Soft mechatronics: an emerging design paradigm for the conception of intrinsically compliant electro-mechanical systems

Abstract

• Further increase flexibility and functionality of state-of-the-art electro-mechanical systems, while potentially simplifying design solutions [4]. For a number of important applications, conventional rigid machines are too heavy, energy-inefficient, expensive and relatively complex. • Explore unconventional manufacturing methods, with the aim of improving parts integration and reducing assembly complexity [5, 6]. Most mechatronic devices are manufactured by combining ‘‘off-the-shelf’’ components (such as bearing, gears, and pulleys) and custom machined parts. However, being composed of a large number of parts, these complex devices might fail in a unpredictable way rather than gently degrade during their functioning. • Design and produce devices with better safety properties when interacting with humans [7]. Many industrial systems are designed to be fast and stiff in order to achieve precise position control during highly dynamic motions. Such intrinsically stiff mechanical structures can pose safety hazards when interacting with unstructured environments or humans.