Mechanics to Build and Program Soft Robots

Robotics has traditionally been developed using rigid elements designed to resist deformation. But sometimes, soft robots can be better. Soft robots, which can deform into complex shapes, offer unique benefits. They can conform to surfaces more closely, apply forces delicately without harming biological tissues, and remain lightweight. These attributes enable soft robots to perform intricate tasks such as gentle gripping, crawling, or swimming in complex environments. The development of soft actuators with advanced robotic functionalities hinges on a deeper understanding of how the geometry and structure of soft materials influence their deformation and how these structures can be actuated to achieve specific shapes and forces. This has introduced new challenges in solid and fluid mechanics. Addressing these challenges requires navigating complex geometries, mechanical instabilities, and the nonlinear elasticity inherent in the large deformations of hyperelastic materials. This CISM International Summer School is designed to introduce the core mechanical principles directly applicable to the design and control of soft robots. The knowledge gained will equip students to tackle open questions and address key challenges in the field of soft robotics. Lectures will integrate concepts from continuum mechanics (nonlinear elasticity, viscoelasticity, mechanical instabilities), fluid-structure interaction, control, and design. The first two lectures will cover the mechanical foundations of actuation and the mechanics of soft materials, focusing on how mechanical instabilities can be harnessed to program shape, force, and dynamics in soft robots. The next two lectures will dive into numerical tools for predicting soft material deformations and demonstrate how programmable materials can process information to achieve specific deformations. The final two lectures will explore principles of embodied intelligence in soft robotics and emergent properties in active robotic systems. Throughout the course, students will be exposed to cutting-edge advances in the mechanics of soft robotics, from fundamental models to prototype solutions. This comprehensive training is intended for PhD students and postdocs aiming to apply mechanical insights to develop the next generation of soft robots or to overcome existing challenges with innovative mechanical approaches.