0 00:00:00,000 --> 00:00:30,000 Dear viewer, these subtitles were generated by a machine via the service Trint and therefore are (very) buggy. If you are capable, please help us to create good quality subtitles: https://c3subtitles.de/talk/506 Thanks! 1 00:00:10,070 --> 00:00:11,359 Now, I have to say something about the 2 00:00:11,360 --> 00:00:14,179 speaker or speaker is Matthew Bogarde, 3 00:00:14,180 --> 00:00:16,429 and he's the founder of 4 00:00:16,430 --> 00:00:19,129 a company called Supervisor. 5 00:00:19,130 --> 00:00:21,139 And what they do, they're building 6 00:00:21,140 --> 00:00:23,569 spacesuit components, robotic spacesuit 7 00:00:23,570 --> 00:00:25,909 components for NASA, and 8 00:00:25,910 --> 00:00:28,099 they're researching and developing 9 00:00:28,100 --> 00:00:31,249 on a field called soft robotics. 10 00:00:31,250 --> 00:00:33,769 So Masrour will not talk about 11 00:00:33,770 --> 00:00:34,699 soft robotics. 12 00:00:34,700 --> 00:00:36,829 So I'm not sure. 13 00:00:36,830 --> 00:00:38,269 But I might give you this hint. 14 00:00:38,270 --> 00:00:40,339 If you're close to 15 00:00:40,340 --> 00:00:42,649 him, don't try hugging everything 16 00:00:42,650 --> 00:00:44,779 because this robot might crush it with 17 00:00:44,780 --> 00:00:47,359 its soft, delicate hands. 18 00:00:47,360 --> 00:00:49,789 A warm applause for Matthew. 19 00:00:49,790 --> 00:00:50,790 Hello. 20 00:00:56,940 --> 00:00:59,009 I've I've got to clarify, I'm 21 00:00:59,010 --> 00:01:01,379 a subcontractor on a NASA project. 22 00:01:01,380 --> 00:01:02,759 NASA doesn't like it when you say I'm 23 00:01:02,760 --> 00:01:04,829 working for NASA unless you, like, are 24 00:01:04,830 --> 00:01:06,689 in their offices. 25 00:01:06,690 --> 00:01:08,459 I just got to clarify that because people 26 00:01:08,460 --> 00:01:10,259 who like inlays laser you from space, 27 00:01:10,260 --> 00:01:12,989 like so 28 00:01:12,990 --> 00:01:15,149 so Einstein was on a train and he turns 29 00:01:15,150 --> 00:01:16,679 to the passenger next to him and says, 30 00:01:16,680 --> 00:01:18,329 does Boston stop at this train? 31 00:01:20,090 --> 00:01:21,090 So. 32 00:01:22,040 --> 00:01:24,049 Why can't programmers tell the difference 33 00:01:24,050 --> 00:01:26,299 between Halloween and Christmas, 34 00:01:26,300 --> 00:01:28,579 because three one equals two five deck, 35 00:01:30,140 --> 00:01:31,140 OK? 36 00:01:31,850 --> 00:01:32,419 All right. 37 00:01:32,420 --> 00:01:34,519 So I'm I'm the founder and 38 00:01:34,520 --> 00:01:38,029 lead scientist at that supervisor. 39 00:01:38,030 --> 00:01:39,859 Supervisor is a soft robotics development 40 00:01:39,860 --> 00:01:42,049 company. Essentially, we we solve 41 00:01:42,050 --> 00:01:43,580 hard problems with software robots. 42 00:01:44,900 --> 00:01:47,089 Soft robotics is a new 43 00:01:47,090 --> 00:01:48,679 field of robotics, is pretty young, only 44 00:01:48,680 --> 00:01:49,639 about 30 years old. 45 00:01:49,640 --> 00:01:52,009 And the heart of it is 46 00:01:52,010 --> 00:01:54,229 most problems that get solved with 47 00:01:54,230 --> 00:01:55,189 biology. 48 00:01:55,190 --> 00:01:57,169 Most problems that get solved in nature 49 00:01:57,170 --> 00:01:59,179 are done with compliant material, squishy 50 00:01:59,180 --> 00:02:00,229 stuff. 51 00:02:00,230 --> 00:02:01,609 And most problems that are solved in 52 00:02:01,610 --> 00:02:03,829 engineering are done with hard 53 00:02:03,830 --> 00:02:05,689 things. So hard language is hard, 54 00:02:05,690 --> 00:02:07,399 actuators things that don't have much 55 00:02:07,400 --> 00:02:08,448 good things that don't have much 56 00:02:08,449 --> 00:02:09,258 compliance. 57 00:02:09,259 --> 00:02:11,299 And it's essentially means that half of 58 00:02:11,300 --> 00:02:13,139 all potential solutions to problems in 59 00:02:13,140 --> 00:02:15,859 robotics have never even been considered. 60 00:02:15,860 --> 00:02:17,449 And so that's what I'm excited about, and 61 00:02:17,450 --> 00:02:19,519 I'm excited especially about applying it 62 00:02:19,520 --> 00:02:20,689 to human scale problems. 63 00:02:21,850 --> 00:02:23,949 So I'm going to be talking about some 64 00:02:23,950 --> 00:02:26,139 of what our work is, the 65 00:02:26,140 --> 00:02:27,789 uses for soft robotics and how to build 66 00:02:27,790 --> 00:02:28,790 your own. 67 00:02:31,080 --> 00:02:33,209 OK, we're going to start with 68 00:02:33,210 --> 00:02:34,319 a little brainteaser, so 69 00:02:35,490 --> 00:02:37,589 your skull is wired this way, you have a 70 00:02:37,590 --> 00:02:38,699 hinge in your jaw, you have this 71 00:02:38,700 --> 00:02:41,159 mandibular hinge and the muscles 72 00:02:41,160 --> 00:02:43,119 are connected from your temples down to 73 00:02:43,120 --> 00:02:44,309 your jaw. If you feel the sides of your 74 00:02:44,310 --> 00:02:45,989 head, you clench your teeth. 75 00:02:45,990 --> 00:02:48,119 You can actually feel those mandibular 76 00:02:48,120 --> 00:02:49,559 muscles flexing. 77 00:02:49,560 --> 00:02:51,179 And so you can actually generate 200 78 00:02:51,180 --> 00:02:52,859 pounds. The average person can generate 79 00:02:52,860 --> 00:02:54,989 200 pounds of bite force from their 80 00:02:54,990 --> 00:02:56,219 jaw. That means if you stick your tongue 81 00:02:56,220 --> 00:02:58,379 out right now, you can bite it clean off, 82 00:02:58,380 --> 00:02:59,380 which is cool. 83 00:03:00,480 --> 00:03:01,889 You really can. Don't try. 84 00:03:04,440 --> 00:03:06,419 So how would you do this? 85 00:03:06,420 --> 00:03:08,579 How would you bite things without 86 00:03:08,580 --> 00:03:09,580 a skull? 87 00:03:10,320 --> 00:03:12,449 So there are actually creatures 88 00:03:12,450 --> 00:03:14,669 out there that do this squids. 89 00:03:14,670 --> 00:03:16,799 So squids have a beak that's very hard. 90 00:03:16,800 --> 00:03:18,209 It's a bird like beak. 91 00:03:18,210 --> 00:03:20,309 It's actually it's really unusually 92 00:03:20,310 --> 00:03:22,349 bird like. It's an example of convergent 93 00:03:22,350 --> 00:03:23,699 evolution. 94 00:03:23,700 --> 00:03:25,649 And they don't have a skull. 95 00:03:25,650 --> 00:03:27,449 They actually don't have any hard 96 00:03:27,450 --> 00:03:29,099 understructure whatsoever. 97 00:03:29,100 --> 00:03:30,419 And they can bite things that are 98 00:03:30,420 --> 00:03:32,429 actually many orders of magnitude harder 99 00:03:32,430 --> 00:03:34,379 than they are in half. 100 00:03:34,380 --> 00:03:36,179 They have a body that is about as firm as 101 00:03:36,180 --> 00:03:37,979 a tomato, and yet they're able to bite 102 00:03:37,980 --> 00:03:39,539 through fish. 103 00:03:39,540 --> 00:03:41,489 And the way that they do this is through 104 00:03:41,490 --> 00:03:43,709 something called functional grading, 105 00:03:43,710 --> 00:03:46,589 so up the up the tip of the big 106 00:03:46,590 --> 00:03:48,299 what's called the rostrum, and they have 107 00:03:48,300 --> 00:03:50,579 a very hard end, that 108 00:03:50,580 --> 00:03:52,919 very hard protein's hydrophobic proteins 109 00:03:52,920 --> 00:03:54,569 that don't have much water in them that 110 00:03:54,570 --> 00:03:56,519 blend out towards the wing end of the 111 00:03:56,520 --> 00:03:58,379 beak, that blend out to softer and 112 00:03:58,380 --> 00:04:00,629 softer, more water bearing proteins 113 00:04:00,630 --> 00:04:02,549 as the thing goes down into the squid's 114 00:04:02,550 --> 00:04:04,319 head. And that's meant by firm muscle 115 00:04:04,320 --> 00:04:06,269 tissue that comes onto the wings and then 116 00:04:06,270 --> 00:04:07,589 it distributes the force up through the 117 00:04:07,590 --> 00:04:08,590 mantle. 118 00:04:09,180 --> 00:04:11,249 So what ends up happening is you 119 00:04:11,250 --> 00:04:14,399 have this very hard tip here 120 00:04:14,400 --> 00:04:15,699 without a fulcrum. 121 00:04:15,700 --> 00:04:17,639 It's actually balancing all of those 122 00:04:17,640 --> 00:04:20,549 forces of biting across the structure, 123 00:04:20,550 --> 00:04:22,979 using distance to balance 124 00:04:22,980 --> 00:04:24,989 that force and to get lots of clamping 125 00:04:24,990 --> 00:04:26,879 pressure on the end of that beak. 126 00:04:26,880 --> 00:04:28,679 So what am I talking when I'm talking 127 00:04:28,680 --> 00:04:30,419 about applying this stuff to human scale 128 00:04:30,420 --> 00:04:32,549 problems? So I trust you can read. 129 00:04:32,550 --> 00:04:34,739 I'm not going to individually talk about 130 00:04:34,740 --> 00:04:36,809 these points, but just to say the 131 00:04:36,810 --> 00:04:38,519 cost of having cerebral palsy is very 132 00:04:38,520 --> 00:04:40,529 high. And a lot of that is because 133 00:04:40,530 --> 00:04:42,629 physical therapy with one 134 00:04:42,630 --> 00:04:43,799 on one with the therapist is very 135 00:04:43,800 --> 00:04:46,049 expensive. And the orthotics, the things 136 00:04:46,050 --> 00:04:48,179 that you use every day to try and get 137 00:04:48,180 --> 00:04:50,579 you more mobility have to be customized, 138 00:04:50,580 --> 00:04:52,679 tailored to every individual person. 139 00:04:52,680 --> 00:04:54,629 Now, that ends up being very expensive 140 00:04:54,630 --> 00:04:56,819 because specialists have to do 141 00:04:56,820 --> 00:04:59,309 this work, so. 142 00:05:01,010 --> 00:05:02,869 The reason why it's sort of a complex 143 00:05:02,870 --> 00:05:04,489 problem that's not easily solved with a 144 00:05:04,490 --> 00:05:06,679 traditional exoskeleton is human beings 145 00:05:06,680 --> 00:05:08,779 don't really have a hard, 146 00:05:08,780 --> 00:05:11,209 like, rigid ball bearing joint 147 00:05:11,210 --> 00:05:12,589 in, say, the elbow. 148 00:05:12,590 --> 00:05:14,869 We're not made of these hard linkages. 149 00:05:14,870 --> 00:05:16,219 They're softer. These are actually two 150 00:05:16,220 --> 00:05:18,379 surfaces that are not quite 151 00:05:18,380 --> 00:05:20,359 cylindrical riding over one another. 152 00:05:20,360 --> 00:05:22,489 It's not just a fulcrum 153 00:05:22,490 --> 00:05:24,349 and everybody is different. 154 00:05:24,350 --> 00:05:25,699 Every person's a little bit know. 155 00:05:25,700 --> 00:05:26,749 They've got a little bit of different 156 00:05:26,750 --> 00:05:28,519 muscle tone. They've got a little bit of, 157 00:05:28,520 --> 00:05:30,349 you know, different something are 158 00:05:30,350 --> 00:05:31,729 different diameters. 159 00:05:31,730 --> 00:05:33,799 And so it's hard to make a one size fits 160 00:05:33,800 --> 00:05:36,559 all robot in a traditional robotic sense. 161 00:05:36,560 --> 00:05:38,479 But what's also the case is that 162 00:05:38,480 --> 00:05:40,519 customizing it for a person takes a 163 00:05:40,520 --> 00:05:42,619 particular expert, someone who knows 164 00:05:42,620 --> 00:05:44,989 that particular robot very well to center 165 00:05:44,990 --> 00:05:46,609 its power, say if you're trying to have 166 00:05:46,610 --> 00:05:48,739 an elbow actuator where there's a pancake 167 00:05:48,740 --> 00:05:50,509 motor right here and it's actuating your 168 00:05:50,510 --> 00:05:52,429 arm out, it actually takes somebody to 169 00:05:52,430 --> 00:05:54,589 get that right. They're as close as 170 00:05:54,590 --> 00:05:56,899 they can to the pivot of your elbow 171 00:05:56,900 --> 00:05:59,059 so that if it can't 172 00:05:59,060 --> 00:06:01,069 come a little bit off of the joint, 173 00:06:01,070 --> 00:06:02,479 otherwise it stands the potential of 174 00:06:02,480 --> 00:06:04,219 hurting you. It can actually do more 175 00:06:04,220 --> 00:06:06,289 damage than it's trying to fix. 176 00:06:06,290 --> 00:06:07,819 So that's one thing that we've been 177 00:06:07,820 --> 00:06:10,069 working on at Super Replacer is 178 00:06:10,070 --> 00:06:12,350 soft exoskeletons for therapeutics. 179 00:06:13,410 --> 00:06:14,699 So can I get a volunteer? 180 00:06:16,490 --> 00:06:18,260 You. Yes, please come up. 181 00:06:21,100 --> 00:06:22,239 What's your name? 182 00:06:22,240 --> 00:06:24,289 Robin Roundabout's Robin. 183 00:06:24,290 --> 00:06:25,290 Please. 184 00:06:29,680 --> 00:06:30,680 Yes, 185 00:06:32,050 --> 00:06:33,469 so. 186 00:06:33,470 --> 00:06:35,779 Would you mind trying a 187 00:06:35,780 --> 00:06:37,160 unlicensed medical device 188 00:06:40,940 --> 00:06:43,249 groovy this 189 00:06:43,250 --> 00:06:44,499 and. 190 00:06:44,500 --> 00:06:46,059 Arm, could you please put your arm 191 00:06:46,060 --> 00:06:47,349 through here? 192 00:06:47,350 --> 00:06:48,350 Thank you so much. 193 00:06:50,450 --> 00:06:52,129 All right, so the problem we're trying to 194 00:06:52,130 --> 00:06:54,289 solve and cerebral palsy is the 195 00:06:54,290 --> 00:06:57,089 point of your elbow on the point there. 196 00:06:57,090 --> 00:06:59,179 Yeah, let's move it 197 00:06:59,180 --> 00:07:00,919 up a little bit. How's that feel? 198 00:07:00,920 --> 00:07:01,879 Groovy. 199 00:07:01,880 --> 00:07:04,099 So I 200 00:07:04,100 --> 00:07:06,379 wasn't able to take my my compressed 201 00:07:06,380 --> 00:07:07,939 air supplies through the airport for 202 00:07:07,940 --> 00:07:10,069 obvious reasons, but I'll make do 203 00:07:10,070 --> 00:07:11,779 with a hand pump. So the problem we're 204 00:07:11,780 --> 00:07:13,339 trying to solve in cerebral palsy is that 205 00:07:13,340 --> 00:07:14,839 you have essentially high muscle tone, 206 00:07:14,840 --> 00:07:16,549 that you're stuck like this. 207 00:07:16,550 --> 00:07:18,819 And what we're trying to do is give even 208 00:07:18,820 --> 00:07:20,299 more pressure to get your arm back out. 209 00:07:20,300 --> 00:07:22,189 So just tell me what you feel as you go 210 00:07:22,190 --> 00:07:23,190 through that. 211 00:07:23,670 --> 00:07:25,769 So what's happening here is that 212 00:07:25,770 --> 00:07:27,659 we have these soft actuators that are 213 00:07:27,660 --> 00:07:29,249 distributing force over the arm. 214 00:07:35,430 --> 00:07:36,679 You feeling the force? 215 00:07:36,680 --> 00:07:38,069 Yeah, yeah. 216 00:07:38,070 --> 00:07:39,300 Hey, 217 00:07:40,590 --> 00:07:41,790 please give her a round of applause. 218 00:07:43,750 --> 00:07:44,750 Thank you. 219 00:07:50,440 --> 00:07:52,539 So the concept is 220 00:07:52,540 --> 00:07:55,149 one size fits all pneumatic 221 00:07:55,150 --> 00:07:57,339 exercycle skeletons, and what I think is 222 00:07:57,340 --> 00:07:59,449 cool is that this compliant, 223 00:07:59,450 --> 00:08:01,689 squishy squid like way of thinking 224 00:08:01,690 --> 00:08:03,729 about mechanics means that you can do 225 00:08:03,730 --> 00:08:06,039 things in these one size fits all ways. 226 00:08:06,040 --> 00:08:07,509 But what you can also do is sort of 227 00:08:07,510 --> 00:08:09,609 compensate for the irregularities of 228 00:08:09,610 --> 00:08:11,019 individual human bodies. 