Modeling and interfacing with vine robots
Abstract/Contents
- Abstract
- Soft robots, constructed from inherently compliant materials such as fabric or silicone, have become increasingly popular in recent years. Their compliance enables them to navigate complex and cluttered environments to reach spaces that are inaccessible to traditional rigid robots. One category of soft robots, vine robots, can even grow to increase their length by orders of magnitudes. Because of this growth feature, vine robots have shown promise for applications ranging from debris inspection to surgical procedures. If we can increase our fundamental understanding of how these robots move through space and interact with their environments, we can further expand their applications and improve the performance of their current uses. To this end, my thesis investigates how these robots interact with humans, and how they respond to control inputs to navigate through space. First, I investigated the interaction of vine robots with humans by designing a wearable device that uses vine robot technology to deploy around a user's arm and provide haptic feedback to the wearer. This feedback is in the form of force cues that press on the user's arm in various locations. Next, I created new methods for fabricating vine robots and a model of fabrication to ensure they grow along a desired path. Finally, I created a dynamic model to simulate how these robots respond to force inputs to aid in the design of actuators to achieve desired vine robot behaviors.
Description
| Type of resource | text |
|---|---|
| Form | electronic resource; remote; computer; online resource |
| Extent | 1 online resource. |
| Place | California |
| Place | [Stanford, California] |
| Publisher | [Stanford University] |
| Copyright date | 2023; ©2023 |
| Publication date | 2023; 2023 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Agharese, Nathaniel Edosowan |
|---|---|
| Degree supervisor | Okamura, Allison |
| Thesis advisor | Okamura, Allison |
| Thesis advisor | Cutkosky, Mark |
| Thesis advisor | Kennedy, Monroe |
| Degree committee member | Cutkosky, Mark |
| Degree committee member | Kennedy, Monroe |
| Associated with | Stanford University, School of Engineering |
| Associated with | Stanford University, Department of Mechanical Engineering |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Nathaniel E. Agharese. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis Ph.D. Stanford University 2023. |
| Location | https://purl.stanford.edu/gd134rb0036 |
Access conditions
- Copyright
- © 2023 by Nathaniel Edosowan Agharese
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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