My research focused on networks of bistable elements. In the first part of the seminar, I will present an investigation into the fundamental physics of viscous flow injected into a bistable hyperelastic chamber. We
examine the mechanics of viscous flow during the inflation of spherical chambers from one or two inlets, considering the shell’s hyperelastic properties and the internal flow dynamics. A closed-form expression for
inflation dynamics, accounting for elastic bi-stability, is derived. The transient traction exerted by the fluid causes deviations from sphericity, necessitating a framework for determining non-spherical axisymmetric deformations.
This is achieved by combining nonlinear continuum mechanics, structural mechanics, and asymptotic analysis.
The second part of the seminar will discuss the serial chain of bistable elements. We introduce a method for single-input control of a serial chain of bi-stable elastic chambers connected by thin tubes. Our mathematical
analysis shows that bi-stability combined with pressure lag induced by viscous resistance enables controlled transitions. This is demonstrated through numerical simulations and experiments with chains of up to five
chambers, highlighting the potential for developing sophisticated soft actuators with minimalistic control. We also explore multi-state transitions based on the dynamic responses of interconnected bi-stable elements,
focusing on the pre-design of multiple equilibrium states and their stability. This work paves the way for nextgeneration soft robotic actuators with minimal actuation and maximum dexterity.