229 00:08:12,220 --> 00:08:14,409 So other 230 00:08:14,410 --> 00:08:16,059 researchers are actually applying this to 231 00:08:16,060 --> 00:08:17,379 really interesting problems in like 232 00:08:17,380 --> 00:08:18,939 stroke rehabilitation, giving people 233 00:08:18,940 --> 00:08:21,129 higher muscle tone, able to like 234 00:08:21,130 --> 00:08:23,199 grip with more force 235 00:08:23,200 --> 00:08:24,879 recovering from strokes. 236 00:08:24,880 --> 00:08:26,739 There's a place called Other Lab in San 237 00:08:26,740 --> 00:08:28,179 Francisco that's literally making a 238 00:08:28,180 --> 00:08:29,279 squishy Iron Man suit. 239 00:08:30,790 --> 00:08:32,859 And what I think is really cool about it 240 00:08:32,860 --> 00:08:35,079 is that if you can encourage 241 00:08:35,080 --> 00:08:37,149 people to do daily tasks, if someone has 242 00:08:37,150 --> 00:08:38,979 a physical disability like cerebral 243 00:08:38,980 --> 00:08:40,839 palsy, in giving them a little bit of 244 00:08:40,840 --> 00:08:43,389 extra freedom can mean huge 245 00:08:43,390 --> 00:08:45,549 lifetime gains, because 246 00:08:45,550 --> 00:08:47,259 being able to grip crutches, being able 247 00:08:47,260 --> 00:08:49,389 to dress yourself, enables you to do 248 00:08:49,390 --> 00:08:50,859 a whole bunch of things that also 249 00:08:50,860 --> 00:08:52,509 motivate you to continue using your 250 00:08:52,510 --> 00:08:54,819 muscles to continue refining skills. 251 00:08:54,820 --> 00:08:57,219 And so little changes to mobility 252 00:08:57,220 --> 00:08:59,469 can have a huge change in overall 253 00:08:59,470 --> 00:09:00,470 health. 254 00:09:01,770 --> 00:09:03,899 So other ways people 255 00:09:03,900 --> 00:09:05,699 are applying functional grading to 256 00:09:05,700 --> 00:09:07,859 problems are with like exploding 257 00:09:07,860 --> 00:09:09,599 software robots that has a soft structure 258 00:09:09,600 --> 00:09:10,709 and a rigid structure. 259 00:09:10,710 --> 00:09:12,269 So you can get things that are soft and 260 00:09:12,270 --> 00:09:14,429 rigid to do particular to 261 00:09:14,430 --> 00:09:16,079 solve particular problems. 262 00:09:16,080 --> 00:09:18,509 And one way this is really applicable is 263 00:09:18,510 --> 00:09:20,519 in prosthetics. 264 00:09:20,520 --> 00:09:23,099 So this is a scan of Hugh Hefner, Hugh 265 00:09:23,100 --> 00:09:24,509 Hugh Harry's legs. So Hugh Harry's a 266 00:09:24,510 --> 00:09:26,639 double below the knee amputee who 267 00:09:26,640 --> 00:09:28,529 works at MIT and he's been working on 268 00:09:28,530 --> 00:09:31,079 these projects where he takes scans 269 00:09:31,080 --> 00:09:33,149 and he 3-D prints functionally 270 00:09:33,150 --> 00:09:35,219 graded structures that 271 00:09:35,220 --> 00:09:37,589 distribute the force of the impact 272 00:09:37,590 --> 00:09:39,329 from the prosthetic onto the residual 273 00:09:39,330 --> 00:09:40,049 limb. 274 00:09:40,050 --> 00:09:41,279 Now, the reason why you want to do this 275 00:09:41,280 --> 00:09:43,319 is people are made of mostly water. 276 00:09:43,320 --> 00:09:44,939 People are made of mostly water, and any 277 00:09:44,940 --> 00:09:47,069 impact does not get dissipated by some 278 00:09:47,070 --> 00:09:47,969 cushioning force. 279 00:09:47,970 --> 00:09:49,619 There's not a cushioning spring inside of 280 00:09:49,620 --> 00:09:51,359 the body. So when you have a residual 281 00:09:51,360 --> 00:09:53,369 limb, you have an amputation, you have a 282 00:09:53,370 --> 00:09:55,229 residual limb, your doctor tries to do 283 00:09:55,230 --> 00:09:57,389 the best they can to make it susceptible 284 00:09:57,390 --> 00:09:59,489 to a prosthetic, but it doesn't mean it's 285 00:09:59,490 --> 00:10:01,079 infinitely powerful. 286 00:10:01,080 --> 00:10:03,299 And so what happens is when you feel 287 00:10:03,300 --> 00:10:05,759 a shock, say, of walking upstairs 288 00:10:05,760 --> 00:10:07,769 from the prosthetic socket into the 289 00:10:07,770 --> 00:10:09,539 residual limb, none of that force is 290 00:10:09,540 --> 00:10:11,279 dissipated by the socket to get it 291 00:10:11,280 --> 00:10:12,749 registered onto you. 292 00:10:12,750 --> 00:10:15,119 It also means that waves of force 293 00:10:15,120 --> 00:10:17,219 coming up through the prosthetic 294 00:10:17,220 --> 00:10:19,649 sort of find all the tender vittles. 295 00:10:19,650 --> 00:10:21,179 It's not a pleasant experience. 296 00:10:21,180 --> 00:10:23,639 And what's difficult is that can cause 297 00:10:23,640 --> 00:10:25,739 the residual limb over time to break 298 00:10:25,740 --> 00:10:26,729 down. 299 00:10:26,730 --> 00:10:28,409 So scar tissue isn't terribly strong. 300 00:10:28,410 --> 00:10:30,659 And so it has this feedback 301 00:10:30,660 --> 00:10:33,659 loop, a socket 302 00:10:33,660 --> 00:10:35,969 for the residual and the interface 303 00:10:35,970 --> 00:10:38,489 between the prosthetic and you 304 00:10:38,490 --> 00:10:40,199 has to be particularly shaped to you. 305 00:10:40,200 --> 00:10:42,659 But if it damages you, you change shape. 306 00:10:42,660 --> 00:10:44,219 And so what they're trying to do is 307 00:10:44,220 --> 00:10:46,679 create a system where it dissipates 308 00:10:46,680 --> 00:10:48,809 force. The socket itself is 309 00:10:48,810 --> 00:10:50,939 strong enough to support the force from 310 00:10:50,940 --> 00:10:53,009 the prosthetic without 311 00:10:53,010 --> 00:10:55,439 pushing all of that force onto the easily 312 00:10:55,440 --> 00:10:57,839 damaged area of the residual limb. 313 00:10:57,840 --> 00:11:00,059 And so Hugh is using functionally 314 00:11:00,060 --> 00:11:02,099 graded structures to do this, 3D prints 315 00:11:02,100 --> 00:11:03,539 that have very high levels. 316 00:11:03,540 --> 00:11:04,949 The white is very high levels of 317 00:11:04,950 --> 00:11:06,809 stiffness and the black are very low 318 00:11:06,810 --> 00:11:08,549 levels of stiffness. So we can choose 319 00:11:08,550 --> 00:11:10,349 where the force is distributed. 320 00:11:12,380 --> 00:11:15,199 So another organism, 321 00:11:15,200 --> 00:11:17,359 another mechanical system that does this 322 00:11:17,360 --> 00:11:18,889 kind of distributed force to solve 323 00:11:18,890 --> 00:11:21,609 problems very well are Gote Feet. 324 00:11:21,610 --> 00:11:23,589 So goats don't spend a lot of time 325 00:11:23,590 --> 00:11:25,389 looking at their feet, they're actually 326 00:11:25,390 --> 00:11:26,799 able to put their feet wherever they 327 00:11:26,800 --> 00:11:28,629 want, say it's sliding rocks, they put 328 00:11:28,630 --> 00:11:29,859 their feet where they want and they don't 329 00:11:29,860 --> 00:11:31,719 stare at them to figure out what they're 330 00:11:31,720 --> 00:11:33,639 doing. If you've ever seen Asima walk 331 00:11:33,640 --> 00:11:35,469 upstairs, it spends a lot of time looking 332 00:11:35,470 --> 00:11:37,029 down, being like, OK, feet, what are you 333 00:11:37,030 --> 00:11:37,959 doing? 334 00:11:37,960 --> 00:11:40,209 And it's hard to position 335 00:11:40,210 --> 00:11:42,489 the foot to land precisely on 336 00:11:42,490 --> 00:11:44,079 the step with the right angle or else 337 00:11:44,080 --> 00:11:45,459 it'll slide right off. 338 00:11:45,460 --> 00:11:46,629 And that's because the system doesn't 339 00:11:46,630 --> 00:11:47,859 have compliance in it. 340 00:11:47,860 --> 00:11:49,629 Working with actuators and servo's, it's 341 00:11:49,630 --> 00:11:51,819 often difficult to have them embody 342 00:11:51,820 --> 00:11:53,559 compliance to be squishy. 343 00:11:53,560 --> 00:11:56,229 And so it's hard to get them to 344 00:11:56,230 --> 00:11:57,939 deal with unknown situations. 345 00:11:57,940 --> 00:11:59,919 And oftentimes you have to pause a robot 346 00:11:59,920 --> 00:12:01,989 in its tracks so it can look and 347 00:12:01,990 --> 00:12:04,089 assess its situation before moving on. 348 00:12:05,180 --> 00:12:06,180 So here are Goetze. 349 00:12:08,190 --> 00:12:09,190 Also, Goetze. 350 00:12:15,810 --> 00:12:16,810 And here's a robot. 351 00:12:27,240 --> 00:12:29,459 So what I'm what I'm trying to solve 352 00:12:29,460 --> 00:12:31,679 here is you notice its feet 353 00:12:31,680 --> 00:12:33,359 are hard metal pads. 354 00:12:34,410 --> 00:12:36,599 That's insane because it 355 00:12:36,600 --> 00:12:38,639 can't possibly compensate for unknown 356 00:12:38,640 --> 00:12:39,389 situations. 357 00:12:39,390 --> 00:12:41,099 If it's moving forward, it has to land 358 00:12:41,100 --> 00:12:43,079 with its foot at the correct angle. 359 00:12:43,080 --> 00:12:44,789 If you remember, physics vector forces, 360 00:12:44,790 --> 00:12:46,559 yada, yada, yada, it has to land with its 361 00:12:46,560 --> 00:12:48,419 foot at the correct angle to compensate 362 00:12:48,420 --> 00:12:50,489 for the force of the forward motion 363 00:12:50,490 --> 00:12:52,739 on whatever it's landing against. 364 00:12:52,740 --> 00:12:54,479 It's a very difficult problem to solve 365 00:12:54,480 --> 00:12:56,459 purely computationally with hard 366 00:12:56,460 --> 00:12:58,409 actuators, but it becomes simpler. 367 00:12:58,410 --> 00:13:00,689 You can do it in a stupid or way 368 00:13:00,690 --> 00:13:02,879 if you just arrange the matter 369 00:13:02,880 --> 00:13:04,739 to move in a certain way when there's 370 00:13:04,740 --> 00:13:06,929 force and 371 00:13:06,930 --> 00:13:09,239 another organism that that solves 372 00:13:09,240 --> 00:13:11,159 this very well as bugs. 373 00:13:11,160 --> 00:13:12,639 So. 374 00:13:12,640 --> 00:13:14,829 Flies have these things called sit 375 00:13:14,830 --> 00:13:17,319 on their feet, they're speculated, here's 376 00:13:17,320 --> 00:13:18,849 what the fly will do, is it'll drag its 377 00:13:18,850 --> 00:13:20,979 foot down a surface and it could even be 378 00:13:20,980 --> 00:13:22,899 a really smooth surface like glass, and 379 00:13:22,900 --> 00:13:24,969 it'll drag its foot. And the itty bitty 380 00:13:24,970 --> 00:13:26,829 hairs, those are incredibly tiny. 381 00:13:26,830 --> 00:13:28,239 That's a tiny fraction of the size of a 382 00:13:28,240 --> 00:13:30,069 human hair, will actually find little 383 00:13:30,070 --> 00:13:32,109 cracks in microstructures inside of the 384 00:13:32,110 --> 00:13:34,149 surface. And it just drags its foot down 385 00:13:34,150 --> 00:13:35,079 until the foot catches. 386 00:13:35,080 --> 00:13:36,699 And it just has this algorithm that is 387 00:13:36,700 --> 00:13:39,039 like drag down foot again 388 00:13:39,040 --> 00:13:41,229 until it catches and then start that 389 00:13:41,230 --> 00:13:43,149 process again with N plus plus one. 390 00:13:43,150 --> 00:13:44,499 And it just does that for all feet. 391 00:13:44,500 --> 00:13:46,329 And then it does that again. 392 00:13:46,330 --> 00:13:48,279 Flies aren't known for being very smart. 393 00:13:50,080 --> 00:13:51,699 And so the way we're trying to employ 394 00:13:51,700 --> 00:13:53,169 this in soft robotics, this represents 395 00:13:53,170 --> 00:13:55,059 some of the work I actually got to 396 00:13:55,060 --> 00:13:57,339 participate in with a NASA researcher 397 00:13:57,340 --> 00:13:58,869 called named Erin Parnas. 398 00:13:58,870 --> 00:14:00,099 He's not called Erin Parnas. 399 00:14:00,100 --> 00:14:01,119 He's named Erin Parnas, 400 00:14:02,650 --> 00:14:04,569 where we're trying to do this thing where 401 00:14:04,570 --> 00:14:07,089 we can mass manufacture these guys 402 00:14:07,090 --> 00:14:09,429 that have a complex behavior. 403 00:14:09,430 --> 00:14:12,099 That's when you put them all together. 404 00:14:12,100 --> 00:14:14,259 So the individual actuator is 405 00:14:14,260 --> 00:14:16,359 really easy to make or the individual 406 00:14:16,360 --> 00:14:18,189 mechanism isn't easy to make. 407 00:14:18,190 --> 00:14:19,569 It's easy to multiply them. 408 00:14:19,570 --> 00:14:21,429 And so you can get interesting behaviors 409 00:14:21,430 --> 00:14:23,619 by multiplying that to have hundreds 410 00:14:23,620 --> 00:14:24,909 and hundreds of these all working in 411 00:14:24,910 --> 00:14:26,679 tandem. So the way this works is there's 412 00:14:26,680 --> 00:14:28,539 a rigid structure here bringing up the 413 00:14:28,540 --> 00:14:30,279 squid's again, there's a soft structure 414 00:14:30,280 --> 00:14:32,799 here and then it has two mounting points 415 00:14:32,800 --> 00:14:34,569 so that you can essentially load the 416 00:14:34,570 --> 00:14:36,039 spring on it. And what happens is this 417 00:14:36,040 --> 00:14:38,169 grip's in when force is 418 00:14:38,170 --> 00:14:39,399 pushing down, but as soon as it's 419 00:14:39,400 --> 00:14:42,009 unloaded, it'll pop back up. 420 00:14:42,010 --> 00:14:44,139 And the way that these are used is 421 00:14:44,140 --> 00:14:45,219 in big blocks. 422 00:14:45,220 --> 00:14:47,139 What Erin is trying to do is he works at 423 00:14:47,140 --> 00:14:49,629 JPL to try and make NASA exploratory 424 00:14:49,630 --> 00:14:51,819 robots to climb over rocks and Mars 425 00:14:51,820 --> 00:14:54,369 without having to ask NASA all the time, 426 00:14:54,370 --> 00:14:56,889 what am I supposed to do with my feet? 427 00:14:56,890 --> 00:15:00,009 Because it takes I think it's 14 minutes 428 00:15:00,010 --> 00:15:02,139 to relay that signal to Earth and then 429 00:15:02,140 --> 00:15:03,309 time to get that back. 430 00:15:03,310 --> 00:15:05,559 And that makes exploring very, very time 431 00:15:05,560 --> 00:15:07,659 consuming. But and this I 432 00:15:07,660 --> 00:15:08,709 didn't flip this gif over. 433 00:15:08,710 --> 00:15:10,839 This is literally upside down. 434 00:15:10,840 --> 00:15:12,699 And so what's happening here is you take 435 00:15:12,700 --> 00:15:14,109 all of these hooks and you have this 436 00:15:14,110 --> 00:15:16,149 incredibly simple procedure, which is 437 00:15:16,150 --> 00:15:18,219 take the poor, move it over, grip the 438 00:15:18,220 --> 00:15:20,289 poor until the poor has caught 439 00:15:20,290 --> 00:15:21,290 and then you're done. 440 00:15:24,530 --> 00:15:25,849 So I'm going to show you how to make your 441 00:15:25,850 --> 00:15:27,649 own soft robots. 442 00:15:27,650 --> 00:15:29,929 So these are not sex toys. 443 00:15:29,930 --> 00:15:30,980 There are soft robots. 