Soft, Self-responsive, Smart MAterials for RoboTs

Project Information

SMART

Grant agreement ID: 860108

DOI 10.3030/860108

EC signature date 12 May 2020

Start date 1 March 2020

End date 31 August 2024

Funded under

• EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions

Total cost € 3 978 529,92

EU contribution € 3 978 529,92

Coordinated by

VRIJE UNIVERSITEIT BRUSSEL
Belgium

Deliverables

Documents, reports (4)

Supervisory Board of the network

Supervisory Board of the network established

Report prototype of sensor systems

Demonstration and report of the developed prototypes of smart selfhealing sensor systems

Report smart control and response system

Report on the dedicated smart control and response system through artificial intelligence and machine learning techniques This includes the structural health monitoring and autonomous selfhealing scheduling to be used for forcecontrol applications

Report prototypes of smart, self-healing actuator systems

Demonstration and report of the developed prototypes of smart selfhealing actuator systems

Websites, patent fillings, videos etc. (1)

SMART website

Website wwwsmartitneu and project logo is ready

Publications

Peer reviewed articles (36)

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

Thiol–acrylate based vitrimers: From their structure–property relationship to the additive manufacturing of self-healable soft active devices

Author(s): Usman Shaukat; Elisabeth Rossegger; Sandra Schlögl
Published in: Polymer, Issue 2, 2021, Page(s) 124110, ISSN 0032-3861
Publisher: Elsevier BV
DOI: 10.1016/j.polymer.2021.124110

Vitrimeric shape memory polymer-based fingertips for adaptive grasping

Author(s): Kashef Tabrizian S, Alabiso W, Shaukat U, Terryn S, Rossegger E, Brancart J, Legrand J, Schlögl S and Vanderborght B
Published in: Frontiers in Robotics and AI, 2023, ISSN 2296-9144
Publisher: frontiers
DOI: 10.3389/frobt.2023.1206579

A Review of Multi-Material 3D Printing of Functional Materials via Vat Photopolymerization

Author(s): Usman Shaukat; Elisabeth Rossegger; Sandra Schlögl
Published in: Crossref, Issue 4, 2023, ISSN 2073-4360
Publisher: MDPI
DOI: 10.3390/polym14122449

Structure–Property Relationships of Self-Healing Polymer Networks Based on Reversible Diels–Alder Chemistry

Author(s): Seppe Terryn; Joost Brancart; Ellen Roels; Robrecht Verhelle; Ali Safaei; Audrey Cuvellier; Bram Vanderborght; Guy Van Assche
Published in: Crossref, Issue 6, 2022, ISSN 0024-9297
Publisher: American Chemical Society
DOI: 10.1021/acs.macromol.2c00434

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,, Issue 47, 2021, Page(s) 187-205, ISSN 2352-4928
Publisher: Elsevier BV
DOI: 10.1016/j.mattod.2021.01.009

Self-Closing and Self-Healing Multi-Material Suction Cups for Energy-Efficient Vacuum Grippers

Author(s): Zhanwei Wang, Seppe Terryn, Huijiang Wang, Julie Legrand, Ali Safaei, Joost Brancart, Guy Van Assche, and Bram Vanderborght
Published in: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Publisher: wiley
DOI: 10.1002/aisy.202300135

An Interview with Hugh Herr

Author(s): Marwa ElDiwiny
Published in: Robotics Reports, 2023, ISSN 2835-0111
Publisher: Mary Ann Liebert, Inc.
DOI: 10.1089/rorep.2023.29005.int

3D Printable Self-Sensing Magnetorheological Elastomer

Author(s): Costi, Leone
Published in: Macromolecular Materials and Engineering, Issue 3, 2023, ISSN 1438-7492
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/mame.202300294

Vat photopolymerization 3D printing with light-responsive thiol-norbornene photopolymers

Author(s): Elisabeth Rossegger; Yang Li; Heike Frommwald; Sandra Schlögl
Published in: Crossref, Issue 4, 2022, ISSN 1434-4475
Publisher: Springer
DOI: 10.1007/s00706-022-03016-5

