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Commit 460a859c authored by esomo22e's avatar esomo22e
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from highly compliant materials, similar to those found in living organisms. Soft Robotics draws heavily from the way in which
living organisms moving and adapting to their surroundings.</p>
<div class="img_des">
<img src="../img/week_11/20181208_225334.jpg" alt="mold">
<figcaption class="cap">Finish mold of the Soft Robotics</figcaption>
</div>
<div class = "research_container">
<h2>Research</h2>
<p>Doing research on this assignment, I looked at examples of soft roboticis and how they were made. I also want to explore the way that soft robotics moved
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<div container = "proc_container">
<h2>Procedures</h2>
<div class = "proc_vel">
<div class = "proc_mold">
<h4>Creating the Mold</h4>
<div class="img_des">
<img src="../img/week_11/20181208_202346.jpg" alt="mold">
<figcaption class="cap">Acrylic Mold for Soft Robotics</figcaption>
</div>
<h4>Velostat + Fabric Pressure Sensor</h4>
<p>I used the Trotec Laser Cutter to create a mold of my soft robotics</p>
<p>Velostat is conductive and pressure sensitive and it will allow you to make a good pressure sensor nail sticker.</p>
<div class="img_des">
<img src="../img/week_11/20181208_200712.jpg" alt="mold">
<figcaption class="cap">Acrylic Pieces</figcaption>
</div>
<ol>
<li>I gathered all my materials.</li>
<li>Cut (you can also use a Vinyl Cutter) the Velostat and Conductive Fabric</li>
<li>Use acrylic Nail Glue to connect the velostat and conductive Fabric</li>
<li>Make sure all the pieces are connected thoroughly.</li>
<li>Then connect the velostat to the acrylic nail.</li>
<li>Connect the led to velostat and squeeze. You will see it glow.</li>
<li>Create the design with Adobe Illustrator.</li>
<li>Used the Trotec Laser Cutter to make the layers for the mold. </li>
<li>After Laser Cutting the mold, glue the acrylic pieces with acrylic glue.</li>
<li>Let it dry.</li>
</ol>
</div>
<div class = "proc_paint">
<h4>Conductive Paint + Nail Polish Distance Sensor</h4>
<div class = "proc_roboti s">
<h4>Soft Robotics</h4>
<p>With the Eco-Flex Silicone Rubber, I created the soft robotics and made it moveable with an airpump.</p>
<div class="img_des">
<img src="../img/week_12/20181218_061538.jpg" alt="ankara print 2" class = "print_des">
<figcaption class="cap">Conductive Paint Nail Sensor</figcaption>
<img src="../img/week_11/20181208_silicone.jpg" alt="mold">
<figcaption class="cap">Eco-Flex Silicone Rubber</figcaption>
</div>
<p>Bare Conductive Paint is a multipurpose electrically conductive material perfect for all of your DIY projects. It allowed
me to be flexible and develop simple designs on nails and still is conductive when covered over nail art. I think if I was
more talented nail artist, I probably could create engaging designs.</p>
<h5>Create Silicone Robotics</h5>
<div class="img_des">
<img src="../img/week_11/20181209_172444.jpg" alt="mold">
<figcaption class="cap">Silicone Rubber in the Mold</figcaption>
</div>
<div class="img_des">
<img src="../img/week_11/20181210_000413.jpg" alt="mold">
<figcaption class="cap">The Finish Product</figcaption>
</div>
<div class = "sen_nail">
<h5>Create Sensor Nail</h5>
<ol>
<li>Gather your materials materials.</li>
<li>Paint the nail with conductive paint.</li>
<li>Wait for the conductive paint to dry.</li>
<li>Paint a wire to the conductive paint and wait for it to dry.</li>
<li>Paint over with nail polish and wait for it to dry.</li>
<li>Connect the wire to an alligator clip which will connect to the breadboard of the arduino.</li>
<li>Mix the two parts of the Eco-Flex Silicone Rubber.</li>
<li>While Mixing the Silicone Rubber, make sure there is no air bubbles.</li>
<li>Pour the mixture into acrylic mold.</li>
<li>Pour the rest of silicone rubber on a flat surface. (I cut an acrylic slab.)</li>
<li>When both pieces dry, connect the two with th Silicone Rubber.</li>
<li>Puncture a whole, and use an airpump to move the Soft Robotic you created. (It can be automated with an arduino)</li>
<li>See how the Soft Robotic moves and functions.</li>
</ol>
</div>
<div class = "led_nail">
<h5>Create LED Nail</h5>
<ol>
<li>Paint the acrylic nail and create positive and negative branch.</li>
<li>I connected it with alligator clips but you can also paint a wire to the nails.</li>
<li>Connect the alligator clips to the breadboard.</li>
<li>Develop a program in Arduino that allows the LED to light up depending on the distance of the sensor.</li>
</ol>
</div>
</div>
</div>
<div class = "code_container">
<h4>Code Example</h4>
<p>Here is the code for the distance sensor. It kind of worked but it wasn't always easy.</p>
<pre><code>
#include <CapacitiveSensor.h>
/*
* CapitiveSense Library Demo Sketch
* Paul Badger 2008
* Uses a high value resistor e.g. 10M between send pin and receive pin
* Resistor effects sensitivity, experiment with values, 50K - 50M. Larger resistor values yield larger sensor values.