444 00:15:32,150 --> 00:15:34,309 So I do a lot of 3D printed 445 00:15:34,310 --> 00:15:36,349 soft robots. I publish them in the open 446 00:15:36,350 --> 00:15:37,909 source. I have a lot of stuff on 447 00:15:37,910 --> 00:15:38,989 Thingiverse. 448 00:15:38,990 --> 00:15:40,039 You can look me up giant. 449 00:15:40,040 --> 00:15:42,259 I think I 450 00:15:42,260 --> 00:15:44,359 am actually writing up a book 451 00:15:44,360 --> 00:15:46,549 for make on like every soft 452 00:15:46,550 --> 00:15:47,539 robot I can think of. 453 00:15:47,540 --> 00:15:49,279 So it's all published in one place, you 454 00:15:49,280 --> 00:15:51,529 know, yada yada by my book. 455 00:15:51,530 --> 00:15:53,529 So it's not even out yet. 456 00:15:55,670 --> 00:15:57,649 So it starts with you can actually use 457 00:15:57,650 --> 00:15:59,449 3-D printing. I figured out how to water 458 00:15:59,450 --> 00:16:01,519 tight print with an Afghan printer 459 00:16:01,520 --> 00:16:03,679 so I can use cheap prints to 460 00:16:03,680 --> 00:16:05,029 make things watertight so you can just 461 00:16:05,030 --> 00:16:07,009 make molds. And what's cool about that is 462 00:16:07,010 --> 00:16:08,569 I can take generations of molds that I'll 463 00:16:08,570 --> 00:16:10,369 experiment with different ideas and make 464 00:16:10,370 --> 00:16:11,719 them all at the same time and label them 465 00:16:11,720 --> 00:16:13,849 like experiment ABCDE and then 466 00:16:13,850 --> 00:16:15,529 cast them all, evaluate them against each 467 00:16:15,530 --> 00:16:17,449 other and not waste too much of my time 468 00:16:17,450 --> 00:16:18,889 because my time is precious. 469 00:16:18,890 --> 00:16:21,499 I can buy robots to do the printing. 470 00:16:21,500 --> 00:16:23,569 So it's 471 00:16:23,570 --> 00:16:25,969 a mold that sort of like to have. 472 00:16:25,970 --> 00:16:27,379 I'm not tall enough anyway. 473 00:16:27,380 --> 00:16:29,479 So the mold is two halves 474 00:16:29,480 --> 00:16:31,309 and there's a core in the middle and the 475 00:16:31,310 --> 00:16:33,199 silicone is squishy enough that once it's 476 00:16:33,200 --> 00:16:35,419 cast. And so this is a little gasket 477 00:16:35,420 --> 00:16:37,339 here that you'll see coming into play in 478 00:16:37,340 --> 00:16:39,469 the end when the mold is assembled in 479 00:16:39,470 --> 00:16:41,269 the silicone is cast, I can actually pull 480 00:16:41,270 --> 00:16:42,559 the car out of the silicone. 481 00:16:42,560 --> 00:16:44,899 So there's a structure on the inside 482 00:16:44,900 --> 00:16:46,129 of the silicone part. 483 00:16:46,130 --> 00:16:48,259 There's a structure of a 484 00:16:48,260 --> 00:16:49,219 void. 485 00:16:49,220 --> 00:16:51,379 So I'm choosing where to put the not 486 00:16:51,380 --> 00:16:53,299 silicone. And when that inflates, it 487 00:16:53,300 --> 00:16:55,099 actually distorts the silicone in a 488 00:16:55,100 --> 00:16:56,100 certain way. 489 00:16:56,840 --> 00:16:58,699 And so will happen. 490 00:16:58,700 --> 00:17:00,289 Here is here's the part that that gets 491 00:17:00,290 --> 00:17:01,699 mounted on. Remember, there's there's 492 00:17:01,700 --> 00:17:04,009 only silicone and air there and 493 00:17:04,010 --> 00:17:05,899 then it makes this kind of complex 494 00:17:05,900 --> 00:17:06,799 gripper. 495 00:17:06,800 --> 00:17:08,929 And so I'm going to try to, again, 496 00:17:08,930 --> 00:17:10,279 don't have my air supply here. 497 00:17:10,280 --> 00:17:12,439 So forgive me, forgive 498 00:17:12,440 --> 00:17:14,479 me for not being being macho enough to 499 00:17:14,480 --> 00:17:16,249 really manage this, but. 500 00:17:16,250 --> 00:17:18,618 All right, Griper, I do it. 501 00:17:18,619 --> 00:17:20,029 Do it. Do it. 502 00:17:20,030 --> 00:17:21,030 Yeah. 503 00:17:29,850 --> 00:17:30,850 Anyway, 504 00:17:31,980 --> 00:17:33,839 so it's it's able to pick up a big 505 00:17:33,840 --> 00:17:36,089 variety of objects and by just 506 00:17:36,090 --> 00:17:37,859 being simple and squishy because it's 507 00:17:37,860 --> 00:17:39,929 squishes around the object and so that 508 00:17:39,930 --> 00:17:42,089 compliant conformal nature makes it 509 00:17:42,090 --> 00:17:44,070 good, it just sort of picking up stuff. 510 00:17:52,100 --> 00:17:53,100 All right, Ed. 511 00:17:54,400 --> 00:17:55,479 So the last thing I want to talk to you 512 00:17:55,480 --> 00:17:57,879 about is our work at NASA 513 00:17:57,880 --> 00:18:00,309 and another way 514 00:18:00,310 --> 00:18:02,499 to do soft robots for 515 00:18:02,500 --> 00:18:03,579 human scale problems. 516 00:18:03,580 --> 00:18:05,769 So as as you might know, space 517 00:18:05,770 --> 00:18:07,569 sucks for your body. 518 00:18:07,570 --> 00:18:09,249 Space isn't very fun to be in. 519 00:18:09,250 --> 00:18:10,959 It's exciting, but not terribly fun 520 00:18:10,960 --> 00:18:12,219 physically. 521 00:18:12,220 --> 00:18:14,379 So being in zero gravity like sphere is 522 00:18:14,380 --> 00:18:16,569 your heart. Over time, the surface 523 00:18:16,570 --> 00:18:18,279 tension of water becomes a dominant force 524 00:18:18,280 --> 00:18:19,749 and so your eyes sphere eyes. 525 00:18:19,750 --> 00:18:21,309 There's a particular kind of astigmatism 526 00:18:21,310 --> 00:18:23,079 that happens in space because your eyes, 527 00:18:23,080 --> 00:18:24,969 instead of being initially eyes are a 528 00:18:24,970 --> 00:18:25,899 little bit egg shaped. 529 00:18:25,900 --> 00:18:27,129 They'll actually turn into spheres and 530 00:18:27,130 --> 00:18:28,359 you'll get nearsighted. Everybody in 531 00:18:28,360 --> 00:18:29,360 space wears glasses. 532 00:18:30,370 --> 00:18:32,379 And so one thing that's really difficult 533 00:18:32,380 --> 00:18:33,399 is to make a spacesuit. 534 00:18:33,400 --> 00:18:34,899 Essentially, what you're making is a 535 00:18:34,900 --> 00:18:38,349 soft, human shaped spaceship. 536 00:18:38,350 --> 00:18:40,509 And what's difficult about managing that 537 00:18:40,510 --> 00:18:41,889 is the softness is there. 538 00:18:41,890 --> 00:18:44,109 So you can do stuff with your many points 539 00:18:44,110 --> 00:18:45,110 of articulation 540 00:18:46,210 --> 00:18:48,099 in space to do things like repair the 541 00:18:48,100 --> 00:18:49,359 Hubble and stuff. 542 00:18:49,360 --> 00:18:51,579 But what's difficult is because there has 543 00:18:51,580 --> 00:18:52,599 to be air pressure. 544 00:18:52,600 --> 00:18:54,489 You evolved at the bottom of gravity. 545 00:18:54,490 --> 00:18:56,709 Well, there there's a giant air column 546 00:18:56,710 --> 00:18:58,269 above your head that reaches out into 547 00:18:58,270 --> 00:19:00,279 space. That's all of this air pressing 548 00:19:00,280 --> 00:19:02,259 down on you. And when you let all of that 549 00:19:02,260 --> 00:19:04,569 off, everything in you essentially 550 00:19:04,570 --> 00:19:06,819 swells up your your veins dilate 551 00:19:06,820 --> 00:19:09,039 and it sucks a lot, 552 00:19:09,040 --> 00:19:10,539 literally. 553 00:19:10,540 --> 00:19:11,540 So. 554 00:19:13,390 --> 00:19:15,559 Oh, no, 555 00:19:15,560 --> 00:19:16,560 anyway. 556 00:19:17,160 --> 00:19:19,319 What happens is your body doesn't work 557 00:19:19,320 --> 00:19:21,389 well in a vacuum, and so what we've done 558 00:19:21,390 --> 00:19:23,669 in usual spacesuit design is 559 00:19:23,670 --> 00:19:26,519 to replace that atmospheric pressure 560 00:19:26,520 --> 00:19:27,779 that you would otherwise have in a gravity 561 00:19:27,780 --> 00:19:29,249 well, with pneumatic pressure. 562 00:19:29,250 --> 00:19:30,839 We have a big airtight suit and we 563 00:19:30,840 --> 00:19:32,549 inflate it to like seven pounds. 564 00:19:32,550 --> 00:19:33,929 And that's that. 565 00:19:33,930 --> 00:19:35,459 What's difficult is that becomes a giant 566 00:19:35,460 --> 00:19:37,229 air spring. If you've ever, like, blown 567 00:19:37,230 --> 00:19:39,059 up a rubber glove, you'll notice that 568 00:19:39,060 --> 00:19:39,959 it's springy. 569 00:19:39,960 --> 00:19:42,119 So the suit springs back and you're doing 570 00:19:42,120 --> 00:19:43,709 delicate labor with your hands. 571 00:19:43,710 --> 00:19:45,029 It actually is really terrible. 572 00:19:45,030 --> 00:19:47,519 People's fingernails literally delaminate 573 00:19:47,520 --> 00:19:48,809 from their nail beds and their gloves 574 00:19:48,810 --> 00:19:50,939 fill up with blood as they're working 575 00:19:50,940 --> 00:19:53,069 on the space shuttle as they used to 576 00:19:53,070 --> 00:19:55,769 work on the space shuttle because 577 00:19:55,770 --> 00:19:57,809 the glove design actually causes you to 578 00:19:57,810 --> 00:20:00,209 essentially push against this spring 579 00:20:00,210 --> 00:20:01,289 constantly. 580 00:20:01,290 --> 00:20:02,969 Now, how would you how would you solve 581 00:20:02,970 --> 00:20:04,349 that? Like you're currently the gloves 582 00:20:04,350 --> 00:20:05,639 sort of like this. 583 00:20:05,640 --> 00:20:07,349 So this is like, you know, imagine a 584 00:20:07,350 --> 00:20:09,299 glove is in a vacuum chamber and you're 585 00:20:09,300 --> 00:20:10,379 putting your hand inside of the glove in 586 00:20:10,380 --> 00:20:12,689 the vacuum chamber. So in the current 587 00:20:12,690 --> 00:20:14,009 glove, we fill it with air. 588 00:20:14,010 --> 00:20:15,869 So we just extend the regular atmosphere 589 00:20:15,870 --> 00:20:17,159 into the vacuum chamber. 590 00:20:17,160 --> 00:20:18,659 If you put your bare hand into the vacuum 591 00:20:18,660 --> 00:20:20,309 chamber, your hand would get all purple 592 00:20:20,310 --> 00:20:21,389 and swollen. 593 00:20:21,390 --> 00:20:23,519 And there are other ways to solve 594 00:20:23,520 --> 00:20:25,109 this. Like you could have a perfectly 595 00:20:25,110 --> 00:20:27,179 cast like steel hand 596 00:20:27,180 --> 00:20:29,189 void so there could be a steel block with 597 00:20:29,190 --> 00:20:30,509 a handshake hole in it. You grease your 598 00:20:30,510 --> 00:20:32,579 hand up, put it in the steel, and when 599 00:20:32,580 --> 00:20:34,649 the vacuum chamber vacuums, your 600 00:20:34,650 --> 00:20:36,359 hand wouldn't change shape at all. 601 00:20:36,360 --> 00:20:37,649 And so you wouldn't experience the 602 00:20:37,650 --> 00:20:39,149 vacuum. But that's not very useful for 603 00:20:39,150 --> 00:20:40,150 like repairing spaceships. 604 00:20:41,190 --> 00:20:42,869 Another way to think about it is there's 605 00:20:42,870 --> 00:20:44,099 pressure coming out. 606 00:20:44,100 --> 00:20:46,379 So what if we put pressure coming in? 607 00:20:46,380 --> 00:20:48,689 You can actually make really, really 608 00:20:48,690 --> 00:20:50,819 small stretchy gloves and have somebody 609 00:20:50,820 --> 00:20:52,409 put their hand inside of the really small 610 00:20:52,410 --> 00:20:53,759 stretchy glove. 611 00:20:53,760 --> 00:20:55,349 And then when you turn on the vacuum, the 612 00:20:55,350 --> 00:20:57,479 pressure in will equal the pressure 613 00:20:57,480 --> 00:20:59,219 out. And that's called mechanical 614 00:20:59,220 --> 00:21:00,509 counterpressure. 615 00:21:00,510 --> 00:21:02,759 And so that's what essentially we're 616 00:21:02,760 --> 00:21:05,159 doing is here's the Gemini 617 00:21:05,160 --> 00:21:06,539 style glove. So that's the big bag of 618 00:21:06,540 --> 00:21:07,769 air. And here's the mechanical 619 00:21:07,770 --> 00:21:09,149 counterpressure glove. The mechanical 620 00:21:09,150 --> 00:21:10,409 counterpressure glove is made of 621 00:21:10,410 --> 00:21:11,309 elastics. 622 00:21:11,310 --> 00:21:13,139 They're actually by us to be a little bit 623 00:21:13,140 --> 00:21:15,539 small and that provides the exact 624 00:21:15,540 --> 00:21:17,969 same pressure in as space is pulling 625 00:21:17,970 --> 00:21:20,099 out. Now, the way you get your hand 626 00:21:20,100 --> 00:21:22,379 into these is we actually use some soft 627 00:21:22,380 --> 00:21:24,959 robotic elements to change the size 628 00:21:24,960 --> 00:21:26,429 of the gloves. So it's a little bigger 629 00:21:26,430 --> 00:21:28,709 when you put it on and then you shrink 630 00:21:28,710 --> 00:21:30,989 the glove with pneumatic pressure until 631 00:21:30,990 --> 00:21:32,520 it's size to fit your hand. 632 00:21:33,670 --> 00:21:35,409 And so the part that I'm specifically 633 00:21:35,410 --> 00:21:37,389 working on spending most of my time on is 634 00:21:37,390 --> 00:21:39,519 this is going to go into space. 635 00:21:39,520 --> 00:21:40,929 Well, if everything works. 636 00:21:41,930 --> 00:21:44,119 So the idea is not 637 00:21:44,120 --> 00:21:45,439 to make a mechanical counter pressure 638 00:21:45,440 --> 00:21:47,659 suit in one go, but do it incrementally. 639 00:21:47,660 --> 00:21:49,519 And so we're putting it we're putting it 640 00:21:49,520 --> 00:21:50,449 onto the current. 641 00:21:50,450 --> 00:21:52,579 NASA is a suit using 642 00:21:52,580 --> 00:21:54,529 an interface from the regular pressurized 643 00:21:54,530 --> 00:21:56,779 suit out to the glove that's actually 644 00:21:56,780 --> 00:21:58,909 open to vacuum so that the 645 00:21:58,910 --> 00:22:00,769 glove protects you from the vacuum pole 646 00:22:00,770 --> 00:22:02,689 of space. But it actually doesn't need a 647 00:22:02,690 --> 00:22:03,979 bunch of air around your hand. 648 00:22:03,980 --> 00:22:06,049 So what's interesting is we 649 00:22:06,050 --> 00:22:07,849 have this pressurized suit in this deep 650 00:22:07,850 --> 00:22:09,529 pressurized glove and to transition 651 00:22:09,530 --> 00:22:11,899 between them, what my lab supervisor 652 00:22:11,900 --> 00:22:13,999 spending the most of their time on is a 653 00:22:14,000 --> 00:22:16,189 gasket that takes you from the suit, 654 00:22:16,190 --> 00:22:18,439 pressure to the zero glove pressure 655 00:22:18,440 --> 00:22:20,089 without cutting off any blood to your 656 00:22:20,090 --> 00:22:22,189 arm. So it's a cool problem in 657 00:22:22,190 --> 00:22:24,439 a cool interface and a cool problem 658 00:22:24,440 --> 00:22:26,509 to solve. And we're doing this with fancy 659 00:22:26,510 --> 00:22:28,399 3D printed molding with magnetic cores. 660 00:22:28,400 --> 00:22:30,469 And it's what I really like about it is 661 00:22:30,470 --> 00:22:31,969 the engineering is complicated, but the 662 00:22:31,970 --> 00:22:33,380 materials are so cheap. 663 00:22:36,540 --> 00:22:39,329 So anyway, I 664 00:22:39,330 --> 00:22:40,289 am Matthew Pragati. 