 1, 2020, ISSN 1759-9954
Publisher: Royal Society of Chemistry
DOI: 10.1039/d0py00342e

Room Temperature Self-Healing in Soft Pneumatic Robotics: Autonomous Self-Healing in a Diels-Alder Polymer Network

Author(s): Seppe Terryn, Joost Brancart, Ellen Roels, Guy Van Assche, and Bram Vanderborght
Published in: IEEE Robotics and Automation Magazine (RAM) - Special Issue on Design Optimization of Soft Robots, Issue 27 - 4, 2020, Page(s) 11, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2020.3024275

Soft Self-Healing Fluidic Tactile Sensors with Damage Detection and Localization Abilities

Author(s): George Thuruthel, Thomas, Anton W. Bosman, Josie Hughes, and Fumiya Iida.
Published in: Sensors, 2022, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21248284

Thermoplastic elastomer composite filaments for strain sensing applications extruded with a fused deposition modelling 3D printer

Author(s): Antonia Georgopoulou; Tutu Sebastian; Frank Clemens
Published in: Flexible and Printed Electronics, Issue 5, 2020, ISSN 2058-8585
Publisher: IOP Publishing
DOI: 10.1088/2058-8585/ab9a22

Thermoplastic elastomer composite strips with damage detection capabilities for self-healing elastomers

Author(s): Antonia Georgopoulou; Henry Korhonen; Anton Bosman; Frank Clemens
Published in: Functional Composite Materials, Issue 3, 2022, Page(s) 16, ISSN 2522-5774
Publisher: Springer
DOI: 10.5281/zenodo.7547928

Supramolecular self-healing sensor fiber composites for damage detection in piezoresistive electronic skin for soft robots

Author(s): Joost Brancart; Bram Vanderborght; Antonia Georgopoulou; Anton Bosman; Frank Clemens
Published in: Polymers, Issue 10, 2021, Page(s) 18, ISSN 2073-4360
Publisher: MDPI
DOI: 10.3390/polym13172983

Thermoplastic elastomer composite strips with damage detection capabilities for self-healing elastomers

Author(s): Antonia Georgopoulou, Henry Korhonen, Anton W. Bosman, Frank Clemens
Published in: Research Square, Issue 26935015, 2022, ISSN 2693-5015
Publisher: springer
DOI: 10.21203/rs.3.rs-2014930/v1

Manipulation of Free-Floating Objects using Faraday Flows and Deep Reinforcement Learning

Author(s): Hardman, David, Thomas George Thuruthel, and Fumiya Iida
Published in: Scientific Reports, 2022, ISSN 2045-2322
Publisher: Nature Publishing Group

Editorial: Machine Learning Techniques for Soft Robots

Author(s): Thomas George Thuruthel, Egidio Falotico, Lucia Beccai, Fumiya Iida
Published in: Frontiers in Robotics and AI, 2021, ISSN 2296-9144
Publisher: Frontiers

Learning to stop: a unifying principle for legged locomotion in varying environments

Author(s): George Thuruthel, Thomas, G. Picardi, F. Iida, C. Laschi, and M. Calisti.
Published in: Royal Society open science, 2021, ISSN 2054-5703
Publisher: Royal Society
DOI: 10.1098/rsos.210223

Self-Healing, Recyclable, and Degradable Castor Oil-Based Elastomers for Sustainable Soft Robotics

Author(s): Aleix Costa Cornellà; Seyedreza Kashef Tabrizian; Pasquale Ferrentino; Ellen Roels; Seppe Terryn; Bram Vanderborght; Guy Van Assche; Joost Brancart
Published in: ACS Sustainable Chem. Eng, Issue 11,8, 2023, Page(s) 13, ISSN 2168-0485
Publisher: American Chemical Society
DOI: 10.1021/acssuschemeng.2c06874

Multimodel Sensor Fusion for Learning Rich Models for Interacting Soft Robots

Author(s): thomas george thuruthel, fumiya Iida
Published in: arXiv preprint, Issue 23318422, 2022, ISSN 2331-8422
Publisher: arXiv preprint* robosoft 2023
DOI: 10.48550/arxiv.2205.04202

Conference proceedings (9)

Machine Learning for Soft Robot Sensing and Control: A Tutorial Study

Author(s): Huijiang Wang; Thomas George Thuruthel; Kieran Gilday; Arsen Abdulali; Fumiya Iida
Published in: 2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS), 2022
Publisher: IEEE
DOI: 10.1109/icps51978.2022.9816932

Soft Robotics: a developmental approach

Author(s): Luca Scimeca, Fumiya Iida
Published in: MIT press, 2022
Publisher: MIT
DOI: 10.7551/mitpress/13780.001.0001

Multi-material 3D Printing of Thermoplastic Elastomers for Development of Soft Robotic Structures with Integrated Sensor Elements

Author(s): Georgopoulou A., Vanderborght B., Clemens F.,
Published in: 2020
Publisher: springer
DOI: 10.1007/978-3-030-54334-1_6

Mechanical Sensing in Embodied Agents

Author(s): Matteo Lo Preti, Thomas George Thuruthel, Kieran Gilday, Lucia Beccai, Fumiya Iida
Published in: IOP Conference Series: Marterial Science and Engineering, 2021
Publisher: IOP Publishing
DOI: 10.1088/1757-899x/1261/1/012013

Topological Study on the Design of Soft Strain Sensors for Simultaneous Multi-point Contact Localization

Author(s): Costi, Leone, Thomas George Thuruthel, and Fumiya Iida.
Published in: 2021
Publisher: IEEE
DOI: 10.17863/cam.66089

Automated Fruit Quality Testing using an Electrical Impedance Tomography-Enabled Soft Robotic Gripper

Author(s): Almanzor, Elijah; George Thuruthel, Thomas; Iida, Fumiya
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 1, 2022, Page(s) 6, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981987

Case study of a rapid prototyping method for optimizing soft gripper structures with integrated piezoresistive sensors

Author(s): Georgopoulou A, Eckey LM, Mondal S & Clemens F
Published in: 2022 IEEE 5th international conference on soft robotics (RoboSoft 2022), 2022, ISBN 978-1-7281-6571-4
Publisher: IEEE
DOI: 10.1109/robosoft54090.2022.9762202

A Soft Pneumatic Actuator with Integrated Deformation Sensing Elements Produced Exclusively with Extrusion Based Additive Manufacturing

Author(s): Georgopoulou A., Egloff L., Vanderborght B., Clemens F.,
Published in: Engineering Proceedings, 2021
Publisher: MDPI
DOI: 10.3390/i3s2021dresden-10097

A Multi-Material Self-Healing Soft Gripper

Author(s): Roels E, Terryn S, Brancart J, Van Assche G, Vanderborght B.
Published in: 2nd IEEE International Conference on Soft Robotics (RoboSoft), 2019
Publisher: IEEE
DOI: 10.1109/robosoft.2019.8722781