Barrett

Barrett, The Honors College at Arizona State University proudly showcases the work of undergraduate honors students by sharing this collection exclusively with the ASU community.

Barrett accepts high performing, academically engaged undergraduate students and works with them in collaboration with all of the other academic units at Arizona State University. All Barrett students complete a thesis or creative project which is an opportunity to explore an intellectual interest and produce an original piece of scholarly research. The thesis or creative project is supervised and defended in front of a faculty committee. Students are able to engage with professors who are nationally recognized in their fields and committed to working with honors students. Completing a Barrett thesis or creative project is an opportunity for undergraduate honors students to contribute to the ASU academic community in a meaningful way.

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A Supernumerary Wearable Soft Robotic Arm for Task Execution Assistance

Description
This thesis proposes the concept of soft robotic supernumerary limbs to assist the wearer in the execution of tasks, whether it be to share loads or replace an assistant. These controllable extra arms are made using soft robotics to reduce the weight and cost of the device, and are not…

This thesis proposes the concept of soft robotic supernumerary limbs to assist the wearer in the execution of tasks, whether it be to share loads or replace an assistant. These controllable extra arms are made using soft robotics to reduce the weight and cost of the device, and are not limited in size and location to the user's arm as with exoskeletal devices. Soft robotics differ from traditional robotics in that they are made using soft materials such as silicone elastomers rather than hard materials such as metals or plastics. This thesis presents the design, fabrication, and testing of the arm, including the joints and the actuators to move them, as well as the design and fabrication of the human-body interface to unite man and machine. This prototype utilizes two types of pneumatically-driven actuators, pneumatic artificial muscles and fiber-reinforced actuators, to actuate the elbow and shoulder joints, respectively. The robotic limb is mounted at the waist on a backpack frame to avoid interfering with the wearer's biological arm. Through testing and evaluation, this prototype device proves the feasibility of soft supernumerary limbs, and opens up opportunities for further development into the field.
ContributorsOlson, Weston Roscoe (Author) / Polygerinos, Panagiotis (Thesis director) / Zhang, Wenlong (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05

Design and Fabrication of Soft Robotic Nautilus

Description
The field of soft robotics is a very quickly growing field that has yet to be fully explored or implemented in all of the possible applications. Soft robotics shows the greatest degree of possibility for mimicking biological systems effectively and accurately. This study seeks to set the groundwork for the…

The field of soft robotics is a very quickly growing field that has yet to be fully explored or implemented in all of the possible applications. Soft robotics shows the greatest degree of possibility for mimicking biological systems effectively and accurately. This study seeks to set the groundwork for the development of a biomimetic nautilus using soft robotic methods. The study shows background research and discusses the methods used to develop a nautilus themed sub aquatic robot that uses a double bladder system and a pump to generate thrust for movement. The study shows how the unit would be fabricated and constructed. The study also explores why the second stage of the design failed and how it could potentially be fixed in future iterations.
ContributorsCarlson, Caleb Elijah (Author) / Polygerinos, Panagiotis (Thesis director) / Parsey, John (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
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Design of Soft Robotic Grippers for Dexterous Manipulation in the Tasks of Daily Living

Description
This honors thesis project aims to design and develop the ideal design for a soft robotic grasper used in combination with a robotic supernumerary limb design for impaired individuals (i.e. a wearable robotic limb that branches out of the body), to help accomplish the tasks of daily living. Observations of…

This honors thesis project aims to design and develop the ideal design for a soft robotic grasper used in combination with a robotic supernumerary limb design for impaired individuals (i.e. a wearable robotic limb that branches out of the body), to help accomplish the tasks of daily living. Observations of current grasper solutions for similar applications has led to a design that incorporates a soft, pneumatically controlled grasper which integrates with the existing limb. Computational models of the grasper design have been created which demonstrate the grasping capabilities of this proposal. Initial prototypes of this grasper approach have been fabricated for testing and analyses purposes to build a foundation for future implementation.
ContributorsThalman, Carly Megan (Author) / Polygerinos, Panagiotis (Thesis director) / Lande, Micah (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12