Carmel Majidi

• Carnegie Mellon University

The global prevalence of hypertension affects billions of individuals, yet only 21% of those impacted manage their condition. Although commercial non‐clinical blood pressure monitoring devices are available, they are bulky and inconvenient, so they are incapable of continuous and long‐term monitoring. Consequently, these devices are not appropriate...

Soft robotics offers the opportunity to create dexterous machines that can safely handle delicate objects. Grippers made from deformable actuators and compliant materials can deform around the objects with which they come in contact. The continuum mechanics of flexible manipulators can be leveraged for safe manipulation tasks such as twisting and g...

We present a framework for simulating fluid-robot multiphysics as a single, unified optimization problem. The coupled manipulator and incompressible Navier-Stokes equations governing the robot and fluid dynamics are derived together from a single Lagrangian using the principal of least action. We then employ discrete variational mechanics to derive...

Multimaterial 3D printing enables the integration of materials with vastly different mechanical properties. Yet, in practice, existing multimaterial 3D printing methods are often constrained in the range of achievable properties within a single print, necessitating continued reliance on manual assembly for several applications such as soft robotics...

Soft robots, made from flexible materials, offer excellent shock absorption and recovery but remain vulnerable to cuts and punctures. To address this limitation, research on self-healing materials has gained significant attention. This paper systematically classifies key components of self-healing soft robots, focusing on self-healing polymers and...

Smart textiles have emerged as a promising alternative to printed circuit boards (PCBs) for electronics that are flexible, lightweight, and stretchable. However, many existing solutions fall short of providing sufficient...

Intelligent digital apparel, which integrates electronic functionalities into clothing, represents the future of healthcare and ubiquitous control in wearable devices. Realizing such apparel necessitates developing meter-scale conductive fibers with high toughness, conductivity, stable conductance under deformation, and mechanical durability. In th...

Soft dielectric elastomers that can exhibit extremely large deformations under the action of an electric field enable applications such as soft robotics, biomedical devices, energy harvesting among others. A key impediment in the use of dielectric elastomers is failure through instability mechanisms or dielectric breakdown. In this work, using a gr...

Soft dielectric elastomers that can exhibit extremely large deformations under the action of an electric field enable applications such as soft robotics, biomedical devices, energy harvesting among others. A key impediment in the use of dielectric elastomers is failure through instability mechanisms or dielectric breakdown. In this work, using a gr...

Most walking organisms tend to have relatively light limbs and heavy bodies in order to facilitate rapid limb motion. However, the limbs of brittle stars (Class Ophiuroidea) are primarily comprised of dense skeletal elements, with potentially much higher mass and density compared to the body disk. To date, little is understood about how the relativ...

Combining droplets of liquid metal (LM) with nanomaterials often introduces synergistic thermal or electrical properties that are not found in the constituent materials alone. However, in these existing systems, LM droplets maintain a statistically uniform dispersion and are not capable of self-assembly or aggregation. These composites are limited...

Despite advances in soft, sticker_like electronics, few efforts have dealt with the challenge of electronic waste. Here, this is addressed by introducing an eco friendly conductive ink for thin_film circuitry composed of silver flakes and a water_based polyurethane dispersion. This ink uniquely combines high electrical conductivity (1.6 x 105 S m_1...

Energy storage devices with liquid_metal electrodes have attracted interest in recent years due to their potential for mechanical resilience, self_healing, dendrite_free operation, and fast reaction kinetics. Gallium alloys like Eutectic Gallium Indium (EGaIn) are appealing due to their low melting point and high theoretical specific capacity. Howe...

Compliant mechanisms with reconfigurable degrees of freedom are gaining attention in the development of kinesthetic haptic devices, robotic systems, and mechanical metamaterials. However, available devices exhibit limited programmability and form-customizability, restricting their versatility. To address this gap, we propose a metastructure concept...

Dielectric elastomers have significant potential for new technologies ranging from soft robots to biomedical devices, driven by their ability to display complex shape changes in response to electrical stimulus. However, an important shortcoming of current realizations is that large voltages are required for useful actuation strains. This work propo...

Electrically conductive hydrogels are a promising class of materials for soft electronics and robotics that mimic the mechanics of natural biological tissue. However, these materials are typically derived from petrochemical sources and their production typically involves hazardous solvents and monomers that limit accessibility and environmental com...