665 00:22:40,290 --> 00:22:42,400 This is my company supervisor. 666 00:22:43,470 --> 00:22:44,669 Please get in touch with me if you want 667 00:22:44,670 --> 00:22:46,039 to solve problems, heart problems with 668 00:22:46,040 --> 00:22:46,949 software robots. 669 00:22:46,950 --> 00:22:48,239 And I'd love to take any questions you 670 00:22:48,240 --> 00:22:49,240 have. 671 00:22:56,860 --> 00:22:58,660 OK, thank you very much. 672 00:23:04,760 --> 00:23:06,859 So I think we will follow the 673 00:23:06,860 --> 00:23:09,469 usual Q&A pattern, and while you 674 00:23:09,470 --> 00:23:11,479 are lining up behind the microphones, we 675 00:23:11,480 --> 00:23:14,179 will start with the signal angel. 676 00:23:14,180 --> 00:23:16,789 Hi. So I have two questions 677 00:23:16,790 --> 00:23:17,929 from one person. 678 00:23:17,930 --> 00:23:20,209 And the first one is, is there an 679 00:23:20,210 --> 00:23:22,339 prostatic version of the Mars robot 680 00:23:22,340 --> 00:23:24,439 flight crew like LOL, I'm 681 00:23:24,440 --> 00:23:25,440 sorry. 682 00:23:26,120 --> 00:23:28,549 The Mars, the claw explorer, 683 00:23:28,550 --> 00:23:30,589 is there a hand version like a human hand 684 00:23:30,590 --> 00:23:32,899 kind of hand prosthetic? 685 00:23:32,900 --> 00:23:34,759 Oh, is there a prosthetic that works like 686 00:23:34,760 --> 00:23:36,649 that? I've never seen one. 687 00:23:36,650 --> 00:23:38,270 I mean, it's totally doable, though. 688 00:23:44,550 --> 00:23:46,769 Oh, I did literally work on a project 689 00:23:46,770 --> 00:23:48,269 to do this, I worked on a show called 690 00:23:48,270 --> 00:23:49,649 Prototyp This that's how I met Aaron 691 00:23:49,650 --> 00:23:52,289 Parnas is we literally made a Spiderman 692 00:23:52,290 --> 00:23:54,449 suit that used these to 693 00:23:54,450 --> 00:23:56,549 a person had one 694 00:23:56,550 --> 00:23:58,829 on their hands. So I'm changing 695 00:23:58,830 --> 00:23:59,579 my story. 696 00:23:59,580 --> 00:24:01,799 So we made 697 00:24:01,800 --> 00:24:04,019 hands that a person could climb a wall 698 00:24:04,020 --> 00:24:05,729 with to give them Spider-Man powers. 699 00:24:05,730 --> 00:24:07,799 So there it has existed 700 00:24:07,800 --> 00:24:09,030 at one point in the universe. 701 00:24:16,190 --> 00:24:17,929 And the other question from the person 702 00:24:17,930 --> 00:24:20,389 was, our shock absorbers for prosthetic 703 00:24:20,390 --> 00:24:22,729 legs available or is all 704 00:24:22,730 --> 00:24:24,829 the compliance at the attachment to the 705 00:24:24,830 --> 00:24:25,830 body? 706 00:24:26,780 --> 00:24:29,299 So it's a it's kind of a complicated 707 00:24:29,300 --> 00:24:30,300 problem, so 708 00:24:31,520 --> 00:24:33,139 you might notice the recurve legs. 709 00:24:33,140 --> 00:24:35,299 Have you ever seen the running legs like 710 00:24:35,300 --> 00:24:36,859 the carbon fiber spring legs? 711 00:24:36,860 --> 00:24:38,659 That's runners in the Paralympics will 712 00:24:38,660 --> 00:24:40,789 use. They they have integrated 713 00:24:40,790 --> 00:24:42,409 shock absorbers. It's a complete shock 714 00:24:42,410 --> 00:24:43,410 absorber. 715 00:24:44,390 --> 00:24:45,889 But the difficult thing is you can 716 00:24:45,890 --> 00:24:48,199 imagine to absorb shock, 717 00:24:48,200 --> 00:24:50,659 you need to move mechanically. 718 00:24:50,660 --> 00:24:52,159 And so since the force is coming up, you 719 00:24:52,160 --> 00:24:53,989 need to move down. 720 00:24:53,990 --> 00:24:56,059 And so if you had just a spring so 721 00:24:56,060 --> 00:24:58,159 you can imagine like a piston leg, you'd 722 00:24:58,160 --> 00:25:00,379 have a spring and every tiny step 723 00:25:00,380 --> 00:25:02,449 to absorb the shock, you'd end up 724 00:25:02,450 --> 00:25:04,759 having a very odd gait, which might 725 00:25:04,760 --> 00:25:05,959 be acceptable, might not be. 726 00:25:05,960 --> 00:25:08,209 But it's it's a suboptimal gait. 727 00:25:08,210 --> 00:25:10,789 And so the way it's currently 728 00:25:10,790 --> 00:25:13,009 attempted is by having 729 00:25:13,010 --> 00:25:14,959 silicone sleeves that get you between the 730 00:25:14,960 --> 00:25:17,119 the prosthetic sleeve, which is usually 731 00:25:17,120 --> 00:25:18,439 hard carbon fiber. 732 00:25:18,440 --> 00:25:20,659 And the residual limb is a 733 00:25:20,660 --> 00:25:22,039 silicone sleeve. But the problem is it 734 00:25:22,040 --> 00:25:23,689 doesn't dampen any of the force. 735 00:25:23,690 --> 00:25:26,239 And so the idea is to not absorb 736 00:25:26,240 --> 00:25:28,069 shock by like having the prosthetic go 737 00:25:28,070 --> 00:25:29,599 down, but distribute the shock to the 738 00:25:29,600 --> 00:25:31,879 strongest possible places in the body 739 00:25:31,880 --> 00:25:34,099 to distribute it to the strongest places 740 00:25:34,100 --> 00:25:35,719 in the residual limb instead of 741 00:25:35,720 --> 00:25:37,549 distributing it over the entire residual 742 00:25:37,550 --> 00:25:38,550 limb. 743 00:25:39,960 --> 00:25:42,059 And I hope for Potente like 744 00:25:42,060 --> 00:25:43,319 jumping off buildings to 745 00:25:45,240 --> 00:25:47,339 point another question or 746 00:25:47,340 --> 00:25:49,529 the obvious thing, we have no 747 00:25:49,530 --> 00:25:50,989 questions at the microphones. 748 00:25:50,990 --> 00:25:53,129 I answered everything then another 749 00:25:53,130 --> 00:25:53,779 second. 750 00:25:53,780 --> 00:25:56,659 Yeah, if nobody else wants to. 751 00:25:56,660 --> 00:25:58,829 Um, so another question 752 00:25:58,830 --> 00:25:59,819 from the I.R.S. 753 00:25:59,820 --> 00:26:02,669 is as like designing 754 00:26:02,670 --> 00:26:04,919 Silicon Circuits, it's quite 755 00:26:04,920 --> 00:26:07,019 complicated due to the variability 756 00:26:07,020 --> 00:26:09,509 of process parameters. 757 00:26:09,510 --> 00:26:11,639 How do you predict the elastic 758 00:26:11,640 --> 00:26:13,799 behavior of your robots, 759 00:26:13,800 --> 00:26:16,109 like, for example, by FEMA 760 00:26:16,110 --> 00:26:18,389 simulation, or do you just do trial 761 00:26:18,390 --> 00:26:19,289 and error? 762 00:26:19,290 --> 00:26:19,679 Yeah. 763 00:26:19,680 --> 00:26:21,869 So it it is sort 764 00:26:21,870 --> 00:26:24,659 of amenable to finite element analysis, 765 00:26:24,660 --> 00:26:27,179 but it is actually really processor 766 00:26:27,180 --> 00:26:29,009 intensive. And you can do things that are 767 00:26:29,010 --> 00:26:30,629 like works like models, so you can take 768 00:26:30,630 --> 00:26:32,729 measures and you can distort the mesh 769 00:26:32,730 --> 00:26:34,829 in a and it's a very nonlinear system 770 00:26:34,830 --> 00:26:36,899 where some distortion changes the 771 00:26:36,900 --> 00:26:38,099 wall thickness. So you can imagine an 772 00:26:38,100 --> 00:26:39,029 inflatable thing. 773 00:26:39,030 --> 00:26:40,139 The walls get thinner. 774 00:26:40,140 --> 00:26:41,729 And so that changes the dynamic of the 775 00:26:41,730 --> 00:26:43,889 system and you have to recalculate. 776 00:26:43,890 --> 00:26:45,689 What ends up being difficult is having 777 00:26:45,690 --> 00:26:47,909 that be accurate to the world is 778 00:26:47,910 --> 00:26:48,899 tough. 779 00:26:48,900 --> 00:26:50,699 And so you can have simulations that give 780 00:26:50,700 --> 00:26:52,589 you some predictive power, but there 781 00:26:52,590 --> 00:26:54,539 isn't anything where it's a good design 782 00:26:54,540 --> 00:26:56,639 tool that also features simulation 783 00:26:56,640 --> 00:26:57,929 where it's accurate enough to really 784 00:26:57,930 --> 00:26:59,819 predict this is going to do that. 785 00:26:59,820 --> 00:27:02,489 I did it. The the words 786 00:27:02,490 --> 00:27:04,619 on the computer matched the world. 787 00:27:04,620 --> 00:27:06,899 And so I I've designed 788 00:27:06,900 --> 00:27:08,669 successfully what ends up happening is 789 00:27:08,670 --> 00:27:10,049 you use some of those tools. 790 00:27:10,050 --> 00:27:12,359 And then I found it's best to have 791 00:27:12,360 --> 00:27:14,399 frameworks where you can iterate where 792 00:27:14,400 --> 00:27:16,679 it's simple to modify because 793 00:27:16,680 --> 00:27:18,929 the the simulation will never be 794 00:27:18,930 --> 00:27:21,249 as informative as experimentation. 795 00:27:21,250 --> 00:27:22,799 There are technical documentations. 796 00:27:22,800 --> 00:27:24,179 The amount of stretching is in the silicone 797 00:27:24,180 --> 00:27:25,919 and you can predict this to a degree. 798 00:27:25,920 --> 00:27:28,169 But I found the best way is to 799 00:27:28,170 --> 00:27:30,269 iteratively prototype and lower 800 00:27:30,270 --> 00:27:32,069 the cost of making a new prototype by 801 00:27:32,070 --> 00:27:33,899 making it really quick and really cheap. 802 00:27:33,900 --> 00:27:36,179 And that ups the amount of prototyping 803 00:27:36,180 --> 00:27:37,180 you can do. 804 00:27:37,860 --> 00:27:39,419 Thanks. And as a follow up, like, how 805 00:27:39,420 --> 00:27:41,909 much does the material properties vary, 806 00:27:41,910 --> 00:27:44,069 like the variation of really high 807 00:27:44,070 --> 00:27:46,469 or so silicone 808 00:27:46,470 --> 00:27:48,539 is very consistent. 809 00:27:48,540 --> 00:27:50,789 So I use RTV Silicones room 810 00:27:50,790 --> 00:27:51,689 temperature balkanizing. 811 00:27:51,690 --> 00:27:52,679 You can get them. There are two parts, 812 00:27:52,680 --> 00:27:54,869 silicones. You mix them together and the 813 00:27:54,870 --> 00:27:56,669 the chemistry on them has advanced to a 814 00:27:56,670 --> 00:27:58,829 point at which you just 50/50 815 00:27:58,830 --> 00:28:01,109 mix them and they cure and 816 00:28:01,110 --> 00:28:03,389 their properties are very they're 817 00:28:03,390 --> 00:28:04,390 very consistent. 818 00:28:06,850 --> 00:28:09,489 Their variability 819 00:28:09,490 --> 00:28:11,680 is documented, it's usually fairly low. 820 00:28:13,480 --> 00:28:15,399 Some of it requires a little bit of 821 00:28:15,400 --> 00:28:17,379 process control where if you're very 822 00:28:17,380 --> 00:28:19,089 diligent about it, you need to make sure 823 00:28:19,090 --> 00:28:20,619 that there are no bubbles in the casting 824 00:28:20,620 --> 00:28:22,629 and that your casting is dimensionally 825 00:28:22,630 --> 00:28:24,039 accurate. There are all these mold making 826 00:28:24,040 --> 00:28:25,209 tricks and techniques. 827 00:28:25,210 --> 00:28:27,039 They're sort of like Adam Savage model 828 00:28:27,040 --> 00:28:28,329 making tricks and techniques of like 829 00:28:28,330 --> 00:28:29,529 you've got to tip it to the side to make 830 00:28:29,530 --> 00:28:30,519 sure the bubbles get out in this 831 00:28:30,520 --> 00:28:31,539 direction and stuff. 832 00:28:31,540 --> 00:28:32,730 But it's very consistent. 833 00:28:34,180 --> 00:28:36,339 Groovy. OK, then we have actual 834 00:28:36,340 --> 00:28:38,409 people with microphones and not that the 835 00:28:38,410 --> 00:28:39,759 people on the Internet aren't actual 836 00:28:39,760 --> 00:28:40,760 people, 837 00:28:42,010 --> 00:28:44,289 they're not right. But but these 838 00:28:44,290 --> 00:28:45,399 people are around here. 839 00:28:45,400 --> 00:28:47,469 And since we have a lot 840 00:28:47,470 --> 00:28:49,959 of time you have left, we 841 00:28:49,960 --> 00:28:50,869 can have more questions. 842 00:28:50,870 --> 00:28:52,059 We can have more questions from the 843 00:28:52,060 --> 00:28:54,160 Internet. But first, um. 844 00:28:55,210 --> 00:28:57,279 Oh, a few questions around 845 00:28:57,280 --> 00:28:58,659 the microphones. 846 00:28:58,660 --> 00:28:59,660 Yes. 847 00:29:01,410 --> 00:29:03,179 So what I need to turn this on, that's 848 00:29:03,180 --> 00:29:05,389 test, OK, whatever you mentioned before, 849 00:29:05,390 --> 00:29:07,509 and the resources are really cheap, 850 00:29:07,510 --> 00:29:08,729 where do you get your resources? 851 00:29:08,730 --> 00:29:11,099 I don't know. In comparison to what? 852 00:29:11,100 --> 00:29:12,420 I don't have any 853 00:29:14,190 --> 00:29:16,259 funds, funds to research 854 00:29:16,260 --> 00:29:19,169 with. Where do I get my materials? 855 00:29:19,170 --> 00:29:21,299 How do you deal with 856 00:29:21,300 --> 00:29:23,099 getting a specific shower? 857 00:29:23,100 --> 00:29:26,069 And do you work with I don't know 858 00:29:26,070 --> 00:29:28,559 what your material specifications 859 00:29:28,560 --> 00:29:30,989 are and have you mix different 860 00:29:30,990 --> 00:29:32,219 components together? 861 00:29:32,220 --> 00:29:34,349 Well, how would you advise we have 862 00:29:34,350 --> 00:29:35,279 this at home? 863 00:29:35,280 --> 00:29:37,409 OK, so break down 864 00:29:37,410 --> 00:29:38,789 where I get my materials. 865 00:29:38,790 --> 00:29:39,790 How much do they cost? 866 00:29:41,490 --> 00:29:43,469 Do I combine silicones and sort of what. 867 00:29:43,470 --> 00:29:45,659 Sure. What like range of dromedaries 868 00:29:45,660 --> 00:29:46,859 I am looking at. 869 00:29:46,860 --> 00:29:47,639 Sure. 870 00:29:47,640 --> 00:29:49,220 So do you have. 871 00:29:52,080 --> 00:29:54,089 I'm sorry. I have done a lot of research 872 00:29:54,090 --> 00:29:55,199 and I haven't found any answers. 873 00:29:55,200 --> 00:29:57,539 So I'm asking you guys 874 00:29:57,540 --> 00:29:58,679 conduct of silicon's. 875 00:29:58,680 --> 00:30:01,499 Have you found any do any solutions 876 00:30:01,500 --> 00:30:03,989 move so conductive 877 00:30:03,990 --> 00:30:05,189 silicones are there. 878 00:30:05,190 --> 00:30:07,349 If you look at dielectric elastomers 879 00:30:07,350 --> 00:30:09,809 and it's spelled DYI like dielectric 880 00:30:09,810 --> 00:30:12,149 elastomers, dielectric 881 00:30:12,150 --> 00:30:13,829 elastomers, there is some documentation 882 00:30:13,830 --> 00:30:16,079 on them. They tend to only be 883 00:30:16,080 --> 00:30:18,269 conductive in very high voltage ranges 884 00:30:18,270 --> 00:30:20,339 like plus minus five hundred and up 885 00:30:20,340 --> 00:30:21,340 but. 886 00:30:22,290 --> 00:30:24,689 They do exist, I tend to discount 887 00:30:24,690 --> 00:30:26,759 them because it's sort of not my it's 888 00:30:26,760 --> 00:30:27,959 not my field, there are some people who 889 00:30:27,960 --> 00:30:29,549 are working in software robotics who use 890 00:30:29,550 --> 00:30:31,949 shape changing elastomers for that, 891 00:30:31,950 --> 00:30:33,329 use an electric sharp change, affect 892 00:30:34,860 --> 00:30:36,059 the materials I'm using. 893 00:30:36,060 --> 00:30:37,679 I have an FDM printer. 