People who suffer from tremor, experience uncontrollable, involuntary movements. Depending on the underlaying cause, these movements occur during rest, or simultaneous with voluntary movements. STIL is a YES!Delft based, med-tech startup that is developing a non-invasive, anti-tremor orthosis that helps people with tremors in their upper limbs. The current anti-tremor orthosis helps with the reduction of upper limb tremor. However, it limits the mobility of the user’s hand and wrist. Motion in the Wrist Radial and Ulnar Deviation (WRUD) degree of freedom are limited due to the way the orthosis is designed. By redesigning several parts of the orthosis, a new degree of freedom has been added to the device. This increased mobility makes the orthosis more comfortable in daily use, and could even be beneficial to the suppression of upper limb tremor. By integrating a small mechanical damper, the friction in the WRUD degree of freedom can be controlled. A system of interlocking parts, supported by dampers ensure a durable and smooth rotation when the wrist is moved. The fully functional prototype was manufactured and handed over to STIL bv for further testing, along with recommendations to optimize the design .

Since technological devices become smaller and our devices are more fused with our bodies, the logical next step is that technology will be placeable on our skin. In this thesis the design process towards a useful application of an interface on the skin is described. To get towards this design, several methods are used in the process. To shape the design challenge, a VIP inspired method is used, which provides a clear design goal and domain. For further developing the design, a user-centered approach is used, where the use of small prototypes helps improve the design. This resulted in a tattoo-like interface on the skin, which enables the user to have more unexpected interactions with others around him. This has been designed as a counter product towards the trend of people turning towards their devices in public situations. This tattoo offers a way of increasing real social interaction, and therefore decreases the social need of interaction through our smart devices. The design can be customly build up to fit the corresponding context, which makes it applicable in many social situations where people might have the need for more social interactions.

This project explores the potential of a material system based on SMAs that generates haptic feedback for Visually Impaired People (VIPs). Since VIPs rely more than others on tactile information, there is a need for more natural and unintrusive haptic devices as the commonly used electromechanical actuations are often perceived as intrusive and less acceptable than non-vibrating feedback. SMAs emerge as a promising solution to address these challenges effectively, due to their inherent ability to create silent, organic sensations, while being lightweight, thin, and flexible (Cruz et al., 2018). The aim of this project is to investigate the unique characteristics of SMAs and translate this into an integrated material system that could inspire designers to adopt these materials and revolutionize tactile experiences. The process had an explorative nature and included a research, form configuration and embodiment phase. Most current haptic systems based on SMAs have the limitation of small actuation ranges and/or difficulties in integrating them in soft material systems. Therefore, in this project, a soft integrated material system is designed that shows the potential of incorporating SMA and SE flat springs into an origami-paper textile to create haptic feedback. By using the combination of the SMA-SE flat springs, an easy integration of the wires in the paper-textile is enabled and a two-way actuation is created with a displacement of around 16%. Through the use of the origami structure, the two-dimensional shape change of the SMA spring is transformed in a three-dimensional shape change creating rich tactile feedback that can be perceived passively as well as actively. The sensations generated by the material system were easily perceived with the hands and the movement was characterized as natural, calm and gentle by sighted participants. This demonstrates that there is a potential for creating an integrated material system based on flat springs SMAs that generated haptic feedback for VIPs in a natural and new way. Additionally, based on all these findings, a guideline was developed for SMA wires with the aim to give an overview of all steps involved when designing a material system based on SMAs.

