We plan on creating creases and cuts in PLA filament to see if the material folds fully through the creases with the variation in moisture and heat.

A: Temperature Experiment: 6 qt of water will be used for each Temperature. We will test temperatures from 100F to 212F in increments of 20 degrees and record when heat in the water is enough to cause warping.

B: Volume experiment: This is completed after the temperature experiment. Using the determined Temp from A, we will start with minimum water volume (just enough to cover the shape) and add 2 cups of hot water up to the 6 qt capacity of the pot.

An, B., Tao, Y., Gu, J., Cheng, T., Chen, X. ‘., Zhang, X., . . . Yao, L. (2018). Thermorph: Democratizing 4D Printing of Self-Folding Materials and Interfaces. Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems. doi:10.1145/3173574.3173834

I propose a soft sculpture that explores the technique of Direct Ink Writing. Direct Ink writing is a method of 3D printing that is useful for multi-material prints and suitable for fabricating composites. This method can be used to embed thermochromic inks (color change from temperature change) into materials. I am interested in working with materials that use chemistry or physical inputs to react on their own, without the use of external sensors. In other words, the material itself becomes the sensor and the actuator. Independent of Electrical power, this kind of sculpture could truly go anywhere and need minimal maintenance.

References:

Rocha, V. G., Saiz, E., Tirichenko, I. S., & García-Tuñón, E. (2020). Direct ink writing advances in multi-material structures for a sustainable future. Journal of Materials Chemistry A, 8(31), 15646-15657. doi:10.1039/d0ta04181e

Yang, M., Pan, J., Luo, L., Xu, A., Huang, J., Xia, Z., . . . Wang, X. (2019). CNT/cotton composite yarn for electro-thermochromic textiles. Smart Materials and Structures, 28(8), 085003. doi:10.1088/1361-665x/ab21ef

Armstrong, C. D., Todd, N., Alsharhan, A. T., Bigio, D. I., & Sochol, R. D. (2020). A 3d printed morphing nozzle to control fiber orientation during composite additive manufacturing. Advanced Materials Technologies,6(1), 2000829. doi:10.1002/admt.202000829

Viková, M., & Pechová, M. (2020). Study of adaptive thermochromic camouflage for combat uniform. Textile Research Journal, 90(17-18), 2070-2084. doi:10.1177/0040517520910217

Papers:

Sareen, H., Umapathi, U., Shin, P., Kakehi, Y., Ou, J.,
Ishii, H., Maes, P. 2017. Printflatables: Printing
Human-Scale, Functional and Dynamic Inflatable
Objects. In Proceedings of the CHI 2017, 3669-3680.

Tolley, M.T., Felton, S.M., Miyashita, S., Aukes, D.,
Rus, D., Wood, R.J. 2014. Self-folding origami: shape
memory composites activated by uniform heating.
Smart Materials and Structures 23, 094006.

I think the artist wanted to make a statement about body language and how it can make us feel, and how we react differently from it. It is also a tangible expression of boundaries.

Technology: Proximity Sensors

N. Shrivastava, R. Mudumbai U. Madhow, and S. Suri. 2006. Target tracking with binary proximity sensors: fundamental limits, minimal descriptions, and algorithms. In Proceedings of the 4th international conference on Embedded networked sensor systems (SenSys ’06). Association for Computing Machinery, New York, NY, USA, 251–264. DOI:https://doi.org/10.1145/1182807.1182833

proximity sensors are integral for reactive technology, and they are good for making work that responds to an audience.

article (pg 4-5) https://onlinelibrary.wiley.com/doi/epdf/10.1002/ad.488

I found this piece on XS Labs’ website, then I searched the databases for articles that discussed them, and found the above article that had a piece about using Nitol wire in fabrics.

1. Do you have any conflict of interest in reviewing this paper? A “conflict of interest” is defined as follows:
   • Ph.D. thesis advisor or advisee
   • Postdoctoral advisor or advisee
   • Collaborators or co-authors for the past 48 months
   • Any other individual or institution with which the investigator has financial ties
2. Yes/no. If yes, please disqualify yourself instead of proceeding.
    