894 00:30:37,680 --> 00:30:39,689 I use an automaker, too. 895 00:30:39,690 --> 00:30:41,759 I use whatever cheap play 896 00:30:41,760 --> 00:30:42,960 I can find on eBay. 897 00:30:44,220 --> 00:30:46,319 I use Smart a lot. 898 00:30:46,320 --> 00:30:48,269 The silicone that I use is smoothen. 899 00:30:48,270 --> 00:30:50,489 I will use smoothen dragon skin tan 900 00:30:50,490 --> 00:30:52,469 and Eco Flex Double 050. 901 00:30:54,120 --> 00:30:55,529 They are about a hundred dollars a 902 00:30:55,530 --> 00:30:57,989 gallon, but it is much 903 00:30:57,990 --> 00:30:59,579 they are much cheaper than the technical 904 00:30:59,580 --> 00:31:00,779 silicones you'll find for medical 905 00:31:00,780 --> 00:31:02,849 research and medical implants, 906 00:31:02,850 --> 00:31:04,139 those end up being one hundred dollars a 907 00:31:04,140 --> 00:31:05,140 pint. 908 00:31:05,700 --> 00:31:07,979 The the adhesives 909 00:31:07,980 --> 00:31:10,349 I use, there's a 910 00:31:10,350 --> 00:31:12,629 adhesive seal poxy that's Moulinex. 911 00:31:12,630 --> 00:31:15,359 You can also use epoxy 912 00:31:15,360 --> 00:31:17,399 silicone corks that you find from Home 913 00:31:17,400 --> 00:31:18,989 Depot and stuff like that. 914 00:31:18,990 --> 00:31:21,209 The shores that I'm using ranged from 50 915 00:31:21,210 --> 00:31:24,419 to shore, a 40. 916 00:31:24,420 --> 00:31:25,649 I'm usually around the shore, a 10 917 00:31:25,650 --> 00:31:27,719 region. You can thin silicones out with 918 00:31:27,720 --> 00:31:29,939 silicone oil and you can also by thinning 919 00:31:29,940 --> 00:31:32,249 agents from silicone manufacturers 920 00:31:32,250 --> 00:31:34,559 and eco Fleck's is 921 00:31:34,560 --> 00:31:36,659 miscible with dragon skin because 922 00:31:36,660 --> 00:31:38,009 they're both platinum kiore, silicones 923 00:31:38,010 --> 00:31:40,529 that use the same filling agent. 924 00:31:40,530 --> 00:31:42,809 And so I mix them oftentimes 925 00:31:42,810 --> 00:31:44,819 at a 50/50 ratio to titrate the 926 00:31:44,820 --> 00:31:45,959 transmitter. 927 00:31:45,960 --> 00:31:46,960 Yeah. 928 00:31:58,190 --> 00:32:00,619 Smooth skin doesn't have any 929 00:32:00,620 --> 00:32:02,059 European distributors, do you have any 930 00:32:02,060 --> 00:32:02,959 solutions? 931 00:32:02,960 --> 00:32:03,960 Oh. 932 00:32:06,090 --> 00:32:08,639 Amazon import 933 00:32:08,640 --> 00:32:10,039 tours for physical objects, 934 00:32:12,090 --> 00:32:14,009 I don't have a solution for for 935 00:32:14,010 --> 00:32:16,529 exporting, I, 936 00:32:16,530 --> 00:32:18,030 I would call them up and ask nicely. 937 00:32:19,790 --> 00:32:20,790 Thanks. 938 00:32:21,830 --> 00:32:22,830 Thank you. 939 00:32:23,330 --> 00:32:25,729 All right, so we saw you using 940 00:32:25,730 --> 00:32:28,159 that hand pump to close that 941 00:32:28,160 --> 00:32:29,679 yes. And claw 942 00:32:30,740 --> 00:32:32,359 thing. Yeah. 943 00:32:32,360 --> 00:32:34,279 So I'm just imagining that on a on a 944 00:32:34,280 --> 00:32:36,229 human being, for example, how much air 945 00:32:36,230 --> 00:32:38,629 pressure which you need to 946 00:32:38,630 --> 00:32:40,969 actually make it responsive and 947 00:32:40,970 --> 00:32:44,479 prosthetic and, um. 948 00:32:44,480 --> 00:32:46,279 Like, how much air pressure would you 949 00:32:46,280 --> 00:32:48,439 need for tasks like lifting a 950 00:32:48,440 --> 00:32:50,539 jug of milk, like a gallon 951 00:32:50,540 --> 00:32:52,339 of milk, for example, and would it be 952 00:32:52,340 --> 00:32:54,559 feasible to install all 953 00:32:54,560 --> 00:32:56,039 the hardware you would need to generate 954 00:32:56,040 --> 00:32:58,339 the pressure on a human being on 955 00:32:58,340 --> 00:33:00,409 Earth and supposed to space 956 00:33:00,410 --> 00:33:02,059 the relevant questions? 957 00:33:02,060 --> 00:33:04,189 So my devices 958 00:33:04,190 --> 00:33:06,170 tend to articulate from about 10 to 20. 959 00:33:07,250 --> 00:33:08,779 I use compressed carbon dioxide 960 00:33:08,780 --> 00:33:10,819 canisters, which I have about the power 961 00:33:10,820 --> 00:33:12,510 density of a lithium polymer battery. 962 00:33:13,730 --> 00:33:16,279 So if you look at grams per 963 00:33:16,280 --> 00:33:18,439 jewel, they have about the same power 964 00:33:18,440 --> 00:33:19,789 density. 965 00:33:19,790 --> 00:33:21,979 So I tend to use them, especially 966 00:33:21,980 --> 00:33:23,989 because the talk is instantaneous. 967 00:33:23,990 --> 00:33:25,609 They come if you've ever reinflated a 968 00:33:25,610 --> 00:33:26,749 bike tire. 969 00:33:26,750 --> 00:33:28,339 So it's those emergency by Tyria 970 00:33:28,340 --> 00:33:29,899 inflators or if you're San Franciscans 971 00:33:29,900 --> 00:33:31,159 and like doing whippets, it's those 972 00:33:31,160 --> 00:33:32,160 things. 973 00:33:33,480 --> 00:33:36,849 And I 974 00:33:36,850 --> 00:33:38,969 I think the systems that I have 975 00:33:38,970 --> 00:33:40,529 made to compress them into like human 976 00:33:40,530 --> 00:33:42,719 scale, usable things, 977 00:33:42,720 --> 00:33:44,369 you can't take compressed gases on 978 00:33:44,370 --> 00:33:46,169 planes, whatever. 979 00:33:46,170 --> 00:33:48,389 But I think that the the 980 00:33:48,390 --> 00:33:50,459 power density is appropriate 981 00:33:50,460 --> 00:33:52,559 for articulating objects in this 982 00:33:52,560 --> 00:33:53,699 domain. 983 00:33:53,700 --> 00:33:55,679 People have worked in them. 984 00:33:55,680 --> 00:33:57,749 Other lab has worked in 985 00:33:57,750 --> 00:34:00,059 that, getting lots 986 00:34:00,060 --> 00:34:01,829 and lots of force out of things like if 987 00:34:01,830 --> 00:34:03,509 you want to pick up a jug of milk with 988 00:34:03,510 --> 00:34:05,609 just compliant mechanisms 989 00:34:05,610 --> 00:34:08,218 like you're starring only silicone, 990 00:34:08,219 --> 00:34:09,749 that's a more difficult problem because 991 00:34:09,750 --> 00:34:11,158 you have to stiffen the silicone to the 992 00:34:11,159 --> 00:34:13,229 point at which it can resist the weight 993 00:34:13,230 --> 00:34:15,029 of the gallon of milk. 994 00:34:15,030 --> 00:34:16,919 But a way to get around that problem is 995 00:34:16,920 --> 00:34:18,509 to put spines inside of things. 996 00:34:18,510 --> 00:34:20,039 So the way nature is done that is when 997 00:34:20,040 --> 00:34:22,738 things need to have a lot of talk. 998 00:34:22,739 --> 00:34:24,869 They'll actually put 999 00:34:24,870 --> 00:34:27,059 spines in things and the spines 1000 00:34:27,060 --> 00:34:29,189 will help keep distortion like 1001 00:34:29,190 --> 00:34:31,499 linear distortion from being 1002 00:34:31,500 --> 00:34:33,629 a detriment from the total amount 1003 00:34:33,630 --> 00:34:35,218 of force that you have in the system. 1004 00:34:35,219 --> 00:34:37,499 And so snakes do that 1005 00:34:37,500 --> 00:34:39,509 snake, solve that problem with spines, 1006 00:34:39,510 --> 00:34:41,609 but you 1007 00:34:41,610 --> 00:34:42,809 sort of have to choose your battles. 1008 00:34:42,810 --> 00:34:44,189 It's not a perfect solution for all 1009 00:34:44,190 --> 00:34:46,229 problems. It's a good solution for 1010 00:34:46,230 --> 00:34:47,579 compliant interfaces. 1011 00:34:47,580 --> 00:34:48,928 But you have to sort of choose your 1012 00:34:48,929 --> 00:34:51,119 battles. And I look to nature to do this, 1013 00:34:51,120 --> 00:34:52,439 to figure out what mechanisms are 1014 00:34:52,440 --> 00:34:53,440 appropriate. 1015 00:34:54,630 --> 00:34:55,709 Thank you. 1016 00:34:55,710 --> 00:34:57,809 OK, I heard we have more questions 1017 00:34:57,810 --> 00:35:00,119 from the Internet, from nice people, from 1018 00:35:00,120 --> 00:35:03,119 the Internet so 1019 00:35:03,120 --> 00:35:05,249 they could buy from a fridge, you never 1020 00:35:05,250 --> 00:35:06,449 know. 1021 00:35:06,450 --> 00:35:07,450 So 1022 00:35:08,910 --> 00:35:10,889 we have one question here. 1023 00:35:10,890 --> 00:35:13,259 How do Universal Geman 1024 00:35:13,260 --> 00:35:15,579 grippers compare to articulate 1025 00:35:15,580 --> 00:35:17,739 drippers? This is quite special, I guess. 1026 00:35:17,740 --> 00:35:18,629 Yeah. 1027 00:35:18,630 --> 00:35:20,879 OK, so universal jamming griper is 1028 00:35:20,880 --> 00:35:22,349 essentially balloon filled with coffee 1029 00:35:22,350 --> 00:35:23,939 grounds. If you ever bought vacuum packed 1030 00:35:23,940 --> 00:35:25,919 coffee is like a hard brick until you 1031 00:35:25,920 --> 00:35:27,749 pierce it and then it turns all soft. 1032 00:35:27,750 --> 00:35:29,789 And that's because without any air to 1033 00:35:29,790 --> 00:35:32,069 have the individual grains, the granules 1034 00:35:32,070 --> 00:35:33,929 to move past each other, the thing 1035 00:35:33,930 --> 00:35:35,249 solidifies. 1036 00:35:35,250 --> 00:35:37,439 And so you can get conditional stiffening 1037 00:35:37,440 --> 00:35:39,639 by pulling out or putting in air. 1038 00:35:39,640 --> 00:35:41,309 And so universal jamming grippers are 1039 00:35:41,310 --> 00:35:43,589 rubber balls that have coffee 1040 00:35:43,590 --> 00:35:44,489 grounds inside of them. 1041 00:35:44,490 --> 00:35:46,259 And then when you suck the air out, they 1042 00:35:46,260 --> 00:35:47,459 stay in whatever shape they are in. 1043 00:35:47,460 --> 00:35:49,859 So if you squish it over an object, 1044 00:35:49,860 --> 00:35:52,169 then suck the air out, it'll pick 1045 00:35:52,170 --> 00:35:54,029 up that object because it's stuck around 1046 00:35:54,030 --> 00:35:56,189 it. And so it can even be a straight 1047 00:35:56,190 --> 00:35:59,059 sided object, like a dice ardai dice 1048 00:35:59,060 --> 00:36:01,529 that named for one of those things. 1049 00:36:01,530 --> 00:36:03,629 So even if it's a straight sided thing 1050 00:36:03,630 --> 00:36:05,729 being rubber, it 1051 00:36:05,730 --> 00:36:08,489 there isn't any draft on the individual 1052 00:36:08,490 --> 00:36:11,459 random number generator to actually 1053 00:36:11,460 --> 00:36:13,559 pick up or it can't drop 1054 00:36:13,560 --> 00:36:14,849 right out because of the friction on the 1055 00:36:14,850 --> 00:36:17,249 walls. So the advantages 1056 00:36:17,250 --> 00:36:19,289 of those is they can pick up a huge 1057 00:36:19,290 --> 00:36:20,819 variety of objects, even things that are 1058 00:36:20,820 --> 00:36:22,230 like really flat on tables. 1059 00:36:23,430 --> 00:36:25,739 The disadvantage is they get 1060 00:36:25,740 --> 00:36:27,809 pierced pretty easily and 1061 00:36:27,810 --> 00:36:29,159 that's a problem, sort of all pneumatic 1062 00:36:29,160 --> 00:36:30,599 compliant systems, but they get pierced 1063 00:36:30,600 --> 00:36:32,579 pretty easily and there are categories of 1064 00:36:32,580 --> 00:36:33,939 objects that they can't pick up. 1065 00:36:33,940 --> 00:36:35,579 So anything that has like a handle that 1066 00:36:35,580 --> 00:36:36,989 you have to get all the way around 1067 00:36:36,990 --> 00:36:38,699 because there are disadvantages for using 1068 00:36:38,700 --> 00:36:39,929 the jamming gripper, too. So if it's 1069 00:36:39,930 --> 00:36:41,489 really tall and you want to squish it 1070 00:36:41,490 --> 00:36:43,049 over a handle, you need enough space to 1071 00:36:43,050 --> 00:36:44,129 squish it over a handle. 1072 00:36:44,130 --> 00:36:46,559 It'll actually distort a lot because 1073 00:36:46,560 --> 00:36:48,849 the more space, more distortion. 1074 00:36:48,850 --> 00:36:50,639 And so as you pick it up, it'll actually 1075 00:36:50,640 --> 00:36:52,949 be like and let go 1076 00:36:52,950 --> 00:36:53,969 of heavier objects. 1077 00:36:53,970 --> 00:36:56,219 One of the advantages of like the Soft 1078 00:36:56,220 --> 00:36:58,349 Robotics Incorporated gripper is that 1079 00:36:58,350 --> 00:37:00,569 the the octopus tentacle 1080 00:37:00,570 --> 00:37:02,909 style grippers, the digital hand 1081 00:37:02,910 --> 00:37:04,859 grippers are good at, like, wrapping 1082 00:37:04,860 --> 00:37:06,929 around things like a couple of times 1083 00:37:06,930 --> 00:37:08,369 or wrapping around things with handles 1084 00:37:08,370 --> 00:37:09,419 and picking them up. 1085 00:37:10,620 --> 00:37:12,179 You know, they're they're disadvantages 1086 00:37:12,180 --> 00:37:13,259 is they're not very good at, like, 1087 00:37:13,260 --> 00:37:14,549 picking up a penny. 1088 00:37:14,550 --> 00:37:16,049 They're very they're very bad at that. 1089 00:37:19,320 --> 00:37:21,599 You have more questions for us. 1090 00:37:21,600 --> 00:37:24,179 Yes, I have a question, as we have still 1091 00:37:24,180 --> 00:37:25,679 quite some time. 1092 00:37:25,680 --> 00:37:27,749 I guess it will take a bit. 1093 00:37:27,750 --> 00:37:30,359 So how does one build small 1094 00:37:30,360 --> 00:37:32,429 lightweight sources of Nannup, 1095 00:37:32,430 --> 00:37:34,739 Frenette Medek or 1096 00:37:34,740 --> 00:37:36,629 hydraulic pressure? 1097 00:37:36,630 --> 00:37:38,599 Got it. Yes. Really small. 1098 00:37:38,600 --> 00:37:40,109 Yeah. So that's a problem. 1099 00:37:40,110 --> 00:37:41,939 I'm actually trying to work. 1100 00:37:41,940 --> 00:37:44,069 So, you know, there are ways of 1101 00:37:44,070 --> 00:37:45,239 getting small amount of pneumatic 1102 00:37:45,240 --> 00:37:47,249 pressure with Pazos. 1103 00:37:47,250 --> 00:37:48,329 So what you can do is you can have a 1104 00:37:48,330 --> 00:37:50,699 closed volume, a goodbye computer 1105 00:37:50,700 --> 00:37:53,219 anyway, so you can 1106 00:37:53,220 --> 00:37:55,469 use those that have 1107 00:37:55,470 --> 00:37:56,849 essentially have to check valves. 1108 00:37:56,850 --> 00:37:59,009 And the pazzo is pushing 1109 00:37:59,010 --> 00:38:01,139 into this airtight container and it'll 1110 00:38:01,140 --> 00:38:02,759 push a little pressure out of the check 1111 00:38:02,760 --> 00:38:05,069 valve, out of check valve one and 1112 00:38:05,070 --> 00:38:06,749 put a little pressure from check valve, 1113 00:38:06,750 --> 00:38:09,059 too. And they can articulate very fast 1114 00:38:09,060 --> 00:38:11,999 and it'll generate pneumatic pressure. 1115 00:38:12,000 --> 00:38:13,019 The disadvantage disadvantages. 1116 00:38:13,020 --> 00:38:14,789 It's usually not that much. 1117 00:38:14,790 --> 00:38:17,099 And you have essentially a spring system 1118 00:38:17,100 --> 00:38:19,139 in there where if the pressure, the back 1119 00:38:19,140 --> 00:38:21,599 pressure is more than the pneumatic 1120 00:38:21,600 --> 00:38:24,719 sorry, then the peso can overcome. 