Charbel Dalely Tawk

Charbel Dalely Tawk
University of Wollongong | UOW

PhD in Soft Robotics

About

27
Publications
5,048
Reads
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546
Citations
Introduction
I am Charbel Tawk, a Mechanical and Robotics Engineer who graduated with high distinction from the Lebanese American University in 2016 with a B.E. in Mechanical Engineering and in 2019 from the University of Wollongong Australia with a Ph.D. in Soft Robotics. My current research interests include soft and smart 3D printed actuators and sensors, soft and smart prosthetic hands, wearable soft robotic devices and soft human-machine interfaces. During my Ph.D. I developed novel 3D printable soft and smart actuators and sensors which can be used in diverse soft robotic applications including soft prosthetic hands, locomotion robots, artificial muscles, soft adaptive grippers, parallel manipulators, haptic devices, virtual reality gloves, and human-machine soft interfaces.
Additional affiliations
September 2019 - March 2020
University of Wollongong
Position
  • Engineer
August 2016 - August 2019
University of Wollongong
Position
  • Engineer
Description
  • Developed novel 3D printable soft and smart actuators and sensors which can be used in soft prosthetic hands, human-machine interfaces and soft robots.
December 2015 - July 2016
Lebanese American University
Position
  • Research Assistant
Description
  • Optimised the manufacturing procedures of Ionic Polymer-Metal Composites (IPMCs) hair-like transducers that can be used as artificial inner hair cells in the cochlea.
Education
August 2016 - August 2019
University of Wollongong
Field of study
  • Soft Robotics | Mechanical Engineering
September 2011 - December 2015
Lebanese American University
Field of study
  • Mechanical Engineering