Interwoven refers to material structures made by growing plant roots into man-made patterns. Originally developed as an art piece to demonstrate root intelligence and bring attention to human-nature relations, Interwoven shows the potential to disrupt various commercial industries, especially as textile-based natural fiber reinforcements for composite materials. The artist that created Interwoven, Amsterdam-based Diana Scherer, started a collaboration with the TU Delft Faculty of Industrial Design Engineering to help further develop Interwoven from an art piece to a sustainable material for products design. Following the Material Driven Design method (Karana, et al., 2015), two students have identified materials experience opportunities created by Interwoven materials, the mechanical properties and internal structure of Interwoven are still not fully understood. This study tackles the challenge of performing a technical characterization on Interwoven structures in an effort to correlate processing parameters to its structure, properties, and performance. It is known from past works that Interwoven is fragile and “weak”, but a quantified value for these terms serves as a point of comparison with other materials in the market. To determine these values, a series of tensile tests were performed on grids with a simple square pattern. Dynamic Mechanical Analysis (DMA) tests performed on single roots proved that the amalgamation of roots that make up an Interwoven structure do not efficiently transfer tensile loads since the tensile strength and elastic moduli of Interwoven samples were nearly two orders of magnitude lower than those of a single root. Load transfer between roots was improved through the design of natural fiber-reinforced composites (NFRCs). The (bio)-polymer matrix used for these NFRCs was made up of agar gel, which improved the tensile properties of Interwoven samples, but was still lower than the single root. A full characterization of a material correlates the observed properties to the structure of the material, which is done through the use of microscopy. Microscopic analyses were performed on all the tested samples to find any correlation between the observed tensile properties and the structure of Interwoven samples. In addition to providing insight about the complex interactions of roots as they form the patterns that they grow into, the microscopy also revealed that there is a direct correlation between the number of root tips (root endings) present at the intersection of squares in the grid and the mechanical properties of the sample. With further research, this result can be tied to a parameter that the designer has direct control of, giving them better control of the properties of their Interwoven structures. Varying cell size in square patterns also allows designers to create structures with locally varying properties. The correlations between design parameters and material strength are summarized in the Guidelines to Designing with Interwoven booklet. A material demonstrator was also designed to showcase the locally variable mechanical properties in one structure while summarizing the test results in a way that is accessible and easy to understand.

Composite constructs made from gelatin methylacrylamide (gelMA) and polycaprolactone (PCL) have been proven as promising materials to form tissue equivalents which can be used to alleviate the problems arising due to damage of articular cartilage. Despite exhibiting an increase of compressive stiffness (up to 54 - fold) by synergistic combination of the two materials, as compared to gelMA or PCL fiber scaffolds alone, determination of shear properties of the composite construct remains unprecedented. The current study was aimed to comprehend the shear properties of the tissue equivalents made from gelMA or PCL fiber scaffolds. Direct shear tests were performed on composite constructs made from gelMA and boxed architecture of PCL fiber scaffolds with different fiber spacings to generate a comparative basis for shear modulus followed by computational modeling and analysis of the constructs to obtain a better understanding of reinforcing effect of PCL fiber scaffolds in gelMA and validate the experimental results computationally. Results indicate that shear stiffness of the tissue equivalent is dominated by the membrane elements of the boxed architecture of PCL fiber scaffolds which are produced by melt electrowriting (MEW). An association of increase in shear stiffness with decrease in fiber spacing for a given architecture has been depicted.

The materials we encounter in our every day lives already extend beyond the traditional materials of wood, metal, ceramics and glass. The characteristics and behavior of materials and material composites are continuously being tweaked. The introduction of new materials that can respond to inputs from the environment has brought about a new movement for material development and interaction design: computational composites. A computational composite is capable of sensing inputs from the environment, processing and controlling the consequent expression or formation of the material. The aim of the thesis was two-fold: to design and develop a soft bodied mechanism inspired by the movement of a caterpillar, using a Shape Memory Alloy-based (SMAs) composite, and to design material concepts based on the qualities of the composite. This was an explorative project, investigating the application of a bio-inspired approach and the Material Driven Design (MDD) approach to the development of a moving material. The first phase of the project focused on uncovering the technical aspects of a SMA-based composites and its relation to a computational composite. To understand caterpillar locomotion, a thorough study on its anatomy and locomotion strategies was performed. A qualitative study on how designers interpret caterpillar-like motion lead to four interesting movements, which were further developed in moving SMA-based composites from silicone and 4D printed textile. One SMA-based composite was selected for further improvement of the mechanism to be capable of translational caterpillar-like motion. The mechanism can also be interpreted and applied in other ways, and thus the experiential characteristics of the material were uncovered to define a material experience vision for further applications. Through a creative session and ideation phase three material concepts were proposed, suited for three types of user input on the computational composite: none, indirect and direct. The ultimate purpose for the material would be to sensitize people to the idea of a world where materials move from passive objects to active elements in our daily lives. It is recommended to do more research on the composite and to apply the materials experience vision to applications beyond every day objects and into the more innovative field of computer interface design and human-material interaction.