3. Expertise. Provide your expertise in the topic area of this paper.
   • 4 – Expert
   • 3 – Knowledgeable
   • 2 – Passing Knowledge
   • 1 – No Knowledge
      
4. Summary. Please summarize what you believe are the paper’s main contributions to the field of soft robotics.
   This paper suggests an algorithm for Fused Deposition Material (FDM) 3D printers that remove the necessity of supports for objects with overhangs. The algorithm calculates a path for the extruder that is already a part of the object and can structurally hold the next layer of filament. This path is calculated from slicing the object. Although this paper does not directly mention soft robots, FDM printing is a common fabrication technique for soft robotic parts, so their proposed technique, if successful, would make the fabrication of soft robotic parts more efficient and thus less expensive.
    
5. Strengths and Weaknesses. What are the main strengths and weaknesses of this work? Does the paper have strengths in originality and novelty?
   The main strength to this paper is that it explains the problem and need for solution very well. By the end of the Abstract, it is clear why this problem needs solving and the benefits of their solution. In addition, the visual aides greatly augment understanding of the paper. Its central weakness is that it does not spend adequate time discussing the algorithm itself, so it can not be easily grasped by those not familiar with it.
    
6. Soundness. Are the ideas, algorithms, results or studies technologically/methodologically sound?
   As mentioned above, the proposed algorithm is not explained extensively, so it is difficult to argue that it is or is not sound. This could also be due to the fact that I lack prerequisite knowledge to understand the algorithm.
    
7. Related Work. Does the paper adequately describe related and prior work?
   Yes, this paper does an adequate job of discussing important sections of previous work.
    
8. Presentation. Is the paper well organized, well written and clearly presented?
   Yes, this paper is well-written and organized. It is succinct and not too lengthy. There is one typo I saw.
    
9. Suggestions. Do you have suggestions for improving this paper?
   My main suggestion is to expand on the algorithm. More time is spent justifying the need for the solution, but the solution itself is presented minimally. This suggestion is also likely due to my lack of understanding of algorithms, but it may still be useful. Figure 3 shows the movements of the extruder calculated by the algorithm, but it is a zigzag line on the print bed and none of the terms in the algorithm are labelled. 

For the figures on the last page, I would argue that Fig. 4 (an image of an FDM printer) is not necessary. It can easily be found by a quick google search. Also, I suggest that Fig. 5 and 6 be combined, as they are different views of the same object. Fig. 5 already is broken up into a) and b), each presenting a different view of the object, so Fig. 6 can become Fig. 5c. In Figure 7, there is a typo: it should say “a second example”. 

10. Comments to Committee (Hidden from authors). Does the paper have enough originality and importance to merit publication? Is the paper relevant to the field? These comments will NOT be sent to the authors:
    The paper seems to present an original and new idea that is relevant to soft robotics; however they do not spend enough time presenting their solution.
     
11. Overall Rating. Provide your overall rating of the paper (5 is best)
    • 5 – Definite accept: I would argue strongly for accepting this paper.
    • 4 – Probably accept: I would argue for accepting this paper.
    • 3 – Borderline: Overall I would not argue for accepting this paper.
    • 2 – Probably reject: I would argue for rejecting this paper.
    • 1 – Definite reject: I would argue strongly for rejecting this paper.

root paper:
“Embedded 3D Printing of Strain Sensors within Highly Stretchable Elastomers”
Muth, J.T., Vogt, D.M., Truby, R.L., Mengüç, Y., Kolesky, D.B., Wood, R.J. and Lewis, J.A. (2014), Embedded 3D Printing of Strain Sensors within Highly Stretchable Elastomers. Adv. Mater., 26: 6307-6312. https://doi.org/10.1002/adma.201400334

related papers

Zhao, J., & He, N. (2020). A mini-review of embedded 3D printing: Supporting media and strategies. Journal of Materials Chemistry B, 8(46), 10474-10486. doi:10.1039/d0tb01819h