An Interdisciplinary Tutorial: A Self-Healing Soft Finger with Embedded Sensor

Author(s): Joost Brancart; Bram Vanderborght; Guy Van Assche; Ellen Roels; Seppe Terryn; Pasquale Ferrentino
Published in: Crossref, Issue 3, 2023, ISSN 2168-0485
Publisher: American Chemical Society
DOI: 10.3390/s23020811

Variable sensitivity multimaterial robotic e-skin combining electronic and ionic conductivity using electrical impedance tomography

Author(s): Aleix Costa Cornellà; David Hardman; Leone Costi; Joost Brancart; Guy Van Assche; Fumiya Iida
Published in: Crossref, Issue 3, 2023, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-023-47036-5

How the Environment Shapes Tactile Sensing: Understanding the Relationship Between Tactile Filters and Surrounding Environment

Author(s): Costi, L; Maiolino, P; Iida, F
Published in: Crossref, Issue 5, 2022, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2022.930405

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, 2022, Page(s) 42-46, ISSN 2399-7532
Publisher: IOP Science
DOI: 10.1088/2399-7532/ac4c95

Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing.

Author(s): Leone Costi; Luca Scimeca; Perla Maiolino; Thilina Dulantha Lalitharatne; Thrishantha Nanayakkara; Ryman Hashem; Fumiya Iida
Published in: Frontiers in Robotics and AI, Issue 2, 2021, ISSN 2296-9144
Publisher: Frontiers Media SA
DOI: 10.17863/cam.77633

Multi-silicone Bilateral Soft Physical Twin as an Alternative to Traditional User Interfaces for Remote Palpation: a Comparative Study

Author(s): Costi, Leone; Iida, Fumiya
Published in: Crossref, Issue 1, 2023, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-023-50329-4

Magnetorheological behavior of thermoplastic elastomeric honeycomb structures fabricated by additive manufacturing

Author(s): Somashree Mondal, Michał Kwaśniowski, Antonia Georgopoulou, Bogdan Sapiński, Thomas Graule, Frank Clemens
Published in: Composites Part B: Engineering, 2023, ISSN 1359-8368
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.compositesb.2023.110498

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

Author(s): Shadab Zaidi, Martina Maselli, Cecilia Laschi, Matteo Cianchetti
Published in: Current Robotics Reports, Issue 2, 2021, Page(s) 355–369, ISSN 2662-4087
Publisher: Springer
DOI: 10.1007/s43154-021-00054-5

Topology optimized multi-material self-healing actuator with reduced out of plane deformation

Author(s): Wang, Zhanwei; Terryn, Seppe; Legrand, Julie; Ferrentino, Pasquale; Kashef Tabrizian, Seyedreza; Brancart, Joost; Roels, Ellen; Van Assche, Guy; Vanderborght, Bram
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, ISSN 2153-0858
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981297

High‐Permittivity Polysiloxanes for Solvent‐Free Fabrication of Dielectric Elastomer Actuators

Author(s): Johannes von Szczepanski, Dorina M Opris
Published in: Advanced Materials Technologie, 2023, ISSN 2365-709X
Publisher: Wiley-VCH GmbH
DOI: 10.1002/admt.202201372

A Healable Resistive Heater as a Stimuli-Providing System in Self healing robots

Author(s): Seyedreza Kashef Tabrizian, Fatemeh Sahraeeazartamar, Joost Brancart, Ellen Roels, Pasquale Ferrentino, Julie Legrand, Guy Van Assche, Bram Vanderborght, Seppe Terryn
Published in: IEEE-Robotics and Automation Letters, Issue 2, 2022, Page(s) 4574-4581, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3150033

A Variable Stiffness Anthropomorphic Finger Through Embodied Intelligence Design

Author(s): Julie Legrand, Huijiang Wang, Fumiya Iida, and Bram Vanderborght
Published in: IEEE ROBOTICS AND AUTOMATION LETTERS, 2023, ISSN 2377-3766
Publisher: ieee
DOI: 10.1109/lra.2023.3347139

Transient Elastomers with High Dielectric Permittivity for Actuators, Sensors, and Beyond