Publications

Publications (27)
Article
Continued technological progress in robotic systems has led to more applications where robots and humans operate in close proximity and even physical contact in some cases. Soft robots, which are made of highly compliant and deformable materials, provide inherent safety features unlike conventional robots that are made of stiff and rigid components...
Article
Conventional robotic systems have proved their versatility in the industry where complex tasks requiring high force, high speed and high precision are desired. However, these rigid-bodied systems cannot collaborate safely with humans. Soft robots which are primarily made of highly compliant materials bring robots and humans together by operating sa...
Article
Numerous soft grippers have been developed based on smart materials, pneumatic soft actuators, and underactuated compliant structures. In this article, we present a three-dimensional (3-D) printed omni-purpose soft gripper (OPSOG) that can grasp a wide variety of objects with different weights, sizes, shapes, textures, and stiffnesses. The soft gri...
Article
This paper presents a directly 3D printed soft monolithic robotic finger with embedded soft pneumatic sensing chambers (PSC) as position and touch sensors. The monolithic finger was fabricated using a low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft and flexible commercially available thermoplas...
Article
Full-text available
The soft robotics field is changing the way people think, build, interact, and most importantly perceive robots. Robots have long been perceived as machines made of metals that their sole purpose is to perform repetitive tasks in isolated environments. Herein, the recently developed soft pneumatic actuators and sensors that are fabricated using add...
Article
Full-text available
Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumat...
Article
In this study, a three-dimensional (3D) printed soft robotic hand with embedded soft sensors, intended for prosthetic applications is designed and developed to efficiently operate with new-generation myoelectric control systems, e.g., pattern recognition control and simultaneous proportional control. The mechanical structure of the whole hand ('ACE...
Article
Full-text available
A single universal robotic gripper with the capacity to fulfill a wide variety of gripping and grasping tasks has always been desirable. A three-dimensional (3D) printed modular soft gripper with highly conformal soft fingers that are composed of positive pressure soft pneumatic actuators along with a mechanical metamaterial was developed. The fing...
Chapter
Soft actuators are one of the primary and critical components of a soft robot. Soft robots demand dexterous, fast, and reversible soft actuators that must be able to contract, extend, bend, and/or twist with favorable performance while delivering sufficient output forces. Pneumatic soft actuators are one of the most used types of soft actuators for...
Article
Full-text available
Soft pneumatic actuators are usually fabricated using molding and casting techniques with silicone rubbers, which requires intensive manual labour and limits repeatability and design flexibility for complex geometries. This article presents the design and direct 3D-printing of novel omnidirectional soft pneumatic actuators using stereolithography (...
Article
This work reports on a soft gripper with three-dimensional (3D) printed soft monolithic fingers that seamlessly incorporate pneumatic touch sensing chambers (pTSCs) for real-time pressure/force control to grasp objects with varying stiffness (i.e., soft, compliant, and rigid objects). The fingers of the soft gripper were 3D printed simultaneously a...
Article
Wearable technologies offer the opportunity to record human physiological signals in real time, in a noninvasive way, and the data can be used to aid in the early detection of abnormal health conditions. Here, we demonstrate how the interconnected porosity can be used to increase the sensitivity and linearity of capacitive pressure sensors. The fin...
Article
Full-text available
The modeling of soft structures, actuators, and sensors is challenging, primarily due to the high nonlinearities involved in such soft robotic systems. Finite element modeling (FEM) is an effective technique to represent soft and deformable robotic systems containing geometric nonlinearities due to large mechanical deformations, material nonlineari...
Conference Paper
This work reports on soft pneumatic bending sensing chambers that are directly 3D printed without requiring any support material and postprocessing using a low-cost and open-source fused deposition modeling (FDM) 3D printer and a commercially available soft thermoplastic polyurethane (TPU). These bending sensing chambers have multiple advantages in...
Conference Paper
In this work, a 3D printed modular soft gripper with highly conformal soft fingers was developed. A soft auxetic structure with compliant ribs is 3D printed simultaneously with each soft pneumatic finger for conformal grasping. The fingers of the soft gripper were printed monolithically, without requiring support material and postprocessing, using...
Conference Paper
Rehabilitation robotics is one of the major sub-fields in robotics that is growing rapidly. Neurological disorders such as stroke reduce the strength of muscles and the sensation of limbs of a stroke survivor. Biofeedback systems play a significant role in improving neuroplasticity in the rehabilitation process of neurological patients by providing...
Article
Highly sensitive, flexible sensors that can be manufactured with minimum environmental footprint and be seamlessly integrated in wearable devices are required for real-time tracking of complex human movement, gestures and health conditions. This study reports on how biodegradation can be used to enhance the sensitivity and electromechanical perform...
Article
Soft robots require seamless integration with sensors and actuators that are simple to manufacture at scale with low cost and minimum footprint. The sensor materials must be highly reliable, sensitive, and stable, and their mechanical features should match the sensing requirements of soft robots such as minimal response time and nonlinearity of hys...
Conference Paper
The recent advances in material science and engineering disciplines have had a significant impact on the robotics field where numerous bioinspired soft robots have been developed. Roboticists can now develop and fabricate soft robotic systems made of materials with low elasticity using additive manufacturing technologies. One of the most studied cl...
Conference Paper
Soft robots which are made of highly deformable materials are ideal to operate in unstructured environments and to interact safely with humans. This work presents directly 3D printed linear soft vacuum actuators (LSOVA), that are manufactured in a single step without requiring any post-processing and support material, using a low-cost and open-sour...
Conference Paper
Stroke is a worldwide health problem causing loss of sensory and motor functions. Biofeedback plays a significant role in the rehabilitation process of stroke patients where various haptic feedback methods and devices are used. Such methods and devices can greatly improve the biofeedback provided during the rehabilitation process. This work propose...
Article
Full-text available
Soft robots are ideal to interact safely alongside humans compared to rigid‐bodied robots. These robots require robust soft sensors that can sustain large deformations. This work presents novel soft pneumatic sensing chambers (SPSC) that can be directly 3D printed using a low‐cost 3D printer and an off‐the‐shelf thermoplastic poly(urethane) (TPU)....
Article
Ultra-stretchable sensors are highly desirable for wearable electronic applications. In this paper, we manufactured self-standing piezoresistive sensors using a simple method based on blending multiwall carbon nanotubes (MWCNTs) with a stretchable elastomeric matrix (Ecoflex). The sensors showed a low electrical percolation threshold of 0.3 wt%, wi...
Conference Paper
Ionic Polymer Metal Composites (IPMCs) are known to be compliant, reliable and able to produce a large current when deformed under a wide range of frequencies. In a previous study, our group demonstrated that cylindrical IPMC hair-like transducers can be used as mechano-electrical sensors. In this paper we characterize the sensing performance of th...

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Projects

Project (1)
Project
Developing 3D Printable Soft Structures, Actuators and Sensors for Soft Robotics Applications and Soft Prosthetic Hands