1121 00:38:24,720 --> 00:38:27,599 Then you get it peeks out at pressure. 1122 00:38:27,600 --> 00:38:29,819 And so that's a way of getting really, 1123 00:38:29,820 --> 00:38:32,459 really tiny pneumatic volume or pneumatic 1124 00:38:32,460 --> 00:38:34,209 stuff going on. It's essentially, if you 1125 00:38:34,210 --> 00:38:36,269 imagine taking a as a speaker and 1126 00:38:36,270 --> 00:38:38,319 then putting a couple of check valves in 1127 00:38:38,320 --> 00:38:39,929 a thing you can have like a printed 1128 00:38:39,930 --> 00:38:41,069 enclosure for it. 1129 00:38:41,070 --> 00:38:43,409 And that would be a really tiny way. 1130 00:38:43,410 --> 00:38:44,969 The other way is that it's usually done 1131 00:38:44,970 --> 00:38:47,099 is you have a diaphragm, diaphragm, 1132 00:38:47,100 --> 00:38:48,029 pumps. 1133 00:38:48,030 --> 00:38:49,499 The small, cheap ones that you can get 1134 00:38:49,500 --> 00:38:51,659 from China are these diaphragm 1135 00:38:51,660 --> 00:38:54,209 pumps that just use a a rubber diaphragm 1136 00:38:54,210 --> 00:38:56,279 and they push pistons 1137 00:38:56,280 --> 00:38:58,109 that are actually all on a pivot. 1138 00:38:58,110 --> 00:38:59,849 And so they'll go around and the 1139 00:38:59,850 --> 00:39:02,159 diaphragm will push in and out and 1140 00:39:02,160 --> 00:39:03,869 check valves will cause the pressure to 1141 00:39:03,870 --> 00:39:05,159 continuously go out. 1142 00:39:05,160 --> 00:39:06,210 And so that's the way that's done. 1143 00:39:07,470 --> 00:39:09,719 Hydraulics, small hydraulics are 1144 00:39:09,720 --> 00:39:11,399 not super my field. 1145 00:39:11,400 --> 00:39:12,989 I don't know that terribly well. 1146 00:39:12,990 --> 00:39:14,729 My solution for that has actually been to 1147 00:39:14,730 --> 00:39:16,799 use pneumatics, to displace 1148 00:39:16,800 --> 00:39:18,419 hydraulics, to sort of like you could 1149 00:39:18,420 --> 00:39:20,339 imagine, bubbling air up into a soda 1150 00:39:20,340 --> 00:39:22,139 bottle and then having a straw with the 1151 00:39:22,140 --> 00:39:23,910 hydraulic and going down. 1152 00:39:25,320 --> 00:39:26,420 That's how I handle hydraulics. 1153 00:39:28,810 --> 00:39:30,909 OK, I have just realized how long you've 1154 00:39:30,910 --> 00:39:32,799 been standing there, so the microphone, 1155 00:39:32,800 --> 00:39:35,099 please, and we didn't get any 1156 00:39:35,100 --> 00:39:37,239 one human chair or something. 1157 00:39:38,380 --> 00:39:40,479 Um, yeah, I heard that, 1158 00:39:40,480 --> 00:39:42,699 uh, if you let robots roam 1159 00:39:42,700 --> 00:39:45,129 the forest, then they break something 1160 00:39:45,130 --> 00:39:47,379 after, like, five minutes and, uh, 1161 00:39:47,380 --> 00:39:50,049 they will destroy themselves pretty soon. 1162 00:39:50,050 --> 00:39:52,449 So called soft robotics also 1163 00:39:52,450 --> 00:39:54,639 be a solution to this problem? 1164 00:39:54,640 --> 00:39:56,829 I think that it is so 1165 00:39:56,830 --> 00:39:59,079 the you know, to like 1166 00:39:59,080 --> 00:40:00,550 wrap it up like, um. 1167 00:40:01,660 --> 00:40:03,909 To wrap up that that question in 1168 00:40:03,910 --> 00:40:06,069 sort of a bow, Boston Dynamics makes this 1169 00:40:06,070 --> 00:40:08,439 really expensive robot called Big Dog, 1170 00:40:08,440 --> 00:40:11,739 and I'm not here to like Boston Dynamics 1171 00:40:11,740 --> 00:40:13,239 because like, who am I to talk? 1172 00:40:13,240 --> 00:40:15,329 I make I make this like 1173 00:40:15,330 --> 00:40:16,390 I'm not super sophisticated. 1174 00:40:19,420 --> 00:40:21,669 But one of the disadvantages is it's a 1175 00:40:21,670 --> 00:40:22,949 it's a. 1176 00:40:22,950 --> 00:40:25,019 Complicated robot with lots of things to 1177 00:40:25,020 --> 00:40:27,119 go wrong and one thing 1178 00:40:27,120 --> 00:40:28,529 that can be very difficult in having it 1179 00:40:28,530 --> 00:40:30,539 operate for an extended length of time is 1180 00:40:30,540 --> 00:40:32,639 that it has to make all of its guesses 1181 00:40:32,640 --> 00:40:34,589 exactly correctly to not like topple 1182 00:40:34,590 --> 00:40:37,199 over. And it's supposed 1183 00:40:37,200 --> 00:40:39,689 to, like, keep soldiers from dying 1184 00:40:39,690 --> 00:40:41,459 and going into dangerous situations 1185 00:40:41,460 --> 00:40:42,629 instead of a soldier. 1186 00:40:42,630 --> 00:40:44,789 But there are I 1187 00:40:44,790 --> 00:40:46,979 have had reports from people, anonymous 1188 00:40:46,980 --> 00:40:49,289 sources, that people have literally 1189 00:40:49,290 --> 00:40:51,149 died trying to rescue the robot because 1190 00:40:51,150 --> 00:40:52,949 it was on their heads if the million 1191 00:40:52,950 --> 00:40:55,049 dollar robot exploded. 1192 00:40:55,050 --> 00:40:56,489 And yeah. 1193 00:40:56,490 --> 00:40:58,739 So the solution I 1194 00:40:58,740 --> 00:41:00,839 think that's appropriate for it is 1195 00:41:00,840 --> 00:41:02,639 to choose your battles, where you put 1196 00:41:02,640 --> 00:41:04,739 actuation, where I think there can be a 1197 00:41:04,740 --> 00:41:07,259 lot of passive systems that actuate 1198 00:41:07,260 --> 00:41:09,509 that, like have a little bit of a bias. 1199 00:41:09,510 --> 00:41:11,399 Like your foot is an example of this, 1200 00:41:11,400 --> 00:41:13,649 where your foot is doing a lot of passive 1201 00:41:13,650 --> 00:41:16,019 compensating for like what the dynamics 1202 00:41:16,020 --> 00:41:17,699 of the like the walking downstairs or 1203 00:41:17,700 --> 00:41:19,629 walking across rubble. 1204 00:41:19,630 --> 00:41:21,249 Your foot is compensating for a lot of 1205 00:41:21,250 --> 00:41:23,439 that just by being soft, and you bias it 1206 00:41:23,440 --> 00:41:25,179 in small ways with the tendons and 1207 00:41:25,180 --> 00:41:26,619 muscles that are in it. 1208 00:41:26,620 --> 00:41:28,839 And so that's my belief, is 1209 00:41:28,840 --> 00:41:30,369 that you choose where you've got 1210 00:41:30,370 --> 00:41:32,559 springiness and compliance and 1211 00:41:32,560 --> 00:41:34,269 then you match that to where you've got 1212 00:41:34,270 --> 00:41:36,489 your power for like Lokomotiv and for, 1213 00:41:36,490 --> 00:41:37,840 you know, hauling stuff. 1214 00:41:40,070 --> 00:41:41,659 Is that sufficiently answered? 1215 00:41:41,660 --> 00:41:42,660 I feel pretty good. 1216 00:41:43,530 --> 00:41:44,530 Thank you. 1217 00:41:45,450 --> 00:41:46,649 OK. 1218 00:41:46,650 --> 00:41:48,929 Oh, we have another Internet virus 1219 00:41:48,930 --> 00:41:49,930 Signal Angel. 1220 00:41:54,270 --> 00:41:56,579 Because we can't 1221 00:41:56,580 --> 00:41:58,319 answer questions that are not asked to 1222 00:41:58,320 --> 00:42:00,539 the microphone because we need to have 1223 00:42:00,540 --> 00:42:02,879 them on tape, but we have 1224 00:42:02,880 --> 00:42:05,229 the signal Angel and she has 1225 00:42:05,230 --> 00:42:06,329 another one for us. 1226 00:42:06,330 --> 00:42:08,409 I have another follow up question 1227 00:42:08,410 --> 00:42:10,739 if. Yeah, we still have some time. 1228 00:42:10,740 --> 00:42:12,899 Um, so if you would need to trade 1229 00:42:12,900 --> 00:42:15,269 off of medics 1230 00:42:15,270 --> 00:42:17,969 versus patrol 1231 00:42:17,970 --> 00:42:19,239 hydraulics. 1232 00:42:19,240 --> 00:42:21,659 I'm not an expert in hydraulics. 1233 00:42:21,660 --> 00:42:24,269 Yes. So which would you use 1234 00:42:24,270 --> 00:42:26,579 or what was the use case 1235 00:42:26,580 --> 00:42:28,259 for each of those? Got it. 1236 00:42:28,260 --> 00:42:30,359 So hydraulics are 1237 00:42:30,360 --> 00:42:32,189 really good for things like mining. 1238 00:42:32,190 --> 00:42:34,289 So you have like a drill 1239 00:42:34,290 --> 00:42:36,749 that's being turned by a hydraulic system 1240 00:42:36,750 --> 00:42:38,579 and it has instantaneous torque and you 1241 00:42:38,580 --> 00:42:40,589 can get a whole lot of force and there 1242 00:42:40,590 --> 00:42:42,659 are relatively low line losses because 1243 00:42:42,660 --> 00:42:43,660 of friction. 1244 00:42:45,260 --> 00:42:47,359 That's a really good use case 1245 00:42:47,360 --> 00:42:48,919 for hydraulics when you need instant 1246 00:42:48,920 --> 00:42:51,559 torque and you don't want springiness, 1247 00:42:51,560 --> 00:42:52,789 you can design springiness into 1248 00:42:52,790 --> 00:42:53,839 hydraulics. But since water is 1249 00:42:53,840 --> 00:42:56,389 incompressible a a 1250 00:42:56,390 --> 00:42:57,739 piston that's being driven like a 1251 00:42:57,740 --> 00:42:59,929 hydraulic actuator is exactly where 1252 00:42:59,930 --> 00:43:02,239 you put it. So you actually have to like 1253 00:43:02,240 --> 00:43:04,369 to compress water, what is technically 1254 00:43:04,370 --> 00:43:05,959 compressible, but it's like on the order 1255 00:43:05,960 --> 00:43:08,089 of like point one percent. 1256 00:43:08,090 --> 00:43:10,969 But you actually have to sort of squeeze 1257 00:43:10,970 --> 00:43:12,919 the hydraulic cylinder and get any spring 1258 00:43:12,920 --> 00:43:14,719 out of it. You actually have to like it 1259 00:43:14,720 --> 00:43:16,519 ends up distorting the metal around it or 1260 00:43:16,520 --> 00:43:18,389 blowing the gaskets. 1261 00:43:18,390 --> 00:43:20,849 So that works, 1262 00:43:20,850 --> 00:43:22,139 interestingly, when you talk about 1263 00:43:22,140 --> 00:43:23,909 compliance systems, because you usually 1264 00:43:23,910 --> 00:43:26,069 don't need as much like 1265 00:43:26,070 --> 00:43:27,809 this isn't going anywhere when dealing 1266 00:43:27,810 --> 00:43:29,009 with compliance systems, but there are 1267 00:43:29,010 --> 00:43:30,689 situations in which you want really 1268 00:43:30,690 --> 00:43:32,459 instantaneous torque and things like that 1269 00:43:32,460 --> 00:43:34,319 for like, you know, being able to really 1270 00:43:34,320 --> 00:43:36,389 quickly change the pressure 1271 00:43:36,390 --> 00:43:37,919 inside of a system where you're like 1272 00:43:37,920 --> 00:43:39,989 someone has spastic motion in their arms, 1273 00:43:39,990 --> 00:43:42,299 you're trying to exactly deaden it by 1274 00:43:42,300 --> 00:43:44,489 returning pressure that exactly equals 1275 00:43:44,490 --> 00:43:46,229 the opposite of that waveform. 1276 00:43:46,230 --> 00:43:48,449 And so it's an interesting use case, 1277 00:43:48,450 --> 00:43:50,519 but it's difficult to implement. 1278 00:43:50,520 --> 00:43:52,469 I use pneumatics partially because I can 1279 00:43:52,470 --> 00:43:54,659 be like wasteful with 1280 00:43:54,660 --> 00:43:56,339 it, where I can have things that are 1281 00:43:56,340 --> 00:43:58,469 leaky. And it's just like I just have 1282 00:43:58,470 --> 00:44:00,269 a monitor on how much pressure is in the 1283 00:44:00,270 --> 00:44:02,219 system. And I don't have to worry about 1284 00:44:02,220 --> 00:44:04,079 how much I'm putting in as long as it 1285 00:44:04,080 --> 00:44:06,239 loops back to here's how much 1286 00:44:06,240 --> 00:44:07,589 system pressure. Here's the state of the 1287 00:44:07,590 --> 00:44:09,689 system. It doesn't matter where the dial 1288 00:44:09,690 --> 00:44:11,549 goes, as long as it stays at that state, 1289 00:44:11,550 --> 00:44:12,449 it's fine. 1290 00:44:12,450 --> 00:44:14,969 And so it's easy for me to have slightly 1291 00:44:14,970 --> 00:44:17,369 sloppier systems that I can 1292 00:44:17,370 --> 00:44:19,379 sort of fudge around with and create 1293 00:44:19,380 --> 00:44:20,909 quick prototypes on and don't have to 1294 00:44:20,910 --> 00:44:22,169 hunt down leaks. 1295 00:44:22,170 --> 00:44:23,549 And that's why I use pneumatics, is that 1296 00:44:23,550 --> 00:44:25,469 that is a nightmare in hydraulics, like 1297 00:44:25,470 --> 00:44:26,609 hunting down leaks and stuff. 1298 00:44:26,610 --> 00:44:27,809 And I don't want to be covered in 1299 00:44:27,810 --> 00:44:28,889 hydraulic fluid every day. 1300 00:44:31,990 --> 00:44:34,449 OK, and to 1301 00:44:34,450 --> 00:44:36,789 first, you in the back, I think, because 1302 00:44:36,790 --> 00:44:38,139 you have been raising your hand for so 1303 00:44:38,140 --> 00:44:40,359 long, then it is 1304 00:44:40,360 --> 00:44:40,749 OK. 1305 00:44:40,750 --> 00:44:42,999 You said your your company 1306 00:44:43,000 --> 00:44:45,049 is a Nasdaq subcontractor. 1307 00:44:45,050 --> 00:44:47,139 And I think you said that you 1308 00:44:47,140 --> 00:44:49,359 were using all those those 1309 00:44:49,360 --> 00:44:51,669 gloves that you made will be used on 1310 00:44:51,670 --> 00:44:53,949 ISIS, um, space suits. 1311 00:44:53,950 --> 00:44:56,109 If if everything works, if everything 1312 00:44:56,110 --> 00:44:57,249 works. So 1313 00:44:58,330 --> 00:45:00,069 obviously you believe in your product 1314 00:45:00,070 --> 00:45:02,229 and. Yes, solid, very believable to me. 1315 00:45:02,230 --> 00:45:04,929 But my question is, does NASA 1316 00:45:04,930 --> 00:45:07,029 expect this to be the future of space 1317 00:45:07,030 --> 00:45:09,099 suits or are they just 1318 00:45:09,100 --> 00:45:10,300 paying you to test their own 1319 00:45:11,770 --> 00:45:14,079 noodle about every great every great job? 1320 00:45:16,700 --> 00:45:18,389 What did you do? 1321 00:45:18,390 --> 00:45:20,459 I messed about did 1322 00:45:20,460 --> 00:45:21,949 it work? No, that's fine. 1323 00:45:24,910 --> 00:45:27,429 So they're they're investing 1324 00:45:27,430 --> 00:45:29,079 in this because they want to solve 1325 00:45:29,080 --> 00:45:30,519 problems in spacesuits and they think 1326 00:45:30,520 --> 00:45:32,199 mechanical counterpressure is one of the 1327 00:45:32,200 --> 00:45:34,299 ways to do it, compliant 1328 00:45:34,300 --> 00:45:36,279 materials like Playtex made the first 1329 00:45:36,280 --> 00:45:37,929 functioning spacesuit that ever went into 1330 00:45:37,930 --> 00:45:40,059 space. You know, not Northrop Grumman, 1331 00:45:40,060 --> 00:45:42,189 not Boeing, Playtex 1332 00:45:42,190 --> 00:45:44,409 International Latex, Inc. 1333 00:45:44,410 --> 00:45:46,509 And it was professional 1334 00:45:46,510 --> 00:45:48,699 bra seamstresses that designed 1335 00:45:48,700 --> 00:45:50,579 and built the Gemini spacesuit. 