Qi Ge, Zhe Chen, Jianxiang Cheng, Biao Zhang, Yuan-Fang Zhang, Honggeng Li, Xiangnan He, Chao Yuan, Ji Liu, Shlomo Magdassi, Shaoxing Qu (2021). 3D printing of highly stretchable hydrogel with diverse UV curable polymers.  Science Advances, Vol 7 No. 2. DOI: 10.1126/sciadv.aba4261

Lining Yao, Ryuma Niiyama, Jifei Ou, Sean Follmer, Clark Della Silva, and Hiroshi Ishii. PneUI: pneumatically actuated soft composite materials for shape changing interfaces. In Proceedings of the 26th annual ACM symposium on User interface software and technology, UIST ‘13, 13–22. Association for Computing Machinery, 2013. doi:10.1145/2501988.2502037.

2. DefeXtiles, tulle fabrics fabricated with Fused Deposition Modeling (FDM) 3D printers, can be made for many soft robotics applications  by minimizing gaps in under-extrusion printing.

Jack Forman, Mustafa Doga Dogan, Hamilton Forsythe, and Hiroshi Ishii. DefeXtiles: 3d printing quasi-woven fabric via under-extrusion. In Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology, 1222–1233. ACM, 2020. doi:10.1145/3379337.3415876

3. This paper suggests laser cutting as a quick and efficient fabrication method for thin soft actuators and robots, due to its 2D nature.

Amir Ali Amiri Moghadam, Seyedhamidreza Alaie, Suborna Deb Nath, Mahdie Aghasizade Shaarbaf, James K. Min, Simon Dunham, and Bobak Mosadegh. Laser cutting as a rapid method for fabricating thin soft pneumatic actuators and robots. Soft Robotics, 5(4):443–451, 2018. Publisher: Mary Ann Liebert, Inc., publishers. doi:10.1089/soro.2017.0069.

BibLaTeX citation:

@INPROCEEDINGS{8404942,  author={J. {Guo} and C. {Xiang} and T. {Helps} and M. {Taghavi} and J. {Rossiter}},  booktitle={2018 IEEE International Conference on Soft Robotics (RoboSoft)},   title={Electroactive textile actuators for wearable and soft robots},   year={2018},  volume={},  number={},  pages={339-343},  abstract={Smart fabrics offer the potential for a new generation of soft robotics, reactive clothing and wearable technologies through the fusion of smart materials, textiles and electrical circuitry. In this work we present a range of smart fabrics and reactive textiles for soft robotics. We investigate conductive stretchable textiles for the fabrication of dielectric elastomer (DE) and electroadhesive (EA) actuators. These include a planar DE actuator, a bending DE actuator, and an EA actuator. The textile DE actuator generated a relative area expansion of 16.4 % under 9 kV while the bending actuator generated a relative expansion of 5 % under 6 kV. The EA actuator generated a shear adhesive force of 0.14 kPa at less than 5 kV. This work shows the feasibility of using conductive fabrics for soft actuation technologies. Conductive textiles have the potential to deliver simple, comfortable, multi-function and wearable soft robotic devices and complete soft robots.},  keywords={actuators;adhesion;adhesives;bending;clothing;elastomers;electric actuators;fabrics;intelligent materials;wearable robots;textile DE actuator;relative area expansion;bending actuator;relative expansion;EA actuator;conductive fabrics;soft actuation technologies;conductive textiles;wearable soft robotic devices;electroactive textile actuators;wearable robots;smart fabrics;soft robotics;reactive clothing;wearable technologies;electrical circuitry;conductive stretchable textiles;dielectric elastomer;electroadhesive actuators;planar DE actuator;bending DE actuator;pressure 0.14 kPa;Actuators;Textiles;Electrodes;Soft robotics;Force;Strain;conductive textiles;dielectric elastomer actuators;electroadhesion;soft actuators},  doi={10.1109/ROBOSOFT.2018.8404942},  ISSN={},  month={April},}