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软体机器人系列1-透明节点弹性体制动器和智能微创机器人运动感知

Mon, 25 Sep 2023 10:00:00 GMT+08 ~ Mon, 25 Sep 2023 12:00:00 GMT+08
AIRS 研究院

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    讲座主题1: 

    Transparent Dielectric Elastomer Actuators


    Dielectric elastomer actuators (DEAs) can have controllable actuation by applying an electrical voltage. The principle is the mechanical deformation of a dielectric polymer film caused by the Coulomb attraction between the two electrodes. This requires the electrodes to be compliant. The electrode materials should be thus conductive and stretchable. Conventionally, carbon grease is used as the compliant electrodes of DEAs. However, carbon grease is in liquid state, and it is not transparent. Here, I will present our work in developing transparent conducting polymers as the compliant electrodes of DEAs. At first, we developed various methods to greatly enhance the conductivity of PEDOT:PSS that is the most successful conducting polymer in terms of practical application and demonstrated its application as flexible transparent electrodes of optoelectronic devices. Then, we developed approaches to notably improve the mechanical stretchability of PEDOT:PSS, inlcuding the blend formation, plasticization and ductilization. Finally, I will show the application of the stretchable transparent PEDOT:PSS with high conductivity as the transparent solid electrodes of DEAs. They can have important application in many areas, such as camouflage soft robots and tunable soft lenses.


    嘉宾介绍:

    欧阳建勇教授分别于清华大学,中国科学院化学所和日本分子科学研究所获得学士,硕士和博士学位。现任职于新加坡国立大学材料科学与技术系,其研究团队主要集中在柔性电子材料和器件,包括本征导电聚合物、半导体聚合物、和纳米复合材料。主要研究成果包括发明了世界上第一个(聚合物/纳米离子)忆阻存储器(2004),世界上第一个(离子/电子)混合热电转换器 (2020), 世界上第一个可粘附的本征导电聚合物(2020),发现了光增强塞贝克效应(2021),世界上第一次把柔性应变传感器用于食品加工监测(2021),首次发现了高分子材料的延展化(2022),发明了多种方法来提高导电聚合物的电导率和热电性能和离子导体的热电性能并多次刷新了可溶液加工的导电聚合物的电导率,聚合物的热电性能和离子导体的热电性能的世界记录。



    讲座主题2:

    Compliant surgical motion generation and perception towards intelligent minimally invasive robotic procedures

     

    Abstract:

    Minimally Invasive Surgeries (MIS) emerging in modern medical treatment have brought new opportunities and challenges for procedure-specific surgical motion generation and the associated motion understanding, which are the foundation of intelligent robotic manipulation and guiding interventions. Image-guided robotic surgery is expected to increase the precision, flexibility, and repeatability of surgical procedures but poses challenges for system development. This talk will highlight our recent developments in dexterous robotic motion generation with motion perception towards image-guided minimally invasive procedures. The procedure-specific telerobotic surgical systems can assist surgeons in performing dexterous manipulations using continuum motion generation mechanisms with variable stiffness and context awareness.

     

    嘉宾介绍:

     

    Hongliang Ren received his Ph.D. in Electronic Engineering (Specialized in Biomedical Engineering) from The Chinese University of Hong Kong (CUHK) in 2008. He has served as an Associate Editor for IEEE Transactions on Automation Science & Engineering (T-ASE) and Medical & Biological Engineering & Computing (MBEC).  He has navigated his academic journey through Chinese University of Hong Kong, Johns Hopkins University, Children’s Hospital Boston, Harvard Medical School, Children’s National Medical Center, United States, and National University of Singapore (NUS). 

    His areas of interest include biorobotics, intelligent control, medical mechatronics, soft continuum robots, soft sensors, and multisensory learning in medical robotics. He is the recipient of NUS Young Investigator Award and Engineering Young Researcher Award, IAMBE Early Career Award 2018, Interstellar Early Career Investigator Award 2018, ICBHI Young Investigator Award 2019, and Health Longevity Catalyst Award 2022 by NAM & RGC.






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