People
Dr. Armin Jamali

Dr. Armin Jamali

Demonstrators

Faculty of Engineering | Department of Microsystems Engineering
University of Freiburg

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