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We explain when, and why, solder-based phase change materials (PCMs) are best-suited as a means to modify a robotic mechanism's kinematic and elastomechanic behavior. The preceding refers to mechanisms that possess joints which may be thermally locked and unlocked via a material phase change within the joint. Different combinations of locked and unlocked(More)
Fibrous membranes of poly(trimethyl hexamethylene terephthalamide) (PA6(3)T) were fabricated by electrospinning and rendered hydrophobic by applying a conformal coating of poly(1H,1H,2H,2H-perfluorodecyl acrylate) (PPFDA) using initiated chemical vapor deposition (iCVD). A set of iCVD-treated electrospun PA6(3)T fiber membranes with fiber diameters ranging(More)
Precise, size-selective assembly and sorting are demonstrated in a low-cost system using manufacturable, replicated polymer templates to guide the assembly. Surface interactions between microscale objects and an assembly template are combined with fluid forces to drive site-selective organization of objects onto the template. Although controlling the(More)
ARCHNES The author hereby grants to MIT permission to reproduce and to distribute publicly paper and electronic copies of this thesis document in whole or in part in any medium now known or hereafter created. ABSTRACT This thesis documents the design and analysis of a soft prismatic joint for use in soft robotics. While this joint can be utilized in any(More)
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