1336 00:45:51,580 --> 00:45:54,249 So the science, 1337 00:45:54,250 --> 00:45:56,589 like the down and grade nitty gritty 1338 00:45:56,590 --> 00:45:58,809 science on soft materials, has 1339 00:45:58,810 --> 00:46:00,939 always been difficult to evoke in 1340 00:46:00,940 --> 00:46:03,099 physical stuff. But like having a gist 1341 00:46:03,100 --> 00:46:04,749 of it, understanding the materials from 1342 00:46:04,750 --> 00:46:06,009 working with them and applying them to 1343 00:46:06,010 --> 00:46:07,749 practical problems has sort of been the 1344 00:46:07,750 --> 00:46:10,539 thrust of most spacesuit technology. 1345 00:46:10,540 --> 00:46:12,699 And so NASA's like, well, 1346 00:46:12,700 --> 00:46:15,009 you guys, you work with the soft stuff. 1347 00:46:15,010 --> 00:46:16,779 Can we do a new thing that hasn't been 1348 00:46:16,780 --> 00:46:18,669 done before with spacesuits? 1349 00:46:18,670 --> 00:46:20,829 And if it works, it could improve a lot 1350 00:46:20,830 --> 00:46:22,449 of things and solve a lot of problems. 1351 00:46:22,450 --> 00:46:24,219 But what's difficult in brand new systems 1352 00:46:24,220 --> 00:46:26,319 is you're looking at your ideals and then 1353 00:46:26,320 --> 00:46:28,179 you find out how it fails, like the 1354 00:46:28,180 --> 00:46:29,449 externalities of it. 1355 00:46:29,450 --> 00:46:31,569 And so we're exploring a lot 1356 00:46:31,570 --> 00:46:32,769 of interesting things to try and solve 1357 00:46:32,770 --> 00:46:34,089 these top level problems. 1358 00:46:34,090 --> 00:46:35,919 And the designs are evoking these sort of 1359 00:46:35,920 --> 00:46:37,509 mid-level problems and we're sort of 1360 00:46:37,510 --> 00:46:39,759 hacking towards idealizing all of it. 1361 00:46:39,760 --> 00:46:41,769 But the performance, we say on the 1362 00:46:41,770 --> 00:46:43,809 gloves, like the dexterity in vacuum 1363 00:46:43,810 --> 00:46:45,969 chamber tests and the amount of pressure 1364 00:46:45,970 --> 00:46:47,409 that you see, like the even pressure 1365 00:46:47,410 --> 00:46:48,969 across the hand without causing 1366 00:46:48,970 --> 00:46:50,709 fingernail delamination is really 1367 00:46:50,710 --> 00:46:52,639 promising right now. 1368 00:46:52,640 --> 00:46:54,549 And so it's encouraging NASA and and 1369 00:46:54,550 --> 00:46:56,260 encouraging us to keep pushing with it. 1370 00:46:58,300 --> 00:46:59,379 Hello. Hello. 1371 00:46:59,380 --> 00:47:01,239 Yeah, you on the microphone. 1372 00:47:03,070 --> 00:47:05,859 We try to build some soft 1373 00:47:05,860 --> 00:47:08,139 robotics in our maker space 1374 00:47:08,140 --> 00:47:11,259 in Milan and it's very difficult. 1375 00:47:11,260 --> 00:47:13,329 So I think that without 1376 00:47:13,330 --> 00:47:15,639 having a design model to 1377 00:47:15,640 --> 00:47:17,469 actually design the things. 1378 00:47:17,470 --> 00:47:19,599 Yeah. Before to 1379 00:47:19,600 --> 00:47:21,819 build it, it's very hard. 1380 00:47:21,820 --> 00:47:24,339 So what do you think about the design 1381 00:47:24,340 --> 00:47:26,979 process of soft robotics? 1382 00:47:26,980 --> 00:47:28,050 Yeah, uh, 1383 00:47:29,170 --> 00:47:31,179 unfortunately, there's no there's no way 1384 00:47:31,180 --> 00:47:32,769 I can give you like a data dump. 1385 00:47:32,770 --> 00:47:35,319 It's it's almost like if 1386 00:47:35,320 --> 00:47:37,869 if you had to still copy C programing 1387 00:47:37,870 --> 00:47:39,939 out of books, like if 1388 00:47:39,940 --> 00:47:41,469 if it was very hard to like if the 1389 00:47:41,470 --> 00:47:42,969 Internet didn't exist and you still had 1390 00:47:42,970 --> 00:47:44,949 to copy C off of books, you'd have 1391 00:47:44,950 --> 00:47:46,509 thousands and thousands of people being 1392 00:47:46,510 --> 00:47:48,159 like, why doesn't my program work? 1393 00:47:48,160 --> 00:47:49,629 I've read the entire book and it's like, 1394 00:47:49,630 --> 00:47:51,069 well, you had a trailing slash or 1395 00:47:51,070 --> 00:47:53,469 something like there isn't a good 1396 00:47:53,470 --> 00:47:55,449 guide to give you an intuitive knowledge 1397 00:47:55,450 --> 00:47:57,669 of it without playing with it a bunch, 1398 00:47:57,670 --> 00:47:59,709 because there's no real good wellspring 1399 00:47:59,710 --> 00:48:01,119 of people who are jumping in to answer 1400 00:48:01,120 --> 00:48:02,439 your questions like there's not a soft 1401 00:48:02,440 --> 00:48:03,849 robotics form. Well, there is on my 1402 00:48:03,850 --> 00:48:06,069 website, but I actually have if 1403 00:48:06,070 --> 00:48:07,749 you go to Super Alacer Dotcom Slash 1404 00:48:07,750 --> 00:48:08,750 Forum. 1405 00:48:09,410 --> 00:48:10,849 I actually do have a software box and I 1406 00:48:10,850 --> 00:48:12,889 will answer your questions, but. 1407 00:48:15,420 --> 00:48:17,759 The difficulty is there isn't a 1408 00:48:17,760 --> 00:48:19,529 level of knowledge up there to solve sort 1409 00:48:19,530 --> 00:48:20,849 of meta problems of like what's a good 1410 00:48:20,850 --> 00:48:21,899 way to think about this? 1411 00:48:21,900 --> 00:48:23,879 What are successful models of software 1412 00:48:23,880 --> 00:48:25,799 robots? And so like getting a base 1413 00:48:25,800 --> 00:48:27,779 understanding to know why this doesn't 1414 00:48:27,780 --> 00:48:30,149 work and know what a successful 1415 00:48:30,150 --> 00:48:32,039 software robot tends to be designed like. 1416 00:48:32,040 --> 00:48:34,169 And good design processes are thin 1417 00:48:34,170 --> 00:48:35,969 on the ground. And I think that makes it 1418 00:48:35,970 --> 00:48:38,129 a really huge ramp. 1419 00:48:38,130 --> 00:48:40,739 You have to really get up the ramp 1420 00:48:40,740 --> 00:48:42,749 of the learning curve really quick to be 1421 00:48:42,750 --> 00:48:44,579 able to produce results to keep going. 1422 00:48:44,580 --> 00:48:45,809 And I'm trying to solve that by 1423 00:48:45,810 --> 00:48:47,879 publishing open source robots, you 1424 00:48:47,880 --> 00:48:50,099 know, make working designs and be honest 1425 00:48:50,100 --> 00:48:52,079 about the design process and then 1426 00:48:52,080 --> 00:48:53,489 publish, you know, what works. 1427 00:48:53,490 --> 00:48:55,589 And here's what to look out for. 1428 00:48:55,590 --> 00:48:57,809 But before that's thicker on the ground 1429 00:48:57,810 --> 00:48:59,819 and before people are available to answer 1430 00:48:59,820 --> 00:49:01,949 questions from people getting into it, 1431 00:49:01,950 --> 00:49:03,629 there's almost no way you can do a data 1432 00:49:03,630 --> 00:49:05,459 dump to somebody, be like just just read 1433 00:49:05,460 --> 00:49:07,589 this book and then you will know exactly 1434 00:49:07,590 --> 00:49:09,839 what's wrong with it, because it like 1435 00:49:09,840 --> 00:49:11,909 many design problems, it takes 1436 00:49:11,910 --> 00:49:13,949 having a detailed knowledge of the system 1437 00:49:13,950 --> 00:49:14,950 in place. 1438 00:49:17,900 --> 00:49:20,029 OK, I think we have one or two more 1439 00:49:20,030 --> 00:49:22,549 questions from this e-mail again, 1440 00:49:22,550 --> 00:49:24,649 I received working well and 1441 00:49:24,650 --> 00:49:26,129 we are still a lot of time left. 1442 00:49:26,130 --> 00:49:28,819 So all your questions. 1443 00:49:28,820 --> 00:49:30,379 Yeah, people have been really fun. 1444 00:49:30,380 --> 00:49:32,509 And they also want to thank you for 1445 00:49:32,510 --> 00:49:34,399 the talk as it was really cool. 1446 00:49:34,400 --> 00:49:36,649 And, um, yeah, one sees 1447 00:49:36,650 --> 00:49:38,719 that you really have fun with this 1448 00:49:38,720 --> 00:49:39,709 research. 1449 00:49:39,710 --> 00:49:41,869 Um, so the one 1450 00:49:41,870 --> 00:49:43,939 thing people are still interested 1451 00:49:43,940 --> 00:49:46,009 in, can you expand 1452 00:49:46,010 --> 00:49:48,379 a bit on the one million dollar robot 1453 00:49:48,380 --> 00:49:50,149 being saved by the soldiers? 1454 00:49:50,150 --> 00:49:52,549 Um, because, 1455 00:49:52,550 --> 00:49:54,409 uh, that was really quick. 1456 00:49:54,410 --> 00:49:56,989 Uh, um, sort 1457 00:49:56,990 --> 00:49:58,169 of. 1458 00:49:58,170 --> 00:49:59,170 So. 1459 00:50:02,270 --> 00:50:04,159 I don't want to I don't want to talk too 1460 00:50:04,160 --> 00:50:05,809 far out of my depth because, you know, 1461 00:50:05,810 --> 00:50:08,419 I'm not in the military, I have friends, 1462 00:50:08,420 --> 00:50:10,189 but I don't want to just be like, here's 1463 00:50:10,190 --> 00:50:11,480 how it is, everybody. 1464 00:50:13,280 --> 00:50:14,280 So. 1465 00:50:14,800 --> 00:50:16,869 In some ways, and this applies to 1466 00:50:16,870 --> 00:50:18,549 all the equipment that used, if you're 1467 00:50:18,550 --> 00:50:20,859 like an electrician like 1468 00:50:20,860 --> 00:50:22,179 and you're servicing something, you're 1469 00:50:22,180 --> 00:50:23,109 responsible for it. 1470 00:50:23,110 --> 00:50:25,419 Even if someone 1471 00:50:25,420 --> 00:50:27,339 directly working with you might say, 1472 00:50:27,340 --> 00:50:29,349 well, that that exploded, but it 1473 00:50:29,350 --> 00:50:31,509 definitely wasn't your fault up the 1474 00:50:31,510 --> 00:50:32,499 chain. 1475 00:50:32,500 --> 00:50:33,849 It's your fault. 1476 00:50:33,850 --> 00:50:36,129 And so when you introduce expensive 1477 00:50:36,130 --> 00:50:38,169 equipment that people are nominally 1478 00:50:38,170 --> 00:50:40,839 responsible for, if it fails, 1479 00:50:40,840 --> 00:50:43,119 you have to ask you have to find 1480 00:50:43,120 --> 00:50:45,669 some way to justify for them why 1481 00:50:45,670 --> 00:50:47,859 they're allowed to let it go. 1482 00:50:47,860 --> 00:50:49,719 And so when some when there are some 1483 00:50:49,720 --> 00:50:51,339 systems that instar incredibly 1484 00:50:51,340 --> 00:50:53,109 complicated and incredibly expensive 1485 00:50:53,110 --> 00:50:55,299 equipment like a robot 1486 00:50:55,300 --> 00:50:56,709 that's supposed to do certain kinds of 1487 00:50:56,710 --> 00:50:59,079 field work if it 1488 00:50:59,080 --> 00:51:02,199 gets lost on your watch, 1489 00:51:02,200 --> 00:51:04,449 your nominally responsible and therefore 1490 00:51:04,450 --> 00:51:06,309 have to take some of the heat for it. 1491 00:51:06,310 --> 00:51:08,499 And so I think in certain 1492 00:51:08,500 --> 00:51:10,839 situations when robots aren't 1493 00:51:10,840 --> 00:51:13,029 100 percent reliable, it ends 1494 00:51:13,030 --> 00:51:14,229 up with people having to take 1495 00:51:14,230 --> 00:51:16,539 responsibility for like saving 1496 00:51:16,540 --> 00:51:18,639 the robot, which is antithetical 1497 00:51:18,640 --> 00:51:20,259 to their initial purpose. 1498 00:51:20,260 --> 00:51:22,449 And so my theory is, if 1499 00:51:22,450 --> 00:51:25,119 you can get robots less expensive, 1500 00:51:25,120 --> 00:51:26,679 if you can change the manufacturing 1501 00:51:26,680 --> 00:51:28,749 principles of robotics, which is sort of 1502 00:51:28,750 --> 00:51:30,789 one angle that I'm trying to go with with 1503 00:51:30,790 --> 00:51:32,949 soft robotics, is that it 1504 00:51:32,950 --> 00:51:35,049 lowers that expense 1505 00:51:35,050 --> 00:51:37,809 value. So raises that like disposable 1506 00:51:37,810 --> 00:51:39,789 robot, just it can blow up. 1507 00:51:39,790 --> 00:51:40,719 That's OK. 1508 00:51:40,720 --> 00:51:42,279 We can get another value. 1509 00:51:42,280 --> 00:51:43,599 It changes sort of that equation. 1510 00:51:44,760 --> 00:51:46,919 But they are not liable 1511 00:51:46,920 --> 00:51:49,079 for them or they have to pay 1512 00:51:49,080 --> 00:51:50,249 if it breaks. 1513 00:51:50,250 --> 00:51:52,259 I don't think soldiers are individually 1514 00:51:52,260 --> 00:51:54,479 reliable, responsible for. 1515 00:51:54,480 --> 00:51:56,579 I don't honestly, I'm the last 1516 00:51:56,580 --> 00:51:58,499 person you should ask about how the the 1517 00:51:58,500 --> 00:52:00,059 billing system works in the United States 1518 00:52:00,060 --> 00:52:01,060 military. 1519 00:52:01,710 --> 00:52:02,849 OK, thank you. 1520 00:52:02,850 --> 00:52:05,229 Or it's OK. 1521 00:52:05,230 --> 00:52:06,859 We have more questions. 1522 00:52:06,860 --> 00:52:09,239 You start popping up at the last seconds 1523 00:52:09,240 --> 00:52:11,489 of the, uh, question and answering 1524 00:52:11,490 --> 00:52:12,959 from the segment Angels every time. 1525 00:52:12,960 --> 00:52:14,819 I think you might have found out how not 1526 00:52:14,820 --> 00:52:15,820 to stand all the time. 1527 00:52:17,910 --> 00:52:19,619 The microphones again. 1528 00:52:19,620 --> 00:52:21,959 Yeah. Uh, I have a question about, 1529 00:52:21,960 --> 00:52:24,119 uh, going into production. 1530 00:52:24,120 --> 00:52:26,609 Do you have any example of a project 1531 00:52:26,610 --> 00:52:29,939 that reached, uh, mass production, 1532 00:52:29,940 --> 00:52:32,249 mass market production of Soft 1533 00:52:32,250 --> 00:52:33,250 Robotics Project? 1534 00:52:34,530 --> 00:52:35,530 So. 1535 00:52:37,090 --> 00:52:39,609 The best example is actually nerve, 1536 00:52:39,610 --> 00:52:42,009 so nerve uses a ton 1537 00:52:42,010 --> 00:52:44,529 of soft compliant mechanisms to generate 1538 00:52:44,530 --> 00:52:46,929 pneumatic pressure and to say choose 1539 00:52:46,930 --> 00:52:49,119 which dart gets shot in in guns. 1540 00:52:49,120 --> 00:52:51,609 They actually use a lot of soft compliant 1541 00:52:51,610 --> 00:52:53,349 systems where it's like, OK, so you 1542 00:52:53,350 --> 00:52:54,939 squeeze this and it conditionally will 1543 00:52:54,940 --> 00:52:57,009 inflate that and that will go out to this 1544 00:52:57,010 --> 00:52:58,010 particular rocket. 1545 00:52:59,790 --> 00:53:00,790 Uh, Nurcan. 1546 00:53:05,450 --> 00:53:07,429 And and compliance systems are 1547 00:53:07,430 --> 00:53:09,469 everywhere, like sales, our compliance 1548 00:53:09,470 --> 00:53:11,599 system, they conditionally Stefán based 1549 00:53:11,600 --> 00:53:13,789 off of conditions so based off 1550 00:53:13,790 --> 00:53:15,739 of the wind and their direction, they 1551 00:53:15,740 --> 00:53:17,809 will stiffen because the fibers have high 1552 00:53:17,810 --> 00:53:19,279 tensile strength and you can actually 1553 00:53:19,280 --> 00:53:21,349 choose the shape of the sail based 1554 00:53:21,350 --> 00:53:22,639 off of how you trim it. 1555 00:53:22,640 --> 00:53:23,989 And that changes. 