Dr. Armin Jamali

Project

Demonstrator for soft autonomous machines – soft robotic low energy gripper systems with sensing capabilities based on livMatS Materials
In the livMatS soft-robotic demonstrator project, I focus on the research of designing and prototyping a soft robot that is equipped with sensing modules. It should be able to grab items and crawl on surfaces, while requiring a low amount of energy.
My aim is to produce artificial, controllable suction cups from electroactive polymers, inspired by natural structures such as the cups on an octopus tentacle, and to attach them to the robot’s soft arm. The main challenge of this project is to fully understand and then simplify the complexity of the natural example, and to imitate the mechanisms with simpler methods and a smaller number of actuators.

Project outcomes

As part of the livMatS soft robotics demonstrator, I developed a low-energy, soft robotic gripper system with integrated sensing capabilities. Inspired by octopus suction cups, the system utilized artificial suction modules based on dielectric elastomer actuators (DEAs) and was mounted on a compliant, tendon-driven soft arm. The aim was to replicate the complex suction-and-grasp functionality found in nature using simple, robust components. The project resulted in several key outcomes:

• I designed and fabricated soft DEA-based suction cups with intrinsic sensing capabilities, enabling adaptive gripping.
• In close collaboration with Dr. Comella and Mr. Lehmann, I developed stretchable, variable-stiffness printed circuit boards (S-PCBs) on soft silicone substrates, enabling integration of electronics into soft robotic systems.
• I implemented multi-stacked DEA fingers with a backbone strategy, achieving controlled bending and gripping objects.
• In collaboration with Dr. Würfel and Mr. Jiang, I contributed to the development of energy-autonomous DEA suction cups powered by high-voltage organic photovoltaic modules. My role included on the electromechanical modeling and characterization of the suction cup’s performance under solar-driven conditions, supporting the integration of sustainable energy solutions into soft robotic systems.

These results advanced the design of bioinspired, energy-efficient soft robots capable of autonomous operation and adaptive interaction with their environment.

First supervisor

Prof. Dr. Peter Woias

Publications in livMatS

• Organic photovoltaic mini-module providing more than 5000 V for energy autonomy of dielectric elastomer actuators*
  Jiang, E., Jamali, A., List, M., Mishra, D., Sheikholeslami, S., Goldschmidtboeing, F., Woias, P., Baretzky, C., Fischer, O., Zimmermann, B., Glunz, S., Würfel, U. (2025): Organic photovoltaic mini-module providing more than 5000 V for energy autonomy of dielectric elastomer actuators. Nat Commun 16, 2048. https://doi.org/10.1038/s41467-025-57226-6
• Stretchable printed circuit boards using a silicone substrate of variable stiffness and conventional PCB fabrication methods*
  Jamali, A., Lehmann, C., Aditya, R. T., Goldschmidtboeing, F., Woias, P. & Comella, L. M. (2024). Stretchable printed circuit boards using a silicone substrate of variable stiffness and conventional PCB fabrication methods. Flex. Print. Electron., 9, 045005. doi: 10.1088/2058-8585/ad8242
• Soft octopus-inspired suction cups using dielectric elastomer actuators with sensing capabilities*
  Jamali, A., A., Mishra, D. B., Goldschmidtboeing, F., & Woias, P. (2024). Soft octopus-inspired suction cups using dielectric elastomer actuators with sensing capabilities. Bioinspiration & Biomimetics, 19(3), 036009. doi: 10.1088/1748-3190/ad3266
• Exploiting Stiff PDMS Islands to Enhance Stretchable Printed Circuit Boards*
  Lehmann, C., Jamali, A., Prakash, K. S., Agbozo, S. W., & Comella, L. M. (2024). Exploiting Stiff PDMS Islands to Enhance Stretchable Printed Circuit Boards. 2024 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS), 1–4. doi: 10.1109/FLEPS61194.2024.10603583
• Over 1000 V DC Voltage from Organic Solar Mini-Modules*
  Jiang, E., List, M., Jamali, A., Würfel, U. (2024): Over 1000 V DC Voltage from Organic Solar Mini-Modules (2024). ACS Energy Letters 2024, 9, 908-910. doi: 10.1021/acsenergylett.3c02770
• Soft Electroactive Suction Cup with Dielectric Elastomer Actuators for Soft Robotics*
  Jamali, A., Mishra, D. B., Sriperumbuduri, P., Knoerlein, R., Goldschmidtboeing, F., & Woias, P. (2023). Soft Electroactive Suction Cup with Dielectric Elastomer Actuators for Soft Robotics. In F. Meder, A. Hunt, L. Margheri, A. Mura, & B. Mazzolai (Eds.), Biomimetic and Biohybrid Systems (pp. 173–183). doi: 10.1007/978-3-031-38857-6_14
• A mini organic solar module with an open-circuit voltage higher than 1100 V under indoor light*
  Jiang, E., Jamali A., List, M., & Würfel, U. (2023). A mini organic solar module with an open-circuit voltage higher than 1100 V under indoor light. Materials for Sustainable Development Conference (MATSUS). doi: 10.29363/nanoge.matsus.2023.218
• Development of a scalable soft finger gripper for soft robots*
  Jamali A., Knoerlein, R., Goldschmidtboeing, F., & Woias, P. (2022). Development of a scalable soft finger gripper for soft robots. 2022 Solid-State, Actuators, and Microsystems Workshop Technical Digest 352–355. doi: 10.31438/trf.hh2022.88
• Development and Characterization of a Soft Bending Actuator*
  Jamali, A., Knoerlein, R., Goldschmidtboeing, F., & Woias, P. (2022). Development and Characterization of a Soft Bending Actuator. In A. Hunt, V. Vouloutsi, K. Moses, R. Quinn, A. Mura, T. Prescott, & P. F. M. J. Verschure (Eds.), Biomimetic and Biohybrid Systems (pp. 152–156), Springer International Publishing. doi: 10.1007/978-3-031-20470-8_16