Utilisation de polymères en mircrorobotique : capteurs et actionneurs

par Chia-ju Peng

Projet de thèse en Robotique

Sous la direction de Luc Chassagne et de Barthélemy Cagneau.

Thèses en préparation à Paris Saclay en cotutelle avec NATIONAL CENTRAL UNIVERSITY - NCU , dans le cadre de École doctorale Sciences et technologies de l'information et de la communication (Orsay, Essonne) , en partenariat avec LISV - Laboratoire d'Ingénierie des Systèmes de Versailles (laboratoire) et de Université de Versailles-Saint-Quentin-en-Yvelines (établissement de préparation de la thèse) depuis le 01-11-2016 .

  • Titre traduit

    Sensing and actuation with interpenetrated polymers, application in microrobotics


  • Résumé

    This PhD proposal concerns the design of tools dedicated to robotic tasks and more specifically to microrobotics. At this scale, one scientific challenge is the design and the control of specific tools to realize complex tasks like grasping and manipulation. Several systems are now available with the development of MEMS based techniques. Hereafter, we detail how Interpenetrated Polymers Network (IPN) could be an alternative to MEMS or at least complementary to this technique. In 2015, the MicroTIP project was granted for 5 years by the ANR. It involves 3 academic partners (UVSQ/LISV, Cergy/LPPI, Lille/IEMN). In MicroTIP, we are interested on the use of specific IPN. These IPN can be indeed used for both sensing and actuation. On one hand, they can be bended when applying a voltage to their electrodes. On the other hand, a voltage is measured when the polymer is deformed with an external mechanical stimulus. The IPN is thus a perfect candidate to be embedded in a system that requires both actuating and sensing capabilities. However, the ratio between the voltage required for the actuator (~1-5 V) and the sensor (~10^-6 V) is very high. We need to anticipate for a dedicated electronics in order to use the two modes. Moreover, the fabrication process of IPN allows for complex and flexible structures design. Therefore, new tools dedicated to microrobotics may be proposed. Another scientific challenge is the control of such complex structures. We would like to propose innovative interfaces so that a user can easily control the structure and be assisted to perform the required task. Here, the candidate will first investigate what techniques could be used (like virtual reality, haptics, brain waves,…) and adapt them to propose a first demonstrator with IPN in microrobotics.