1556 00:53:23,990 --> 00:53:26,209 That changes how much of a wing it is 1557 00:53:26,210 --> 00:53:27,739 and various other properties that allow 1558 00:53:27,740 --> 00:53:29,659 it to go faster or slower and to be able 1559 00:53:29,660 --> 00:53:31,759 to like, finely tuned, like 1560 00:53:31,760 --> 00:53:33,259 as you go over waves. That's one of the 1561 00:53:33,260 --> 00:53:34,260 points of having a 1562 00:53:35,330 --> 00:53:37,459 nerd talk, and it's one of the points 1563 00:53:37,460 --> 00:53:39,619 of having a a line on 1564 00:53:39,620 --> 00:53:40,819 the edge of a Viking sail. 1565 00:53:40,820 --> 00:53:42,019 So if you ever see illustrations of 1566 00:53:42,020 --> 00:53:43,969 Viking ships, there is a line going out 1567 00:53:43,970 --> 00:53:45,199 to the edge of a square sail. 1568 00:53:45,200 --> 00:53:46,729 And you might be asking yourself, why the 1569 00:53:46,730 --> 00:53:47,719 hell would you do that? 1570 00:53:47,720 --> 00:53:49,189 Why wouldn't you just let the square sail 1571 00:53:49,190 --> 00:53:50,539 be the square sail? And it's actually 1572 00:53:50,540 --> 00:53:51,769 because the way Viking ships are 1573 00:53:51,770 --> 00:53:54,109 designed, they are not self writing. 1574 00:53:54,110 --> 00:53:55,399 They are actually very tipi. 1575 00:53:55,400 --> 00:53:57,559 And so when you go over waves, 1576 00:53:57,560 --> 00:53:59,689 the boat flexes a little bit 1577 00:53:59,690 --> 00:54:01,909 and you need to change 1578 00:54:01,910 --> 00:54:04,159 the shape of the sail and what direction 1579 00:54:04,160 --> 00:54:06,439 it is taking the wind as it goes 1580 00:54:06,440 --> 00:54:09,079 over waves by changing how aerodynamic 1581 00:54:09,080 --> 00:54:10,039 the sail is. 1582 00:54:10,040 --> 00:54:11,239 Or else you flip over. 1583 00:54:11,240 --> 00:54:13,489 And the reason I know this is because 1584 00:54:13,490 --> 00:54:15,109 there was a book published from an 1585 00:54:15,110 --> 00:54:17,539 anthropologist who studied Viking craft, 1586 00:54:17,540 --> 00:54:19,549 made an exact copy of one and kept 1587 00:54:19,550 --> 00:54:21,139 flipping himself over because he forgot 1588 00:54:21,140 --> 00:54:22,340 to have somebody trimming the sail. 1589 00:54:26,190 --> 00:54:28,259 OK, one more 1590 00:54:28,260 --> 00:54:29,529 question on one more. 1591 00:54:29,530 --> 00:54:30,579 All right, we can do it. 1592 00:54:30,580 --> 00:54:32,699 I don't know. We have still five 1593 00:54:32,700 --> 00:54:35,009 minutes left. So if you have a few are if 1594 00:54:35,010 --> 00:54:36,329 there is, he has more questions. 1595 00:54:37,500 --> 00:54:38,500 First of all. 1596 00:54:39,810 --> 00:54:42,299 Hello. So you have soft actuators, 1597 00:54:42,300 --> 00:54:45,059 do you also have soft sensors? 1598 00:54:45,060 --> 00:54:46,499 Oh, soft sensors. 1599 00:54:46,500 --> 00:54:48,599 So that that's a thing that I'm 1600 00:54:48,600 --> 00:54:50,279 working on as a background project. 1601 00:54:50,280 --> 00:54:51,479 So there are lots of ways to use 1602 00:54:51,480 --> 00:54:53,669 microfluidics as sensors to 1603 00:54:53,670 --> 00:54:56,219 have like a thing filled with a hydraulic 1604 00:54:56,220 --> 00:54:58,049 fluid in a tiny little channel and a 1605 00:54:58,050 --> 00:54:59,519 piece of silicone and read the pressure 1606 00:54:59,520 --> 00:55:01,499 at the other end, you know, with a 1607 00:55:01,500 --> 00:55:03,719 little, you know, microlensing 1608 00:55:03,720 --> 00:55:04,720 device. 1609 00:55:05,280 --> 00:55:07,319 One of the difficult things about soft 1610 00:55:07,320 --> 00:55:09,779 sensors is it's difficult 1611 00:55:09,780 --> 00:55:12,119 to compensate for the flex 1612 00:55:12,120 --> 00:55:14,219 of the system when calculating 1613 00:55:14,220 --> 00:55:15,419 how much force is on it. Because you can 1614 00:55:15,420 --> 00:55:17,819 picture if you made a flat sensor array 1615 00:55:17,820 --> 00:55:19,529 and you wanted to detect how much 1616 00:55:19,530 --> 00:55:21,779 pressure a person say 1617 00:55:21,780 --> 00:55:23,939 you have a person with a amputation, 1618 00:55:23,940 --> 00:55:25,469 residual limb is inside of a socket. 1619 00:55:25,470 --> 00:55:26,459 You're trying to measure where the pressure 1620 00:55:26,460 --> 00:55:27,959 is. So you have a flat sheet of sensors 1621 00:55:27,960 --> 00:55:30,119 and you stuff that into the socket 1622 00:55:30,120 --> 00:55:32,429 and the person stands on it. 1623 00:55:32,430 --> 00:55:34,559 The sensor array 1624 00:55:34,560 --> 00:55:35,939 is actually going to be detecting a lot 1625 00:55:35,940 --> 00:55:38,099 of forces because of the particular order 1626 00:55:38,100 --> 00:55:40,319 in which it bent, not directly 1627 00:55:40,320 --> 00:55:41,789 because of the amount of pressure that 1628 00:55:41,790 --> 00:55:43,289 it's experiencing. 1629 00:55:43,290 --> 00:55:45,659 So one thing that is really difficult 1630 00:55:45,660 --> 00:55:47,909 in sensor design is coming 1631 00:55:47,910 --> 00:55:49,979 up with things that the 1632 00:55:49,980 --> 00:55:52,229 orientation like the the way 1633 00:55:52,230 --> 00:55:53,789 the sensor is accidentally stuck to the 1634 00:55:53,790 --> 00:55:55,859 side of the cup in 1635 00:55:55,860 --> 00:55:57,359 which you're trying to measure the force 1636 00:55:57,360 --> 00:55:59,939 or whatever that is, it's difficult to 1637 00:55:59,940 --> 00:56:01,529 compensate for that to make sure you're 1638 00:56:01,530 --> 00:56:03,119 getting something accurate. 1639 00:56:03,120 --> 00:56:05,249 And so one of the ways that people do 1640 00:56:05,250 --> 00:56:07,079 that is by embedding stretch sensors in 1641 00:56:07,080 --> 00:56:08,519 soft robots. And so they have like a 1642 00:56:08,520 --> 00:56:10,259 linear measurement of how much stretch 1643 00:56:10,260 --> 00:56:12,479 has been done with the molding 1644 00:56:12,480 --> 00:56:13,559 that I do. 1645 00:56:13,560 --> 00:56:14,849 This is sort of an example of it. 1646 00:56:14,850 --> 00:56:16,859 With the molding that I do, I can choose 1647 00:56:16,860 --> 00:56:18,239 where to put individual electronic 1648 00:56:18,240 --> 00:56:20,369 components inside of a soft thing. 1649 00:56:20,370 --> 00:56:22,499 And so this is a ring that 1650 00:56:22,500 --> 00:56:24,749 has a a trinket pro 1651 00:56:24,750 --> 00:56:26,909 inside of it and a couple of RGB LEDs. 1652 00:56:26,910 --> 00:56:29,129 And those are in a specific spot 1653 00:56:29,130 --> 00:56:30,359 in the silicone because they have a 1654 00:56:30,360 --> 00:56:32,369 little wider board that I just slots into 1655 00:56:32,370 --> 00:56:34,289 the silicone and locks and mechanically. 1656 00:56:34,290 --> 00:56:36,449 And so you can you can if you choose your 1657 00:56:36,450 --> 00:56:38,639 battles with where you put your sensors, 1658 00:56:38,640 --> 00:56:40,319 you can have them integrate wisoff 1659 00:56:40,320 --> 00:56:42,449 systems. But it ends up being 1660 00:56:42,450 --> 00:56:44,849 a confounding problem, but one 1661 00:56:44,850 --> 00:56:46,199 that a lot of people working in 1662 00:56:46,200 --> 00:56:48,629 prosthetics and in spacesuits are working 1663 00:56:48,630 --> 00:56:49,920 on and doing cool stuff in. 1664 00:56:53,010 --> 00:56:55,199 OK, so the question is signal 1665 00:56:55,200 --> 00:56:56,099 angel. All right. 1666 00:56:56,100 --> 00:56:57,149 We have more for us. 1667 00:56:57,150 --> 00:56:58,239 Yeah, sure. 1668 00:56:58,240 --> 00:57:00,269 People tend to get creative. 1669 00:57:01,710 --> 00:57:04,050 So the last question from the IOC is, 1670 00:57:05,670 --> 00:57:08,369 do you can you build pneumatic 1671 00:57:08,370 --> 00:57:10,290 computers like state machines 1672 00:57:11,700 --> 00:57:13,229 with the. 1673 00:57:13,230 --> 00:57:14,699 Yeah, with the stuff? 1674 00:57:14,700 --> 00:57:17,399 Or do you always have to use a computer 1675 00:57:17,400 --> 00:57:19,259 like interface? 1676 00:57:19,260 --> 00:57:21,029 Yeah, that's actually a question I'm 1677 00:57:21,030 --> 00:57:23,369 really interested in because 1678 00:57:23,370 --> 00:57:24,959 the idea of doing pneumatic state 1679 00:57:24,960 --> 00:57:26,549 machines of having like something biased 1680 00:57:26,550 --> 00:57:28,799 where you can have a series 1681 00:57:28,800 --> 00:57:30,689 actuator, where it's like this thing will 1682 00:57:30,690 --> 00:57:32,279 only inflate under these conditions. 1683 00:57:32,280 --> 00:57:33,280 And so you have like 1684 00:57:34,560 --> 00:57:36,149 this is the way octopus arms work. 1685 00:57:36,150 --> 00:57:37,859 Octopus is a really cool you end up 1686 00:57:37,860 --> 00:57:39,359 taking a lot of soft robotic stuff from 1687 00:57:39,360 --> 00:57:40,859 sea creatures. 1688 00:57:40,860 --> 00:57:42,989 So when octopuses are panicked and 1689 00:57:42,990 --> 00:57:44,789 trying to move all of their legs at once, 1690 00:57:44,790 --> 00:57:45,779 they actually don't have enough 1691 00:57:45,780 --> 00:57:48,119 processing to really do all legs 1692 00:57:48,120 --> 00:57:49,589 flowing at the same time. 1693 00:57:49,590 --> 00:57:51,509 And so if you see an octopus like pick up 1694 00:57:51,510 --> 00:57:53,639 and run, it will actually limit 1695 00:57:53,640 --> 00:57:55,739 the zone of solutions it's trying to find 1696 00:57:55,740 --> 00:57:57,449 by creating straight sections in its 1697 00:57:57,450 --> 00:57:58,379 legs. 1698 00:57:58,380 --> 00:58:00,389 And so it will actually create joints so 1699 00:58:00,390 --> 00:58:01,949 it can physically run. 1700 00:58:05,170 --> 00:58:07,269 And the way it's 1701 00:58:07,270 --> 00:58:09,639 it has a distributed neuronal 1702 00:58:09,640 --> 00:58:11,649 system, so octopus, individual limbs 1703 00:58:11,650 --> 00:58:12,879 actually have their own processing 1704 00:58:12,880 --> 00:58:14,709 centers and so you'll notice they have a 1705 00:58:14,710 --> 00:58:15,879 distributed brain. 1706 00:58:15,880 --> 00:58:17,739 And so one thing that's really cool is 1707 00:58:17,740 --> 00:58:19,359 that you can actually look at with 1708 00:58:19,360 --> 00:58:20,829 electrodes, you can look at what is 1709 00:58:20,830 --> 00:58:22,299 happening in an octopus's limb as it's 1710 00:58:22,300 --> 00:58:23,769 gripping something. And it's actually 1711 00:58:23,770 --> 00:58:24,969 that you'll have these relay centers 1712 00:58:24,970 --> 00:58:26,769 where it grip something with the end of 1713 00:58:26,770 --> 00:58:28,539 the limb and it will be controlled by 1714 00:58:28,540 --> 00:58:29,949 this functional relay center. 1715 00:58:29,950 --> 00:58:31,689 And there will be a signal sort of coming 1716 00:58:31,690 --> 00:58:34,179 down and coming back from 1717 00:58:34,180 --> 00:58:36,279 like the arm will have 1718 00:58:36,280 --> 00:58:37,449 a relay center like the brain in a 1719 00:58:37,450 --> 00:58:39,729 brontosaurus. But and there will be 1720 00:58:39,730 --> 00:58:41,919 like little nodes up 1721 00:58:41,920 --> 00:58:44,319 and will happen is the nearest node 1722 00:58:44,320 --> 00:58:46,449 will start the flex. 1723 00:58:46,450 --> 00:58:48,759 And if another node gets hit, like 1724 00:58:48,760 --> 00:58:50,319 as it's wrapping something up, if the 1725 00:58:50,320 --> 00:58:51,909 next node gets hit, it'll continue 1726 00:58:51,910 --> 00:58:53,769 wrapping. But if the next node doesn't 1727 00:58:53,770 --> 00:58:55,389 get hit, it's gripping a small thing and 1728 00:58:55,390 --> 00:58:57,399 it can discontinue the wrapping motion. 1729 00:58:57,400 --> 00:58:58,989 And so what it's doing is it's sort of 1730 00:58:58,990 --> 00:59:00,549 sending a signal back and forth and 1731 00:59:00,550 --> 00:59:02,859 asking, where do I need to stop 1732 00:59:02,860 --> 00:59:05,529 the wrapping, Kawika? 1733 00:59:05,530 --> 00:59:06,530 So. 1734 00:59:07,910 --> 00:59:10,039 To try and simplify the problem 1735 00:59:10,040 --> 00:59:12,169 space, and so I think 1736 00:59:12,170 --> 00:59:13,789 that would be really cool to do in soft 1737 00:59:13,790 --> 00:59:15,709 robotics, to have these passive systems 1738 00:59:15,710 --> 00:59:17,269 where you don't need a lot of signaling 1739 00:59:17,270 --> 00:59:19,369 going on, to just have Pasek pneumatic 1740 00:59:19,370 --> 00:59:20,659 like that. 1741 00:59:20,660 --> 00:59:22,369 There's pneumatic logic inside of it. 1742 00:59:22,370 --> 00:59:24,349 I think I've created a solution for that 1743 00:59:24,350 --> 00:59:26,269 that involves like this two part molding. 1744 00:59:27,530 --> 00:59:29,869 The difficult thing to do with 1745 00:59:29,870 --> 00:59:32,059 pneumatic logic in soft stuff 1746 00:59:32,060 --> 00:59:34,459 is you have to create check valves and 1747 00:59:34,460 --> 00:59:36,169 check valves are really hard to create 1748 00:59:36,170 --> 00:59:37,169 without a spring. 1749 00:59:37,170 --> 00:59:38,689 And when you cast something, you don't 1750 00:59:38,690 --> 00:59:40,219 cast it in a spring orientation. 1751 00:59:40,220 --> 00:59:41,869 It's hard to preload. 1752 00:59:41,870 --> 00:59:43,099 And so it's very difficult. 1753 00:59:43,100 --> 00:59:45,289 Like if you imagine a heart valve, 1754 00:59:45,290 --> 00:59:47,479 you know, the heart valve opens 1755 00:59:47,480 --> 00:59:48,979 up. It's a it's essentially a heart valve 1756 00:59:48,980 --> 00:59:51,079 that looks like Chaillot. 1757 00:59:51,080 --> 00:59:53,509 It's got like three actuating pieces 1758 00:59:53,510 --> 00:59:55,339 and they're actually all bigger than the 1759 00:59:55,340 --> 00:59:57,619 hole. And so they fall back towards 1760 00:59:57,620 --> 00:59:59,329 each other to create a checked valve 1761 00:59:59,330 --> 01:00:00,529 where pressure can come back on the 1762 01:00:00,530 --> 01:00:01,579 heart. 1763 01:00:01,580 --> 01:00:04,159 It's very difficult to do that in casting 1764 01:00:04,160 --> 01:00:06,139 because they open up like you cast them 1765 01:00:06,140 --> 01:00:07,219 in the opening orientation. 1766 01:00:07,220 --> 01:00:08,869 There's nothing that springs back to 1767 01:00:08,870 --> 01:00:10,039 cause them to close. 1768 01:00:10,040 --> 01:00:11,659 But I think that I have created a 1769 01:00:11,660 --> 01:00:13,879 solution for that with some complicated 1770 01:00:13,880 --> 01:00:15,979 two part molding to create things that 1771 01:00:15,980 --> 01:00:18,049 get biased by another part that gets 1772 01:00:18,050 --> 01:00:19,009 put in. 1773 01:00:19,010 --> 01:00:20,629 But that's sort of like interesting 1774 01:00:20,630 --> 01:00:22,429 theoretical soft robotics that currently 1775 01:00:22,430 --> 01:00:23,389 doesn't pay the bills. 1776 01:00:23,390 --> 01:00:24,390 So. 1777 01:00:26,800 --> 01:00:28,479 OK, again, thank you very much for your 1778 01:00:28,480 --> 01:00:29,649 interest, Tony. 1779 01:00:29,650 --> 01:00:30,959 We are all united.