Author(s): Yauhen Sheima; Johannes von Szczepanski; Patrick M. Danner; Tina Künniger; Arndt Remhof; Holger Frauenrath; Dorina M. Opris
Published in: applied materials and interfaces, Issue 4, 2023, ISSN 1944-8244
Publisher: American Chemical Society
DOI: 10.1021/acsami.2c05631

Analysis of Styrene-Butadiene Based Thermoplastic Magnetorheological Elastomers with Surface-Treated Iron Particles

Author(s): Tagliabue, Arturo, Fernando Eblagon, and Frank Clemens
Published in: MDPI Polymers, Issue 13, 2021, Page(s) 1597, ISSN 2073-4360
Publisher: MDPI
DOI: 10.3390/polym13101597

Self-Healable, Self-Repairable, and Recyclable Electrically Responsive Artificial Muscles

Author(s): Opris, Dorina M.; von Szczepanski, Johannes; Danner, Patrick M.
Published in: Advanced Science, 9 (22), Issue 4, 2022, ISSN 2198-3844
Publisher: Wiley-VCH GmbH
DOI: 10.3929/ethz-b-000551878

Self‐Regulated Self‐Healing Robotic Gripper for Resilient and Adaptive Grasping

Author(s): Huijiang Wang; Seppe Terryn; Zhanwei Wang; Guy Van Assche; Fumiya Iida; Bram Vanderborght
Published in: Advanced Intelligent Systems, Issue 2, 2023, ISSN 2640-4567
Publisher: wiley
DOI: 10.1002/aisy.202300223

Locally controlling dynamic exchange reactions in 3D printed thiol-acrylate vitrimers using dual-wavelength digital light processing

Author(s): Elisabeth Rossegger; Khadijeh Moazzen; Mathias Fleisch; Sandra Schlögl
Published in: Polymer Chemistry, Issue 2, 2021, Page(s) 3077-3083, ISSN 1759-9954
Publisher: Royal Society of Chemistry
DOI: 10.1039/d1py00427a

Self‐Healable, Self‐Repairable, and Recyclable Electrically Responsive Artificial Muscles

Author(s): Johannes von Szczepanski, Patrick M. Danner, Dorina M. Opris
Published in: Advanced Science, 2022, ISSN 2198-3844
Publisher: Wiley-VCH GmbH
DOI: 10.1002/advs.202202153

Assisted damage closure and healing in soft robots by shape memory alloy wires

Author(s): Seyedreza Kashef Tabrizian, Seppe Terryn, Aleix Costa Cornellà, Joost Brancart, Julie Legrand, Guy Van Assche & Bram Vanderborght
Published in: scientific reports, 2023, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-023-35943-6

Role of Organic Phosphates and Phosphonates in Catalyzing Dynamic Exchange Reactions in Thiol-Click Vitrimers

Author(s): Khadijeh Moazzen; Elisabeth Rossegger; Walter Alabiso; Usman Shaukat; Sandra Schlögl
Published in: Macromolecular Chemistry and Physics, Issue 2, 2021, Page(s) 2100072, ISSN 1521-3935
Publisher: Wiley
DOI: 10.1002/macp.202100072

An Engineering Outreach Activity: How to Developa Tendon-Based Soft Robotic Finger

Author(s): Fatma Demir , Ellen Roels, Seppe Terryn, Bram Vanderborght
Published in: IEEE Transitions on Education, 2023, ISSN 0018-9359
Publisher: IEEE Education Society
DOI: 10.1109/te.2023.3327315

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: Crossref, Issue 7, 2023, ISSN 2168-0485
Publisher: American Chemical Society
DOI: 10.1021/acssuschemeng.2c06874

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, 2022, ISSN 0935-9648
Publisher: United Nations Industrial Developement Organization
DOI: 10.1002/adma.202104798

Coordinating upper limbs for octave playing on the piano via neuro-musculoskeletal modeling

Author(s): Huijiang Wang; Tetsushi Nonaka; Arsen Abdulali; Fumiya Iida
Published in: Bioinspiration & Biomimetics, Issue 1, 2023, ISSN 1748-3190
Publisher: IOP
DOI: 10.1088/1748-3190/acfa51

Use of modified deep eutectic solvent as an additional chemical in a flexible conductive natural rubber sensor for motion analysis

