Unknown: Pneubots modular inflatables for playful
exploration for soft robotics. Pneubots is a modular soft
robotics construction kit consisting of seven types of
self portable segments with high tensile strength, three types of
pneumatic connectors and splitters in the custom design
box, when combined with a flurry of device, Pneubots allow
seamless programmability of different assemblies enabling
artists, designers, engineers, and makers to create dynamic
shape changing and interactive works that can be used for
education, storytelling, dynamic art, or expression of effect and
gratitude. Pneubots Project is an expression of gratitude for
the privileges and opportunities we have to pursue research in
the exciting emerging field and collaborate with people from
diverse backgrounds. Through this low cost project, we are
providing similar opportunities to more people, including those
who may not have such privileges, or access to advance
resources. This physical prototyping toolkit even allows
users to express and share their own gratitude through
applications such as a hug in robot. An affected device,
interactive flowers that can serve as gifts for loved one, or
ghostly presents interfaces for those who are far away or
isolated in quarantine, and Pneubots starter kit can also be
used for numerous educational storytelling or artistic
purposes. In our design process, we use a mixed method comprising
interviews and existing product reviews. We started by
concentrating on craters interested in working on soft
robotics projects. Our initial target user group consisted of
graduate students who are new to this field. Over the course of
developing this project. We informally interacted with 20
graduate students, who provided feedback about the behaviors and
the interactions they want to achieve with soft robotic design
concepts, and who also shares some of the barriers they face
preventing them from realizing their goals. The green and red
bubbles show the behaviors and primitive actions that graduate
students were interested in achieving with soft robots.
While the blue bubbles show the challenges and barriers
preventing them from achieving those goals. There are three
primary challenges reported by students. Fabrication requires
expensive materials, a space for molding and casting, CAD skills
and 3d printers. Interaction with soft robots requires
advanced skills in pneumatics, engineering, electronics and
programming. Learning about soft robotics fabrication techniques
became even more difficult in the wake of the COVID 19
pandemic. Based on the design research, our solution is to
provide a construction kit with prefabricated self foldable
modular units development platform that makes actuation
and sensing of soft robots seamless and develop a website
that enables toolkits to be available for anyone interested
in self robotics. The Pneubots kit contains modular cell
folding blocks that actually when air is pumped in new box
modules with different actuation behaviors, including shrinking,
curling, and bending were designed to have those modules
the star shape and triangle shape don't have any hinges and
thoughts, no folding action under actuation. For hinges
types were used to achieve different bending behaviors when
you're diagnosed diamonds and wide diamonds. A module with a
linear pattern has a five millimeter gap in the middle
which causes axial contraction during actuation. As the volume
of the inflatable increases, the length of linear pattern gap
decreases and the height increases.
The diamond shaped hinge serves as a bending angle control.
Lastly, the diagonal pattern would apply millimeter gaps
serves as a curling control the modules of Pneubots developed
by a heat pressing fabrication process where two layers of PVC
film are sandwiched together and then sealed along specific
origami inspired patterns. The CNC milling and heat pressing
fabrication method achieves an accurate and smooth geometric
pattern without wrinkles. The bronze molds allow consistent
patterns useful for mass production the versatility of
PVC film and the smooth finishing of the same make the
modules resistant to bursting from overinflation. Each new
bots module has between one and five numeric ports with a URL
inflation paths that are commonly used on beach balls and
saving tubes. Some of the modules have more than one port
allowing air to flow in and out from multiple holes and then
users can choose which holes are open and which are sealed with a
plugs. Modules can be connected to each other using three types
of pneumatic connectors stretchy, T shaped across the
strength connectors allow modules to be multiple modules
and to be daisy chained. The T shaped connector allows for more
complicated assemblies. It allows a single module with
multiple installation files to be connected to another one of
its files. The cross connector allows up to four modular cloths
to be connected to each other. The new box modules can be
assembled together as easily as Legos, and as soon as they're
slotted into place, they share the same air channel. For the
control actuation and sensing of sub programmable materials, we
use Flow wire, a modular pneumatics development platform.
It consists of Bibles, and air pressure sensor allow user to
alter the flow rate and volume for programmatic control of
modular inflatables. The new box kid was distributed to graduate
students from backgrounds in architecture, engineering and
education, who are then tasked with experimenting and
brainstorming possible uses for the modular blocks. For most
users, this was their first exposure to self robotics. In
the process, they learn about the matter control actuation
patterns and hit silicon fabrication. Our preliminary
evaluation with the students show that new bots enable them
to playfully create products including rolling robots, a
wearable device, a gripper with two arms and several artistic
creations. First being arms were composed by connecting minimum
of two modular blocks. Using the five pneumatic IO ports for flow
IO students controlled individual modules to generate
various motion patterns. The new bot kit also provided aesthetic
as well as functional opportunities for designers and
artists. The translucency of PVC film creates eye catching
objects, and artists and designers created artworks such
as flowers, accessories, as well as internally illuminated
objects. After providing the modular inflatables to graduate
students, we received several questions and helpful feedback.
Later, we have developed a website for new bots, which will
enable our toolkit to be available for everyone
interested in soft robotics. sustainable packaging was also
designed to helpfully organize the modular parts, connectors
and instruction about their use and functions for creative
thinkers, designers and engineers. With the problem of
assessing understanding and implementing emerging
technologies such as soft robotics, we develop and produce
user friendly interfaces. So toolkit allows users to express
and share their own gratitude. The Pneubots Project is an
expression of gratitude for the opportunities we have to pursue
research in exciting emerging field and collaborate with
people from diverse backgrounds. We want to inspire those who may
not have such privileges, and assess to advance resources. You
want them to engage with a new way of thinking about structure
and architecture and provide them with a straightforward
learning and prototyping toolkit.