Contacts: Mr. Mahmoud Abdel Fatah, Eng. Mina Maged, Dr. Islam Khalil
General Information: 

1. Design and Fabrication of a Soft Robotic System

In this study, we develop a soft robotic system using a flexible wire and 4 stepper-motors. The stepper-motors are connected to the end-effector of the soft wire via flexible wires that enable actuation in three-dimensional space. First, the robot will be modeled and its kinematics and dynamics will be derived and simulated to understand its behaviour. Second, the motion of the robot will be simulated and animated. Finally, the robot will be fabricated and tested.
Project details
File Size: 399 kb
File Type: pdf
Download File

2. ​Modeling of a Continuum Soft Robotic System​

In this study, we will model a continuum soft robotic system based on the energy approach. First, we will model its forward and inverse kinematics. The continuum robot will be modeled using continuous (moving) frames. Frenet-Serret moving frames will be used to describe its kinematics in three-dimensional space. Second, we will drive the dynamics of the robot using the Lagrangian approach and simulate the dynamics and design motion control inputs.
Project details
File Size: 401 kb
File Type: pdf
Download File

3. Bilateral Tele-manipulation using a Continuum Soft Robot


In this study, we develop a soft robotic system using a flexible wire and 4 stepper-motors. We will also design a closed-loop motion control system to achieve bilateral tele-manipulation using the soft robot. This level of control will enable the operator to manipulate objects that require soft interaction.
Project description
File Size: 399 kb
File Type: pdf
Download File

4. Motion Control of a Continuum Soft Robot

In this study, we develop a soft robotic system using a flexible wire and 4 stepper-motors. We will design and implement a closed-loop control system based on position feedback. First, we will derive the dynamics of the robot and devise a closed-loop control input. This control input will be compared to the kinematic control of the robot. Second, we will study the stability of the control input
using passivity approach.
Project description
File Size: 399 kb
File Type: pdf
Download File

5. ​Fabrication of a Soft Robot for Targeted Therapy using
Magnetic Fields

In this work, motion control of paramagnetic microparticles is achieved using a magnetic system with an open-configuration. This control is done using a permanent magnet and an electromagnetic coil under microscopic guidance. The permanent magnet and the electromagnetic coils are fixed to the end-effector of a soft robot to control the motion of the microparticles in three-dimensional (3D) space. A closed-loop control of the robotic arm is done at the
joint-space to orient the magnetic field gradients of the permanent magnet and the electromagnetic coil towards a reference point in 3D space.
Project details
File Size: 403 kb
File Type: pdf
Download File
Proudly powered by Weebly