Organismal Soft Robotics
Organismal Soft Robotics represents an interdisciplinary domain that converges principles from biology, engineering, and robotics to fabricate adaptable and lifelike robots. These robots derive inspiration from the natural world, emulating the form, actions, and substances of living organisms. By translating core biological concepts into technological applications, this field endeavors to produce robots capable of adeptly traversing intricate environments, executing delicate object manipulation, and finely perceiving their surroundings. These biomimetic robots not only present groundbreaking solutions in realms like healthcare, agriculture, and environmental surveillance but also broaden the horizons of scientific comprehension and technological advancement.
Autonomic Sweating Robot
In this project. I developed robot hand that can sweat. I built a 3D printed multi-material soft actuators, it presents a soft hydrogel-based actuator with autonomic perspiration capabilities to regulate temperature effectively. Using 3D printing, finger-like fluidic elastomer actuators were created, featuring a unique hydrogel design. At lower temperatures (<30°C), the actuators remained sealed, allowing pressurization and movement. However, at higher temperatures (>30°C), the actuators enabled localized sweating, significantly enhancing cooling rates. When combined, multiple actuators formed soft robotic grippers capable of mechanical manipulation and thermal regulation of heated objects. These sweating actuators demonstrated outstanding thermoregulatory performance, outperforming natural cooling systems found in animals while sacrificing temporary actuation efficiency.
1. Mishra, A.K.*, Wallin, T.J.*, Pan, W., Xu, P., Wang, K., Giannelis, E.P., Mazzolai, B., and Shepherd, R.F., 2020. Autonomic perspiration in 3D-printed hydrogel actuators. Science Robotics, 5(38). https://doi.org/10.1126/scirobotics.aaz3918
2. Mishra, A.K., Pan, W., Giannelis, E.P., Shepherd, R.F. and Wallin, T.J., 2021. Making bioinspired 3D-printed autonomic perspiring hydrogel actuators. Nature Protocols, pp.1-20. https://doi.org/10.1038/s41596-020-00484-z
Plant-inspired Soft Robot
During my Ph.D., my research was centered on plant-inspired soft robots. My primary focus was on the development of self-growing robots that could replicate the morphology and mechanisms of plant roots for subterranean movement. This involved emulating processes like mucus exudation, sloughing cells, and both radial and axial expansion. Additionally, I delved into the imitation of dry adhesive mechanisms found in plants, drawing inspiration from Galiam Aprine, and employed nanolaser printer (nano-scribe) technology for this purpose. My objective was to leverage plants as model organisms to create subterranean robots, aiming to capture their unique characteristics and behaviors. These soft robots, constructed from flexible and deformable materials, were engineered to mimic plant-like growth, adapt morphologically, and respond to environmental stimuli.
1. Mishra, A.K., Tramacere, F., Guarino, R., Pugno, N.M., and Mazzolai, B., 2018. A study on plant root apex morphology as a model for soft robots moving in soil. Plos One, 13(6), p.e0197411. https://doi.org/10.1371/journal.pone.0197411
2. Fiorello, I., Tricinci, O., Naselli, G.A., Mondini, A., Filippeschi, C., Tramacere, F., Mishra, A.K. and Mazzolai, B., 2020. Climbing Plant‐Inspired Micropatterned Devices for Reversible Attachment. Advanced Functional Materials, p.2003380. https://doi.org/10.1002/adfm.202003380
3. Mishra, A.K., Degl’Innocenti, A., and Mazzolai, B., 2018. Three-dimensional reconstruction of root shape in the moth orchid Phalaenopsis sp.: a biomimicry methodology for robotic applications. BMC research notes, 11(1), p.258. https://doi.org/10.1186/s13104-018-3371-0
4. Visentin F.*, Mishra A.K.*, Naselli G.A.*, Mazzolai B., Simplified Sensing and Control of a Plant-Inspired Cable-Driven Manipulator, IEEE Robosoft conference (2019), South Korea. https://doi.org/10.1109/ROBOSOFT.2019.8722729
5. Mishra A.K., Tramacere F & Mazzolai B., From plant root's sloughing and radial expansion mechanisms to a soft probe for soil exploration, IEEE Robosoft conference (2018), Italy. https://doi.org/10.1109/ROBOSOFT.2018.8404899
6. Fiorello, I., Tricinci, O., Mishra, A.K., Tramacere, F., Filippeschi, C. and Mazzolai, B. Artificial System Inspired by Climbing Mechanism of Galium Aparine Fabricated via 3D Laser Lithography. Conference on Biomimetic and Biohybrid Systems (2019), France. https://doi.org/10.1007/978-3-319-95972-6_18
Worm-inspired Soft Robot
I am presently engaged in the development of a soft robot inspired by the locomotion of worms. The primary aim of this endeavor is to enable cooperative interactions with plant roots and the soil microbiome. This innovative robot leverages state-of-the-art SLA (Stereolithography) printing technology to achieve precise component fabrication. Additionally, it boasts multifaceted sensing capabilities, allowing it to navigate soil environments effectively and engage productively with both plant roots and the microbiome residing in the soil. My aspiration for this project extends beyond its current scope. I aim to further advance the principles of worm locomotion to contribute to the development of next-generation subterranean robots with enhanced capabilities for various applications.