* Receive pin is the sensor pin - try different amounts of foil/metal on this pin
*/
CapacitiveSensor cs_4_2 = CapacitiveSensor(4,2); // 10M resistor between pins 4 & 2, pin 2 is sensor pin, add a wire and or foil if desired
CapacitiveSensor cs_4_6 = CapacitiveSensor(4,6); // 10M resistor between pins 4 & 6, pin 6 is sensor pin, add a wire and or foil
CapacitiveSensor cs_4_8 = CapacitiveSensor(4,8); // 10M resistor between pins 4 & 8, pin 8 is sensor pin, add a wire and or foil
void setup()
{
cs_4_2.set_CS_AutocaL_Millis(0xFFFFFFFF); // turn off autocalibrate on channel 1 - just as an example
pinMode(13, OUTPUT);
Serial.begin(9600);
}
void loop()
{
long start = millis();
long total1 = cs_4_2.capacitiveSensor(10);
long total2 = cs_4_6.capacitiveSensor(10);
long total3 = cs_4_8.capacitiveSensor(10);
Serial.print(millis() - start); // check on performance in milliseconds
Serial.print("\t"); // tab character for debug windown spacing
Serial.print(total1); // print sensor output 1
Serial.print("\t");
Serial.print(total2); // print sensor output 2
Serial.print("\t");
Serial.println(total3); // print sensor output 3
if(total2 > 5){
digitalWrite(13, HIGH);
delay(1000);
}
else{
digitalWrite(13, LOW);
delay(1000);
}
delay(5); // arbitrary delay to limit data to serial port
}
</code></pre>
</div>
</div>
<div class = "test_container">
<p>A lot of testing with paper before I painted the nails.</p>
<div class="img_des">
<img src="../img/week_12/20181216_233107.jpg" alt="ankara print 2" class = "print_des">
<figcaption class="cap">Testing Conductive Paint</figcaption>
</div>
<div class = "test_container">
<p>I tested it with a blow pump and an automatic pump which was created with an Arduino..</p>
<div class="img_des">
<img src="../img/week_12/serial_mon.PNG" alt="ankara print 2" class = "print_des">
<figcaption class="cap">Serial Monitor for the sensors</figcaption>
</div>
<iframe width="560" height="315" src="https://www.youtube.com/embed/XtF-ToADVvw" frameborder="0" allow="accelerometer;
autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
<div class = "result_container">
<p>The Results were mixed but I think there were a positive start.
Velostat worked okay to one day make a sticker but I think there
would be a better way to create a conductive sticker for nails.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/ry1wSHlD53E" frameborder="0" allow="accelerometer;
autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
<p>The Results is that the Soft Robotics was successful. I was able to see it move with both the blow pump and the automatic pump.
However, with the automatic pump, the results were more noticeable and easier to show. The Soft Robotics was able to
move and function dependent on the air.</p>
<p>The conductive paint in my opinion worked really well and the distance sensor mostlyy worked and it was a fun way to
create a nail sensor.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/g9LbLvMgEpM" frameborder="0" allow="accelerometer; autoplay;
encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
<iframe width="560" height="315" src="https://www.youtube.com/embed/v9YHL-5Skug" frameborder="0" allow="accelerometer; autoplay;
<iframe width="560" height="315" src="https://www.youtube.com/embed/Zo2jE4mTam4" frameborder="0" allow="accelerometer; autoplay;
encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
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