Most existing soft robotic actuators require multiple chambers to achieve multi-directional bending. In this paper, we present the design, fabrication, and analysis of a novel circular actuator. The actuator is made from a single soft material and is capable of bi-directional bending using only positive pressure in a single chamber. To accurately predict the required pressure for all bending angles, we developed an analytical model for the full range of motion - both uncurling and curling. We tested and analyzed actuators fabricated out of four types of silicone and found that the softest actuators have a bending range from the initial bending angle, 210°, to 0°, and to 225° in the other direction in 112 kPa. When constraining the actuators, we found they can create up to 5.1 N of blocked force in 210 kPa. Additionally, we demonstrate that a single circular actuator can grasp objects of various weights up to 800 g from both the inside and outside.

This paper presents a biologically inspired, 3.2g untethered vehicle capable of both active (flapping) and passive (gliding) flight. We discuss the overall vehicle design, as well as its validation with thrust data from benchtop testing, simulation, and flight test results. The vehicle has one pair of flapping wings for thrust generation, making it a good analogue for insects of the same scale. Flight energetics and control can be thoroughly explored through the array of simulation and testing that have been implemented. Integrated electronics provide wireless communication, sensing, and basic open-loop flight control, making flight test iteration fast and providing additional dynamics data. All of the testing setups and the physical vehicle working together have created a robust development environment for future iterations on the vehicle. The successful flight of the vehicle, including the data collection from onboard sensors and an external motion capture arena, show that this platform is ideal to study flight energetics and control schemes at an insect scale.

Conversation between two individuals requires verbal dialogue; the majority of human communication however consists of non-verbal cues such as gestures and facial expressions. Blind individuals are thus hindered in their interaction capabilities. To address this, we are building a computer vision system with facial recognition and expression algorithms to relay nonverbal messages to a blind user. The device will communicate the identities and facial expressions of communication partners in realtime. In order to ensure that this device will be useful to the blind community, we conducted surveys and interviews and we are working with subjects to test prototypes of the device. This paper describes the algorithms and design concepts incorporated in this device, and it provides a commentary on early survey and interview results. A corresponding poster with demonstration stills is exhibited at this conference.