Magnetic shape memory materials are special types of materials that can change their shape in the presence of a magnetic field, this happens because of how the incorporated magnetic micro or nano particles arrange themselves. Magnetic shape memory materials have many exciting applications, especially in the fields of robotics and devices that move or change shape. They can be used to create smart devices that can move in a controlled way, like small robots or machines used in medical procedures. These materials are also useful for sensing and responding to changes in their environment. This project has already seen development at the TU Delft in the Department of Industrial Design Engineering in the form of the 2 graduation projects of Sanne van Vilsteren and Kevin van der Lans. In this project, the development of the 4D printer setup was overhauled from the previous setup and redesigned to improve upon the various shortcomings of the previous set up. The ink was also experimented with to some extent, testing parameters such as its viscosity and reaction to external magnetic fields. In addition to this, multiple concepts were ideated, and designed through, to create a set of demonstrators in various fields such as haptics, biomimicry and simple mechanisms to show the various functionalities that can be achieved by this printer.

This project aimed to develop a biodegradable material that communicates its sustainability to consumers through its aesthetic attributes and to apply this material to shoe design. In the current market, most biodegradable shoes do not express their natural origin through their appearance (tactile and visual properties). For instance, leather-like bioplastic material made from fruit waste, used by some shoe brands, mimics conventional leather with embossed texture, providing no indication to consumers that it is sustainable. While this approach of mimicking conventional materials might be effective for societal acceptance due to its familiar look, I strived to find an alternative approach. Thus, this project starts with a simple question: What if a pair of biodegradable shoes looked "natural"? Would they communicate their sustainability through their appearance? Would they seem too wild? To explore these questions, I embarked on the journey of developing biodegradable materials from scratch and constructing shoes with them. Through the research process, a Material Experience Vision was formulated, guiding me through the development of the material and the shoe design: I want people to recognise the material to be biodegradable as well as compostable through visual and tactile properties that people commonly associate with "naturalness" while maintaining their perception of quality. Additionally, I also want people to find the material to be interesting or unique to wear as a shoes with the propeties of natualness. The research concluded with the evaluation of the proof of concept—a final prototype consisting of a pair of biodegradable shoes made from orange peels and mandarins. This evaluation focused on participants' perceptions of quality and naturalness, involving eight participants in the assessment.

In medical applications such as medical endovascular catheters, adaptable and morphing devices capable of changing shape and properties become important. These devices allow for safer therapeutic and diagnostic procedures by reducing time to reach target vessels and organs, trauma to the vessel wall and physical stress on the body while increasing the accuracy, benefits and positive outcomes. A catheter with these properties will also reduce X-ray exposure during procedures, recovery time and could save lives in the acute setting. In the field of emerging materials, several materials demonstrate variable properties when exposed to a stimulus. This, when combined with the field of minimally invasive surgery, holds significant potential for the development of a catheter with variable shape and properties. This thesis investigates the latest developments in endovascular catheter design through a materials lense. It begins with a thorough examination of material-based advancements in catheters with variable properties, and puts a particular focus on shape memory materials. Using a combination of literature review, field work examination and expert consultations, the design of a catheter with variable properties is comprehensively analyzed and evaluated. Prototyping was done to evaluate the potential of two material systems to achieve variable behaviour in the design of a catheter. The study presents a conceptual shape memory material-based design for a catheter with variable shape and properties and demonstrates this with a visual prototype. Additionally, potential directions for further refinement of this conceptual design are explored. This thesis serves as an initial reference and guiding framework for designers working with emerging materials in the field of medical devices and in particular the development of endovascular catheters with variable properties.