Ensuring safety via safety filters in real-world robotics presents significant challenges, particularly when the system dynamics is complex or unavailable. To handle this issue, learning-based safety filters recently gained popularity, which can be classified as model-based and model-free methods. Existing model-based approaches requires various as...

Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living (ADLs). Speech interfaces, especially ones that utilize Large Language Models (LLMs), can enable individuals to effectiv...

In contrast with jumping robots made from rigid materials, soft jumpers composed of compliant and elastically deformable materials exhibit superior impact resistance and mechanically robust functionality. However, recent efforts to create stimuli-responsive jumpers from soft materials were limited in their response speed, takeoff velocity, and trav...

Robotic tasks that require robust propulsion abilities such as jumping, ejecting or catapulting require power-amplification strategies where kinetic energy is generated from pre-stored energy. Here we report an engineered accumulated strain energy-fracture power-amplification method that is inspired by the pressurized fluidic squirting mechanism of...

As continuous wearable physiological monitoring systems become more ubiquitous in healthcare, there is an increasing need for power sources that can sustainably power wireless sensors and electronics for long durations. Wearable energy harvesting with thermoelectric generators (TEGs), in which body heat is converted to electrical energy, presents a...

Poly(vinylidene fluoride) (PVDF) shows excellent chemical and thermal resistance and displays high dielectric strength and unique piezoelectricity, which are enabling for applications in membranes, electric insulators, sensors, or power generators. However, its low polarity and lack of functional groups limit wider applications. While inert, PVDF h...

The electromechanical response of polymeric soft matter to applied electric fields is of fundamental scientific interest as well as relevant to technologies for sensing and actuation. Several existing theoretical and numerical approaches for polarizable polymers subject to a combined applied electric field and stretch are based on discrete monomer...

Actuators utilizing snap‐through instabilities are widely investigated for high‐performance fast actuators and shape reconfigurable structures owing to their rapid response and limited reliance on continuous energy input. However, prevailing approaches typically involve a combination of multiple bistable actuator units and achieving multistability...

Due to emerging demands in soft electronics, there is an increasing need for material architectures that support robust interfacing between soft substrates, stretchable electrical interconnects, and embedded rigid microelectronics chips. Though researchers have adopted rigid‐island structures to solve the issue, this approach merely shifts stress c...

Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article introduces a feedback strategy for safe soft actuator operation during control of a soft robot. To do so, a supervis...

Some animals form transient, responsive and solid-like ensembles through dynamic structural interactions. These ensembles demonstrate emergent responses such as spontaneous self-assembly, which are difficult to achieve in synthetic soft matter. Here we use shape-morphing units comprising responsive polymers to create solids that self-assemble, modu...

A morphing, biologically-derived actuator can be used with soft robotics in a marine environment. The actuator is fabricated using a modified hydrogel additive manufacturing printing process, where the printed structure is exposed to various concentrations of crosslinking initiator to ensure a water-tight seal between adjacent printed layers. The a...

High cost and lack of reliability have precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the entire area of the hand impedes the rich, low-level feedback that would improve the learning of dexterous manipulation skills. This paper introduces an inexpensive, mod...

Liquid‐metal embedded elastomers (LMEEs) have been demonstrated to show a variety of excellent properties, including high toughness, dielectric constant, and thermal conductivity, with applications across soft electronics and robotics. However, within this scope of use cases, operation in extreme environments – such as high‐temperature conditions –...

Thermal management issues in the semiconductor industry are driven by a sharp increase in power densities, and have created ever-growing concerns over the last decade. To resolve this concern, many attempts are being investigated in device packaging to extract the heat generated away and maintain the functionality of the device. Inside the package...

The transition from sessile suspension to active mobile detritus feeding in early echinoderms (c.a. 500 Mya) required sophisticated locomotion strategies. However, understanding locomotion adopted by extinct animals in the absence of trace fossils and modern analogues is extremely challenging. Here, we develop a biomimetic soft robot testbed with a...

Liquid metals, with their unique combination of electrical and mechanical properties, offer great opportunities for actuation based on surface tension modulation. Thanks to the scaling laws of surface tension, which can be electrochemically controlled at low voltages, liquid metal actuators stand out from other soft actuators for their remarkable c...

