3D printed ferrofluid based soft actuators

Ela Sachyani Keneth; Alexander R. Epstein; Michal Soreni Harari; Ryan St Pierre; Shlomo Magdassi; Sarah Bergbreiter

doi:10.1109/ICRA.2019.8793998

3D printed ferrofluid based soft actuators

Ela Sachyani Keneth, Alexander R. Epstein, Michal Soreni Harari, Ryan St Pierre, Shlomo Magdassi, Sarah Bergbreiter

Institute of Chemistry

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

This work demonstrates 3D printed soft actuators with complex shapes and remote actuation using an external magnetic field. Instead of embedding magnetic particles in a polymeric matrix, we fabricated a novel ferrofluid-based actuator, in which the fluid can be moved to different locations in the actuator to affect actuator response. We studied the effect of both the ferrofluid and the 3D printed material on the motion of simple actuators using 3D printed tubes. In addition, we 3D printed more complex actuators mimicking a human hand and a worm to demonstrate more complex motion.

Original language	American English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7569-7574
Number of pages	6
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8793998
State	Published - May 2019
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2019-May
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

Bibliographical note

Funding Information:
Research supported by the Israel Ministry of Defense (IMOD), Contract #4440767595 1. Ela Sachyani Keneth and Shlomo Magdassi are with the Casali Center of Applied Chemistry, Institute of Chemistry and the Center for Nanoscience and Nanotechnology, The Hebrew University of Jerusalem, 91904, Jerusalem, Israel. (ela.sachyani@mail.huji.ac.il; magdassi@mail.huji.ac.il) 2. Alexander R. Epstein and Michal Soreni Harari were with the Department of Mechanical Engineering and Institute for Systems Research University of Maryland, College Park, USA (aepstein96@gmail.com; msorenih@gmail.com).

Publisher Copyright:
© 2019 IEEE.

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10.1109/ICRA.2019.8793998

Cite this

Keneth, E. S., Epstein, A. R., Harari, M. S., Pierre, R. S., Magdassi, S., & Bergbreiter, S. (2019). 3D printed ferrofluid based soft actuators. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 7569-7574). Article 8793998 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793998

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title = "3D printed ferrofluid based soft actuators",

abstract = "This work demonstrates 3D printed soft actuators with complex shapes and remote actuation using an external magnetic field. Instead of embedding magnetic particles in a polymeric matrix, we fabricated a novel ferrofluid-based actuator, in which the fluid can be moved to different locations in the actuator to affect actuator response. We studied the effect of both the ferrofluid and the 3D printed material on the motion of simple actuators using 3D printed tubes. In addition, we 3D printed more complex actuators mimicking a human hand and a worm to demonstrate more complex motion.",

author = "Keneth, {Ela Sachyani} and Epstein, {Alexander R.} and Harari, {Michal Soreni} and Pierre, {Ryan St} and Shlomo Magdassi and Sarah Bergbreiter",

note = "Funding Information: Research supported by the Israel Ministry of Defense (IMOD), Contract #4440767595 1. Ela Sachyani Keneth and Shlomo Magdassi are with the Casali Center of Applied Chemistry, Institute of Chemistry and the Center for Nanoscience and Nanotechnology, The Hebrew University of Jerusalem, 91904, Jerusalem, Israel. (ela.sachyani@mail.huji.ac.il; magdassi@mail.huji.ac.il) 2. Alexander R. Epstein and Michal Soreni Harari were with the Department of Mechanical Engineering and Institute for Systems Research University of Maryland, College Park, USA (aepstein96@gmail.com; msorenih@gmail.com). Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

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language = "American English",

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Keneth, ES, Epstein, AR, Harari, MS, Pierre, RS, Magdassi, S & Bergbreiter, S 2019, 3D printed ferrofluid based soft actuators. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793998, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 7569-7574, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793998

3D printed ferrofluid based soft actuators. / Keneth, Ela Sachyani; Epstein, Alexander R.; Harari, Michal Soreni et al.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 7569-7574 8793998 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Magdassi, Shlomo

AU - Bergbreiter, Sarah

N1 - Funding Information: Research supported by the Israel Ministry of Defense (IMOD), Contract #4440767595 1. Ela Sachyani Keneth and Shlomo Magdassi are with the Casali Center of Applied Chemistry, Institute of Chemistry and the Center for Nanoscience and Nanotechnology, The Hebrew University of Jerusalem, 91904, Jerusalem, Israel. (ela.sachyani@mail.huji.ac.il; magdassi@mail.huji.ac.il) 2. Alexander R. Epstein and Michal Soreni Harari were with the Department of Mechanical Engineering and Institute for Systems Research University of Maryland, College Park, USA (aepstein96@gmail.com; msorenih@gmail.com). Publisher Copyright: © 2019 IEEE.

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N2 - This work demonstrates 3D printed soft actuators with complex shapes and remote actuation using an external magnetic field. Instead of embedding magnetic particles in a polymeric matrix, we fabricated a novel ferrofluid-based actuator, in which the fluid can be moved to different locations in the actuator to affect actuator response. We studied the effect of both the ferrofluid and the 3D printed material on the motion of simple actuators using 3D printed tubes. In addition, we 3D printed more complex actuators mimicking a human hand and a worm to demonstrate more complex motion.

AB - This work demonstrates 3D printed soft actuators with complex shapes and remote actuation using an external magnetic field. Instead of embedding magnetic particles in a polymeric matrix, we fabricated a novel ferrofluid-based actuator, in which the fluid can be moved to different locations in the actuator to affect actuator response. We studied the effect of both the ferrofluid and the 3D printed material on the motion of simple actuators using 3D printed tubes. In addition, we 3D printed more complex actuators mimicking a human hand and a worm to demonstrate more complex motion.

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ER -

Keneth ES, Epstein AR, Harari MS, Pierre RS, Magdassi S, Bergbreiter S. 3D printed ferrofluid based soft actuators. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 7569-7574. 8793998. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2019.8793998

3D printed ferrofluid based soft actuators

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