The report at hand is a comprehensive summary of the conducted research and consequent developments in the experimental design of a solar-heated water displacement pump focused on its implementation in areas lacking access to safe drinking water, particularly in developing countries. The research begins by examining the dire situation faced by the two billion people lacking safely managed drinking water (WHO/UNICEF JMP, 2023). This is done by looking closer at the factors influencing water supply, considering needs and the context in which these affected people live. This contextual analysis motivated the need to develop a solar-powered water pump system designed to effectively, reliably and sustainably bring safe drinking water from improved water sources to households in the most affected regions of the world. To address this need, existing pumping systems that are currently used or have the potential to mitigate this problem were studied and evaluated. By carefully examining the most recent advancements in relevant water pumping technologies for this contextual application, an innovative opportunity for converting low-grade heat energy into mechanical energy was identified. Having identified the problem and understood its context, analysed the existing solutions and identified a potentially disruptive hypothesis, an innovative system of an affordable, robust, and scalable solar-heated water displacement pump was designed. In addition, the design was validated with a high-fidelity prototype with which experiments were done to successfully prove the concept’s working principle. The successful proof of concept aligns with the established objectives of simplicity and accessibility. In fact, the water pump prototype was created on a minimal budget, making use of simple and accessible tools and materials, highlighting its potential for scalable cost-effective manufacturing. This report provides a comprehensive analysis of the performance of the prototype, along with the theoretical design considerations that influenced its development. As a result, it serves as an experimental logbook that also offers insights into the existing water crisis and contributes to a better understanding of it. Thus, the present work lays the foundation for future research and developments on this innovative working principle, making it a valuable contribution to this life-changing field.

Several underwater activities like exploration, surveillance, measuring key characteristics like water current or temperature, and mapping seabed risk human lives as the underwater conditions are hostile. Developing underwater vehicles provides a solution to minimize risking human lives. The underwater robots developed based on conventional actuation tend to be bulky and inefficient, lacking the ability to swim through a complex environment. Using smart materials, efficient robots can be built to swim individually or in swarms through a complex environment. However, there is a huge gap in the performance of the underwater robots developed using smart materials in comparison with the ones actuated conventionally. This thesis fills the gap by elaborating on the development of a robotic fish using polyvinylidene fluoride (PVDF), a smart material, that is proven to produce higher strain per volt among other electro-active polymers (EAPs). To develop a robotic fish, different swimming styles are studied and the carangiform style is adapted to achieve good efficiency without compromising maneuverability. The robotic fish is designed as a monolithic structure with an integrated actuator. The carangiform swimming style is implemented by designing a bi-morph actuator that occupies one-third portion of the robotic fish. The actuator is designed to produce symmetric tail deflections in the lateral direction generating the vortices in the wake which can propel the robotic fish. In order to prove the usability of the actuator underwater, uni-morph actuators were manufactured using the inkjet printing technique. The actuator samples are developed on four different substrate materials, namely PEN, 25um Kapton, 50um Kapton, and Novele each with dimensions of 60mmx20.5mm. Experiments are conducted under various conditions to test their behavior before operating them underwater. The PVDF actuators developed using the Novele substrate successfully operated underwater at an operating frequency of 5.1Hz.