This paper builds a Near-Field Communication (NFC) based localization system that allows ordinary surfaces to locate surrounding objects with high accuracy in the near-field. While there is rich prior work on device-free localization using far-field wireless technologies, the near-field is less explored. Prior work in this space operates at extreme...

Background An objective measurement of chronic itch is necessary for improvements in patient care for numerous medical conditions. While wearables have shown promise for scratch detection, they are currently unable to estimate scratch intensity, preventing a comprehensive understanding of the effect of itch on an individual. Methods In this work,...

Physically soft magnetic materials (PSMMs) represent an emerging class of materials that can change shape or rheology in response to an external magnetic field. However, until now, no studies have investigated using an electropermanent magnet (EPM) and magnetic repulsion to magnetically deform PSMMs. Such capabilities would enable the ability to de...

Soft and stretchable electronics have diverse applications in the fields of compliant bioelectronics, textile‐integrated wearables, novel forms of mechanical sensors, electronics skins, and soft robotics. In recent years, multiple material architectures have been proposed for highly deformable circuits that can undergo large tensile strains without...

The recent popularity of soft robots for marine applications has established a need for the reliable fabrication of actuators that enable locomotion, articulation, and grasping in aquatic environments. These actuators should also reduce the negative impact on sensitive ecosystems by using biodegradable materials such as organic hydrogels. Freeform...

Soft electromagnetic devices have great potential in soft robotics and biomedical applications. However, existing soft-magneto-electrical devices would have limited hybrid functions and suffer from damaging stress concentrations, delamination or material leakage. Here, we report a hybrid magnetic-mechanical-electrical (MME) core-sheath fiber to ove...

Despite advances in soft, sticker‐like electronics, few efforts have dealt with the challenge of electronic waste. Here, this is addressed by introducing an eco‐friendly conductive ink for thin‐film circuitry composed of silver flakes and a water‐based polyurethane dispersion. This ink uniquely combines high electrical conductivity (1.6 × 10⁵ S m⁻¹...

Over the years, efforts in bioinspired soft robotics have led to mobile systems that emulate features of natural animal locomotion. This includes combining mechanisms from multiple organisms to further improve movement. In this work, we seek to improve locomotion in soft, amphibious robots by combining two independent mechanisms: sea star locomotio...

Despite the impressive performance of recent marine robots, many of their components are non‐biodegradable or even toxic and may negatively impact sensitive ecosystems. To overcome these limitations, biologically‐sourced hydrogels are a candidate material for marine robotics. Recent advances in embedded 3D printing have expanded the design freedom...

Polymer networks formed by cross linking flexible polymer chains are ubiquitous in many natural and synthetic soft-matter systems. Current micromechanics models generally do not account for excluded volume interactions except, for instance, through imposing a phenomenological incompressibility constraint at the continuum scale. This work aims to ex...

Polymer networks formed by cross linking flexible polymer chains are ubiquitous in many natural and synthetic soft-matter systems. Current micromechanics models generally do not account for excluded volume interactions except, for instance, through imposing a phenomenological incompressibility constraint at the continuum scale. This work aims to ex...

Suspending microscale droplets of liquid metals like eutectic gallium-indium (EGaIn) in polydimethylsiloxane (PDMS) has been shown to dramatically enhance electrical permittivity without sacrificing the elasticity of the host PDMS matrix. However, increasing the dielectric constant of EGaIn-PDMS composites beyond previously reported values requires...

Liquid crystal elastomers (LCEs) have grown in popularity in recent years as a stimuli-responsive material for soft actuators and shape reconfigurable structures. To make these material systems electrically responsive, they must be integrated with soft conductive materials that match the compliance and deformability of the LCE. This study introduce...

Kirigami, a traditional paper‐cutting art, is a promising method for creating mechanically robust circuitry for unconventional devices capable of extreme stretchability through structural deformation. In this study, this design approach is expanded upon by introducing Liquid Metal based Elastic Kirigami Electrodes (LM‐eKE) in which kirigami‐pattern...

Development of soft and compliant actuators has attracted tremendous attention due to their use in soft robotics, wearables, haptics, and assistive devices. Despite decades of progress, the goal of entirely digitally‐printed actuators has yet to be fully demonstrated. Digital printing permits rapid customization of the actuator's geometry, size, an...

