MorphingSkin: A Skin-like Platform that Integrates Multimodal Hydraulic Actuators Based on Flexib...
summary
MorphingSkin integrates flexible EOPs into a stretchable printed‑circuit/silicone sandwich (electrodes + pump membrane + TPU adhesion) to drive 16 independent pumps untethered and achieve multimodal hydraulics for force, shape, optics, and weight. Prototypes include a shape‑adaptive gripper that pinches a cake without crushing corners, a suction gripper for stacked plates, a wrist brace with haptic and fluidic visual feedback, a breathing pop‑up anatomy page and a lamp; measured performance: 25 kPa, 20 ml/min and ≈0.06 W per actuator. Limitations: asymmetric pressure, nonlinearity, gas generation and bonding degradation.
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chapters (13)
- 0:00Introduction
- 0:25Motivation and vision
- 1:28Electroosmotic pump technology
- 2:51Morphing Skin composition
- 3:34Fabrication process
- 4:57Control hardware
- 5:19Multimodal actuation design
- 6:22Applications for robots
- 7:47Wearable human applications
- 9:14Object applications
- 10:17Technical evaluation
- 11:42Summary and future work
- 12:03Q&A session
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