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HSA Systems (Handed Shearing Auxetics)

This section covers soft robots based on Handed Shearing Auxetics (HSA), which exhibit unique mechanical properties through auxetic material structures.

Overview

HSA systems model soft robots that use handed shearing auxetics - materials that exhibit negative Poisson's ratio. These robots have unique deformation characteristics:

  • Auxetic material properties for specialized deformation
  • Combined bending and twisting motions
  • High load capacity relative to weight
  • Novel actuation mechanisms

Available Systems

Planar HSA

Planar HSA soft robots with symbolic computation.

  • Piecewise constant strain with symbolic Cosserat rod model
  • Support for hysteresis modeling via Bouc-Wen model
  • Precompiled lambda functions for efficient evaluation
  • Multiple physical rods per segment

Key Features

  • Symbolic Derivation: Uses SymPy for symbolic computation of kinematics and dynamics
  • Hysteresis Support: Optional Bouc-Wen hysteresis model for accurate material behavior
  • Multi-Rod Segments: Multiple physical rods per virtual backbone segment
  • Platform Modeling: Includes platform kinematics between segments

When to Use

System Use Case
PlanarHSA HSA-based soft robots, auxetic material research, planar HSA platforms

References

The planar HSA model is part of the publication:

Stölzle, M., Rus, D., & Della Santina, C. (2024). An experimental study of model-based control for planar handed shearing auxetics robots. In Experimental Robotics: The 18th International Symposium (pp. 153–167). Springer. doi:10.1007/978-3-031-63596-0_14

See the citation guide for BibTeX and guidance on when to include this additional reference.