Material Detail

This university-level open learning module provides a rigorous theoretical and computational foundation in Soft Robotics and Bio-Inspired Systems. The module contrasts classical rigid-body kinematics with continuous distributed material deformation, covering key analytical and emerging computational frameworks:

• Continuum Mechanics Foundations: Engineering strain, Cauchy stress tensors, and elastic compliance differences between structural metals and elastomeric polymers.

• Nonlinear Hyperelastic Formulations: Strain energy density functions via the two-parameter Mooney-Rivlin model and neo-Hookean approximations for high-strain deformation regimes.

• Continuum Kinematics: The Piecewise Constant Curvature (PCC) assumption, curvilinear arc-length mappings, and spatial transformation derivations.

• Actuation & Biomimetics: Operating physics of Pneumatic Networks (Pneu-Nets), Dielectric Elastomer Actuators (DEAs), Shape Memory Alloys (SMAs), undulatory traveling harmonic wave locomotion, and passive structural compliance for safe physical human-robot interaction (HRI).

• 2026 AI-Era Computational Paradigms: Physics-Informed Neural Networks (PINNs) regularized with momentum balance PDEs, and Fourier Neural Operators (FNOs) for real-time inference and model predictive control of infinite-degree-of-freedom continuum bodies.

Pedagogical components include 10 conceptual review questions, 12 thought-provoking analytical problems, and 12 fully worked step-by-step numerical engineering derivations.

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