Author(s): Boripat Sripornsawat; Antonia Georgopoulou; Sarttrawut Tulaphol; Anoma Thitithammawong; Jobish Johns; Yeampon Nakaramontri; Frank Clemens
Published in: Express Polymer Letters, Issue 2, 2023, ISSN 1788-618X
Publisher: Budapesti Muszaki Egyetem, Department of Polymer Engineering
DOI: 10.3144/expresspolymlett.2023.6

Magneto-Active Elastomer Filter for Tactile Sensing Augmentation Through Online Adaptive Stiffening

Author(s): Leone Costi , Arturo Tagliabue , Perla Maiolino , Frank Clemens , and Fumiya Iida
Published in: IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3160590

Conference proceedings (13)

Soft Morphing Interface for Tactile Feedback in Remote Palpation

Author(s): Costi, Leone
Published in: Issue 3, 2022, ISBN 978-1-6654-0828-8
Publisher: IEEE
DOI: 10.1109/RoboSoft54090.2022.9762173

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

Author(s): Leone Costi, Thomas George Thuruthel, Fumiya Iida
Published in: Issue 2, 2021
Publisher: IEEE

Bioinspired soft bendable peristaltic pump exploiting ballooning for high volume throughput

Author(s): Leone Costi; Josephine Hughes; Fumiya Iida
Published in: Crossref, Issue 1, 2022
Publisher: IEEE
DOI: 10.1109/tmrb.2022.3192763

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

Author(s): Antonia Georgopoulou; Louisa Marie Eckey; Somashree Mondal; Frank Clemens
Published in: 2023
Publisher: IEEE

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

Author(s): L. Costi, T. G. Thuruthel and F. Iida
Published in: 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft), Issue 1, 2021, Page(s) 555-558
Publisher: IEEE
DOI: 10.1109/robosoft51838.2021.9479216

Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties

Author(s): Wang, Huijiang; Howison, Toby; Hughes, Josie; Abdulali, Arsen; Iida, Fumiya
Published in: Crossref, Issue 2, 2022
Publisher: IEEE
DOI: 10.1109/robosoft54090.2022.9762138

Self-healing soft robots: from new polymers and processing techniques to autonomous healing soft robots

Author(s): B. Vanderborght, Ellen Roels, Seyedreza Kashef Tabrizian, Ali Safaei, Pasquale Ferrentino, Fatma Demir, Guy Van Assche, Joost Brancart, Seppe Terryn
Published in: EEE-IROS 2021 Workshop: New Approaches in Soft Robots Modeling and Control, 2023
Publisher: IEEE

Bioinspired soft bendable peristaltic pump exploiting ballooning for high volume throughput

Author(s): Leone Costi; Josephine Hughes; Fumiya Iida
Published in: 20th International Conference on Advanced Robotics (ICAR), Issue 1, 2021, Page(s) 1-6
Publisher: IEEE
DOI: 10.5281/zenodo.5564879

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), 2023
Publisher: IEEE

Self-healable, high-permittivity elastomers for dielectric elastomer actuators

Author(s): Johannes von Szczepanski, Patrick Danner, Dorina Opris
Published in: PROCEEDINGS OF SPIE, 2023
Publisher: SPIE
DOI: 10.1117/12.2658385

Soft magnetoactive morphing structures with self-sensing properties, using multi-material extrusion additive manufacturing

Author(s): Somashree Mondal, Michał Kwaśniowski, Antonia Georgopoulou, Bogdan Sapiński, Thomas Graule, Frank Clemens
Published in: 2023
Publisher: springer

Soft Control Interface for Highly Dexterous Unilateral Remote Palpation

Author(s): """Leone Costi, Lalitharatne, Thilina Dulantha Iida, Fumiya"""
Published in: 2022
Publisher: IEEE
DOI: 10.17863/cam.89749

Vocal Pain Expression Augmentation to Improve Interaction Accuracy in Virtual Robopatient

Author(s): Protpagorn, Namnueng; Costi, Leone; Lalitharatne, Thilina Dulantha; Nisky, Ilana; Iida, Fumiya
Published in: Crossref, Issue 6, 2022, Page(s) 2155-1782
Publisher: IEEE
DOI: 10.1109/biorob52689.2022.9925382