This graduation report describes the design of a new suitable menstruation product for Beppy that collects blood, is reusable, has a similar (deployable) size and function as a tampon, and which is perceived as less intimidating to insert and extract than a menstrual cup. The new design, the Beppy Clover, is made from silicone and has Nitinol, which is a shape memory alloy (SMA), wire embedded. Before insertion, the Clover has a diameter similar to a single use tampon by folding it in three sections. There is no constant external force needed to keep the Clover folded. Once the product is inserted and gets into contact with the body heat and blood in the vagina, the SMA wire (Af = 35°C) reacts and will return to its programmed shape. This results in the three sections with the SMA loops embedded deploying and adapting to the vagina canal. The product will stay in place, collect blood and after 8 hours or less, depending on the flow, can it be retracted by the loop or the attachable silicone extraction cord. The cleaning process works the same as a menstrual cup, rinsing between uses and sterilising at the beginning or end of the period. To come to this final concept, an analysis, development and evaluation were performed. In the analysis, relevant information about the menstrual cycle, the dimensions of the vagina and current insertable (period) products is gathered. Furthermore, interviews with ten people were conducted to get insights into the user experience regarding their period and period products. At last, the materials and production methods of the Beppy cup are inspected, and new possible materials are looked at to integrate into the product, like shape memory alloy. This information is brought together in a list of requirements. In the development, three main challenges are tackled: how to integrate deployment (1), insertion (2), and extraction (3) in the design, which would satisfy the requirements and, in particular, make it look less intimidating than a cup. Prototypes were made with silicones out of 3D printed moulds to test shapes, and the proof of concept of the composite of SMA wire with silicones was tested. A concept is made from the combinations of ideas and evaluated by three people focussing on perception and first impression of the Beppy Clover. With the feedback a final design is created. The end result of the project is a promising final concept that could be the first step in the right direction regarding development of reusable blood collecting tampons. Utilising emerging materials was interesting to research its possibilities in period products. More tests and research on the combination of silicones and SMA wire reacting to body temperature will be necessary to optimise the force of the deployment of the product. Nevertheless, the Beppy Clover achieved its goal of being a blood collecting, reusable product that is perceived as less intimidating than the cup and has a similar (deployable) size and function as a tampon.

While Additive Manufacturing is famed for its ability to create complex geometries, sustainability of the technologies is given less attention. Due to the need to melt filament and heat up the printbed, FDM requires a considerable amount of energy. On top of that, valuable and non-renewable resources are used for the production of the commonly used filaments. There is a need for materials that are suitable for FDM printing, while being less detrimental for the environment than commonly used plastic filaments. In this project, paste-like material mixes are developed and tested for their suitability for FDM printing in order to see whether they have the potential to make FDM more sustainable.

This thesis tackles the designing of a small-scale alkaline electrolysis cells (AEC) unit for large-scale production. This apparatus is applied for the production of pressurised hydrogen by employing solar energy. The goal is to minimise production costs while ensuring the safety of the unit operation throughout its lifespan. Although the employed technology is mature in the industry, large-scale production of such units still represents a novelty. Zero Emissions Fuel, ZEF, is currently carrying on the development of an electrolyser able to autonomously operate by two standard photovoltaic panels. The study includes the designing of a bipolar electrolysis cell with thermoplastics and its optimisation for injection moulding. Likewise, methods for ensuring the leak-tightness of the unit are investigated and evaluated through distinct experiments. The concept development is focussed on the satisfaction of the main functional requirements for the AEC unit. Hence, operating conditions of stress, temperature and chemical corrosion he been taken into account to identify the material selection of each component.The proposed design is as twice as powerful compared to the previous development, within a much smaller and lighter form factor. Similarly, the unit cost has been reduced by a third.

