In the field of soft robotics, rigid joints and links are replaced by soft, deformable elements, This causes soft continuum robot arms to excel in unpredictable environments, but to face challenges during control and shape reconstruction. The sensing ability present in octopus suckers provides inspiration for solutions. Octopuses employ their suckers not only to strengthen their grasp but also as tactile sensors to control the shape and position of their soft arms. This has motivated researchers to integrate artificial sensorized suckers in soft continuum robot arms Although various sensorized suckers have already been developed, their employed sensing methods tend to be low in resolution and are often poorly embedded into the overall sucker architecture. In this work, these limits are overcome by presenting an octopus-inspired suction cup with integrated high-resolution tactile sensing abilities. This is achieved by utilizing the Chromatouch Principle, which relies on embedding colored markers in the suction cup membrane. Tracking these markers with a camera produced tactile images containing useful information about forces, deformations and interactions with objects. Fabrication with multi-material additive manufacturing enabled direct integration of these markers into the suction cup membranes. We demonstrated the design’s basic functionality by conducting pull-off and pickup tests. The design exhibited a normal pull-off force of 9.53 N and a shear pull-off force of 5.28 N. It was also able to successfully pick up both flat and curved objects. The sensing ability was showcased by training a Convolutional Neural Network to learn the relationship between the camera images and the orientation of the suction cup with respect to a touching substrate. Using a spherical coordinate system, the orientation could be predicted with an error of less than 2 degrees for latitude and less than 9 degrees for longitude. This performance was validated by using the trained network to successfully correct the orientation when picking up objects under an angle. For a single suction cup, this ability can be utilized to correct the orientation and achieve perpendicular contact with an object, crucial for achieving a seal. On a larger scale, the integration of multiple suction cups in soft continuum robot arms has the potential to form a representation of the arm shape as a whole. It can thereby contribute to overcoming the control challenges faced in the field of soft robotics.

This master thesis discusses the development of a hybrid manufacturing system that combines multi-material 3D-printing with silicone casting. The parties involved in this project were soft robotics research group at the University of Technology Delft and Ultimaker. Ultimaker served an advisory role and helped in providing the needed hardware. The starting point of this project was the lack of good production facilities for developing soft robotic parts. During an explorative study of the current production methods arose the value of a hybrid manufacturing system. By combining the material properties of hand casting with the automated process of Fused Deposition Modelling a better manufacturing system could be proposed; the MultiCast system. This thesis explores the new possibilities of such a system and tried to optimize the set-up for the development of soft robotic parts. Three applications areas have been further investigated namely: Silicone Fibre composites, Hard inserts and Complex cavities. All the findings have been combined into a demonstrator that displays the capabilities of the MultiCast system. The demonstrator is a soft robotic hand composed out of pneumatic bending actuators that are composed out of composites, hard inserts and complex cavities. The thesis ends with recommendations in regards of the further development of the MultiCast set-up.

This graduation project is based on the design brief where Microsoft identifies durability issues with its Xbox One controller. During the project a modular controller was developed. The design of the modular controller consists of 4 interchangeable parts, each sliding into one of the four designated areas located on the top side of the Modular controller. These areas are currently used as the two thumbsticks, the D-pad and the XYBA buttons. By making use of identical module housings and connections these modules become fully interchangeable. This allows the users to customize their controller's button layout as they prefer. The modules will also be sold separately, further allowing customization and replacement of failed or broken parts and adding later developed modules as well. This supports the circular product design theory by increasing the lifespan and personal attachment towards the controller.

Within this report is described the process of designing a new Zebro robot for the TU Delft Robotics Institute. Zebro is a six-legged robot specifically intended to become one of the first truly autonomous swarming robots on earth. The specific aim of this project was to design Zebro to become ready for series production, and to become a robotic platform that allows future students and companies to build upon.

This report covers an analytical phase (Chapter 2), aimed at examining the roots of Zebro and giving theoretical background regarding swarm robotics. Furthermore, a detailed oversight is given of the approach used to redesign the robot (Chapter 3). Several prominent design methods have been used within this project, including the modular approach, concurrent design approach and design for assembly. The motivation for choosing these methods, and the implications of using these methods is described within the analysis phase.


Two chapters are dedicated to the process of designing DeciZebro. These chapters show the reasoning behind design choices (Chapter 4) and ends by presenting the final result (Chapter 5). The result is a modular robotic platform called DeciZebro which can be mass produced. A series of 10 robots was produced within the context of this project as proof of concept for its manufacturability.

The final chapter (Chapter 6) of this report takes the design out into the world and asks the question; how will this robot be implemented in society? Because no autonomous swarms exist yet, this question can only be answered once the Zebro platform is working. However, within this chapter suggestions are given.

In the appendices a technical data package can be found, detailing the different parts featured in Zebro. Furthermore, a selection of important design decisions is shown within the Design Tree appendix.

This master thesis discusses the design of a 3D printed integrated miniature valve to control the air and flow rate in pneumatic soft robotics. The valve is able to control multiple bellows from inside the body of the soft robotic by only using one tube of air supply. The valves are actuated by Shape Memory Alloy actuator wires, named Flexinol. The valves are 3D printed together with the body of the soft robotic including the inflatable bellows.

Soft robotics make use of soft en flexible materials. They are able to perform delicate tasks and adapt to their environment. Soft robotics including multiple inflatable bellows need to be connected to a pneumatic power source. When the bellows need to be controlled by the speed of inflation and deflation, a problem occurs. Current valves available on the market are not suited. They are too heavy, large or expensive. In this master theses is worked on the solution.