Liquid metal embedded elastomers (LMEEs) are highly stretchable composites comprising microscopic droplets of eutectic gallium‐indium (EGaIn) liquid metal embedded in a soft rubber matrix. They have a unique combination of mechanical, electrical, and thermal properties that make them attractive for potential applications in flexible electronics, th...

Liquid crystal elastomers (LCEs) are becoming increasingly popular as a shape memory material for soft robot actuators that operate in a contractile or flexural mode. There have been previously studies on the use of LCEs for reversible changes in surface topography. However, surface protrusions have typically been limited to the order of 1 μm or de...

Self-healing hydrogels use spontaneous intermolecular forces to recover from physical damage caused by extreme strain, pressure or tearing. Such materials are of potential use in soft robotics and tissue engineering, but they have relatively low electrical conductivity, which limits their application in stretchable and mechanically robust circuits....

Soft materials that exhibit the compliance, programmability, and reconfigurability could have transformative impact as electronic skin for applications in wearable electronics/soft robotics. There has been significant progress in soft conductive materials; however, achieving electrically‐controlled and reversible changes in conductivity and circuit...

Magnetically actuated miniature machines can perform multimodal locomotion and programmable deformations. However, they are either solid magnetic elastomers with limited morphological adapt ability or liquid material systems with low mechanical strength. Here, we report magnetoactive phase transitional matter (MPTM) composed of magnetic neodymium-i...

Multichamber soft pneumatic actuators (m‐SPAs) are widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m‐SPAs have slow actuation speed and are either limited by a finite air supply or require energy‐consuming hardware to continuously supply compressed air. Herein, these shortcomings by introducing an...

Soft Robots In article number 2201259, Dinesh K. Patel, Xiaonan Huang, Lining Yao, Carmel Majidi, and co‐workers present highly dynamic, robust, and fast‐responding bistable actuators for use in soft robotics. These actuators use 3D printed soft materials and shape memory alloy for rapid motions with 1 Hz frequency. They enable the creation of reco...

The McKibben pneumatic artificial muscle is a commonly studied soft robotic actuator, and its quasistatic force-length properties have been well characterized and modeled. However, its damping and force-velocity properties are less well studied. Understanding these properties will allow for more robust dynamic modeling of soft robotic systems. The...

Stretchable electronics is playing an integral role in fields such as wearable electronics and soft robots. Among soft conductive materials, liquid metal is drawing intense attention as an electrode material due to its liquid nature at room temperature. However, the merits of liquid metal conductor are limited by the presence of substrates or enclo...

Miniature magnetic soft machines could significantly impact minimally invasive robotics and biomedical applications. However, most soft machines are limited to solid magnetic materials, whereas further progress also relies on fluidic constructs obtained by reconfiguring liquid magnetic materials, such as ferrofluid. Here we show how harnessing the...

Liquid metal embedded elastomers (LMEEs) are composed of a soft polymer matrix embedded with droplets of metal alloys that are liquid at room temperature. These soft matter composites exhibit exceptional combinations of elastic, electrical, and thermal properties that make them uniquely suited for applications in flexible electronics, soft robotics...

Matching the rich multimodality of natural organisms, i.e., the ability to transition between crawling and swimming, walking and jumping, etc., represents a grand challenge in the fields of soft and bio‐inspired robotics. Here, a multimodal soft robot locomotion using highly compact and dynamic bistable soft actuators is achieved. These actuators a...

Shape memory materials such as liquid crystal elastomers (LCE) have been explored as soft robotic actuators due to their high mechanical robustness and muscle-like work densities. The main drawback of LCEs is slow response times and low energy efficiencies stemming from poor thermal management. Thermoelectric devices (TED), which generate temperatu...

High cost and lack of reliability has precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the entire area of the hand impedes the rich, low-level feedback that would improve learning of dexterous manipulation skills. This paper introduces an inexpensive, modular,...

Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental visibility that makes camera-based methods ineffective. Popular inertial navigation methods for underwater lo...

Multi-chamber soft pneumatic actuators (m-SPAs) have been widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m-SPAs have slow actuation speed and are either limited by a finite air supply or require energy-consuming hardware to continuously supply compressed air. Here, we address these shortcomings b...

Legged robots constructed from soft materials are commonly claimed to demonstrate safer, more robust environmental interactions than their rigid counterparts. However, this motivating feature of soft robots requires more rigorous development for comparison to rigid locomotion. This article presents a soft legged robot platform, Horton, and a feedba...