Anxiety is a natural “fight-or-flight” response that everybody experiences to perceived stress or threat. Even though it is a natural response, some individuals struggle with managing their anxiety levels in a healthy manner. Prolonged exposure to high anxiety states can lead to clinical anxiety disorders that negatively impact the quality of life, thus early interventions to reduce anxiety levels can help prevent the development of clinical level anxiety. Even nonclinical individuals can also suffer from periods of heightened anxiety state, so anyone can benefit from additional guidance with anxiety modulation. This graduation project aims to create a wearable garment that helps with daily levels of anxiety modulation in a non-clinical setting by providing warmth and pressure sensations typically associated with Deep Touch Pressure (DTP). DTP is a form of tactile sensory input that is provided by holding, stroking, hugging and squeezing, which has been proven to elicit feelings of safety, relaxation, and comfort. Although there are some commercially available DTP wearable products typically in the form of a vest, they are often heavy, uncomfortable, or indiscreet as the DTP sensations are provided by additional weights or inflatables with hand-operated pumps. Since they are difficult to conceal, wearing those commercial DTP vests can attract unwanted attention from nearby strangers and further aggravate anxiousness. Instead, DTP sensations can be applied to the body in a noiseless, lightweight, and discreet manner by utilizing shape memory alloy (SMA) actuators in wearable garments. The insights that formed the groundwork for this project was gathered through literature review in a wide variety of topics including haptic technology, affect regulation, and SMA. Deeper understanding of the intricate nuances involved with anxiety modulation were gained through self-reflection and introspection as part of the autobiographical design method. Although the insights gathered from introspection are rooted in subjective lived experiences, they can yield universally applicable outcomes based on genuine empathy and firsthand understanding that resonate with a broader range of users who experience similar or related difficulties with anxiety. Moreover, rapid prototyping and iterative processes were utilized to tinker with and learn about designing SMA based actuators for wearable garments. After fabricating several prototype iterations, each exploring different design variables, SereniSleeve was developed. SereniSleeve is a fingerless glove sleeve that provides warmth and deep pressure sensations to the forearm. It helps users break out of spiraling anxious thoughts by providing on-body haptic sensations that they can focus on, enhancing their grounding techniques. User test participants experienced feelings of calmness, relaxation, and comfort at varying pressure settings. Users can intuitively activate the sleeve by clenching their fists during stressful or anxious situations, triggering one of three preset pressure settings depending on the user applied force. All the electronic components can easily be detached from the double-layered fabric sleeve cover for easy maintenance and washability. Based on the participant feedback, future work and iterations on SereniSleeve could further improve its overall usability and user experience.

This booklet will take you on a journey into the world of shape memory alloys, by showing the explorative route I have taken. Although the road was not yet paved and sometimes very bumpy, I managed to reach my final goal. I am proud to present ThermoTilt, a responsive insulation layer which uses shape memory alloy’s unique properties to achieve its shape shifting abilities.

The aim of this project was to get a better understanding of the shape memory behaviour of 3D-printed polymers, and the different parameters which affect this, with the ultimate goal to apply shape memory in product design. This project started with a literature study on shape memory polymers and 3D-printing. The material properties, different types of shape memory and different actuation methods were investigated, as well as different 3D-printing techniques and using shape memory polymers in 3D-printing. Existing applications and concepts using shape memory polymers, as well as recent studies in applying these materials were also investigated. In parallel to the literature study, testing was done on the influence of different parameters on the shape memory behaviour of one of the most common FDM 3D-printing materials: PLA. Through an iterative process, a test sample was designed which was used to test parameters related to material (different types of PLA), manufacturing (printing settings), and design (geometry and orientation of models). Knowledge gained through the literature research and testing was combined to create design guidelines for manufacturing shape memory objects using 3D-printing. To demonstrate how the shape memory capabilities of 3D-printed PLA could be applied in product design, A product concept was developed. With a vision as a starting point, ideation and concept development was started by first having a brainstorm session with different people to learn how people not involved with the project envisioned shape memory in product design. Moving on from this, useful results from this session were taken into an ideation phase, where a multitude of different ideas were thought up. From these ideas, four were chosen to be developed into concepts, of which one was chosen to be further developed into a physical prototype. The chosen concept was a wake-up light which uses the heat of the lightbulb inside the lamp to heat the shape memory material and initiate shape recovery, which resulted in the lamp gradually giving off more light. This would wake up the user in a natural way. The concept, which was given the name ‘’DAWN’’, was developed into a physical demonstrator, and the shape memory parts were printed based on the established guidelines. This also served as a test for the guidelines to see how they could be applied in the design process. After testing several printed prototype parts, a final design for the demonstrator was created and produced. At the end of the project, the process and results were evaluated and recommendations were given for further research into 3D-printing shape memory objects.