Le Gall, Alexia (Scuola Superiore Sant’Anna), Franchi de' Cavalieri, Mattia (Scuola Superiore Sant’Anna), Cianchetti, Matteo (Scuola Superiore Sant'Anna)

A Multiphysics Model for Phase Change Actuation in Soft Robotics: Towards Untethered and Responsive Soft Robots

Scheduled for presentation during the Invited Session "Design and control coupling in deformable mechatronic and robotic systems for physical interactions with humans" (WeAT3), Wednesday, July 16, 2025, 10:40−11:00, Room 107

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

This paper presents a multi-physics model for phase-change-driven actuation in soft robotics, focusing on untethered systems that autonomously generate pressure through liquid evaporation. The model integrates electrothermal, thermo-fluidic, and mechanical domains, coupling Peltier-based heating, vapor generation, and soft material deformation. By operating in a pre-boiling regime, the approach minimizes thermal gradients, enhances responsiveness, and reduces energy consumption. The governing equations are integrated into a multi-physic model, providing an innovative tool for designing efficient, safe, and controllable actuators with applications in robotics, biomedical devices, and adaptive materials.