Dr Akif Kaynak received his BSc degree from the University of Manchester in UK, MSc degree from Rutgers State University of New Jersey, USA and PhD degree from the University of Technology, Sydney (UTS). After receiving his PhD in 1994, he was employed as a lecturer in the department of Engineering Sciences, Middle East Technical University (METU) then as a Research Fellow in Queensland University of Technology (QUT) before joining Deakin in 2001. His research interests are polymer coatings, conducting polymers, functional textiles, sensors, actuators and soft robotics. He is a co-inventor in a patent on conducting polymer coated wool. He has more than 150 publications, including edited books and book chapters. Subjects he teaches include physics, statics, dynamics, stress analysis, structural design, fibre science and materials science.
A new type of soft actuator was developed by using hydrogel materials and three-dimensional (3D) ... more A new type of soft actuator was developed by using hydrogel materials and three-dimensional (3D) printing technology, attracting the attention of researchers in the soft robotics field. Due to parametric uncertainties of such actuators, which originate in both a custom design nature of 3D printing as well as time and voltage variant characteristics of polyelectrolyte actuators, a sophisticated model to estimate their behaviour is required. This paper presents a practical modeling approach for the deflection of a 3D printed soft actuator. The suggested model is composed of electrical and mechanical dynamic models while the earlier version describes the actuator as a resistive-capacitive (RC) circuit. The latter model relates the ionic charges to the bending of an actuator. The experimental results were acquired to estimate the transfer function parameters of the developed model incorporating Takagi-Sugeno (T-S) fuzzy sets. The proposed model was successful in estimating the end-point...
Conducting polymer-coated textiles possess a wide range of electrical properties. The surface res... more Conducting polymer-coated textiles possess a wide range of electrical properties. The surface resistivity is influenced by concentrations of the reactants, the thickness of the coating, the nature of the substrate surface, the extent of penetration of the polymer into the textile structure, and the strength of the binding of the coating to the textile surface. Low resistivity in fabric results from highly doped thicker coatings that penetrate well into the textile structure, thus enabling good electrical contact between fibers. Microwave studies showed that conductive textiles are not highly effective as electromagnetic shielding materials owing to their medium-level conductivity and therefore large skin depth. Combined with the fact that coatings are around 1 μm thick, they cannot act as effective reflective barriers to electromagnetic radiation. However, because they are highly absorptive in the microwave region, absorbing materials can be designed in conjunction with conductive textiles. Study of Fourier transform-infrared spectra of aged polypyrrole films has shown an increase in intensity of an α,β-unsaturated conjugated carbonyl peak that may be linked to the increase in resistance but cannot be the only factor, because the rate of electrical decay was influenced by several factors such as temperature, the type and concentration of the dopant, and the aging time, all of which signify a complex mechanism of degradation of conductivity. Degradation is a major concern for conductive textile systems that needs to be characterized before considering these materials for potential applications.
A compliant three-dimensional (3D)-printed soft gripper is designed based on the bioinspired spir... more A compliant three-dimensional (3D)-printed soft gripper is designed based on the bioinspired spiral spring in this study. The soft gripper is then 3D-printed using a suitable thermoplastic filament material to deliver the desired performance. The sensorless mechanism introduced in this study provides adequate compliance with a single linear actuator for interacting with delicate objects, such as manipulation of human biological materials and fruit picking. The kinematic and dynamic models of the monolithic gripper are derived analytically as well as by means of finite element analysis to synthesize its functionality. The fabricated gripper module is installed on a robot arm to demonstrate the efficacy of design for picking and placing fruits without damaging them. The presented mechanism could be customized and used in the medical and agricultural sectors with diverse geometry objects.
Nanocellulose is of great interest in material science nowadays mainly because of its hydrophilic... more Nanocellulose is of great interest in material science nowadays mainly because of its hydrophilic, renewable, biodegradable, and biocompatible nature, as well as its excellent mechanical strength and tailorable surface ready for modification. Currently, nanocellulose is attracting attention to overcome the current challenges of dynamic hydrogels: robustness, autonomous self-healing, and self-recovery (SELF) properties simultaneously occurring in one system. In this regard, this review aims to explore current advances in design and fabrication of dynamic nanocellulose hydrogels and elucidate how incorporating nanocellulose with dynamic motifs simultaneously improves both SELF and robustness of hydrogels. Finally, current challenges and prospects of dynamic nanocellulose hydrogels are discussed.
Abstract With increasing utilization of robots in daily tasks, especially in biomedical and envir... more Abstract With increasing utilization of robots in daily tasks, especially in biomedical and environmental monitoring applications, there would be demands for soft, biodegradable, or even edible actuators that provide more versatility than conventional rigid materials (e.g., metals and plastics). Polyelectrolyte hydrogels produce mechanical motion in response to electrical stimulus, making them good candidates for implementation of soft actuators. However, their conventional fabrication process has so far hindered their applicability in a broad range of controlled folding behaviors. A novel application of 3D printing in biodegradable and biocompatible soft robots is presented in this study. It is observed that the contactless electroactive polyelectrolyte structures demonstrate reversible bending through polarity changes of electrodes. Edible gelatin and chitosan hydrogels are chosen as potential candidates of polyelectrolyte actuators. Actuation of 3D printed chitosan and its performance are compared with...
Due to the growing interest in three-dimensional (3D) printed soft actuators, the establishment o... more Due to the growing interest in three-dimensional (3D) printed soft actuators, the establishment of an appropriate mathematical model that could effectively predict the actuators' dynamic behavior has become necessary. This study presents the development of an effective modeling strategy for the dynamic analysis of a 3D printed polyelectrolyte actuator undergoing large bending deformations. The proposed model is composed of two parts, namely electrical and mechanical dynamic models. The electrical model describes the actuator as a gray box model, whereas the mechanical model relates the stored charges to the bending displacement through considering the printed actuator as a discretized system connected by spring-damping elements. The experimental results verified the accuracy of the proposed model, particularly under large voltages and actuation bending. The proposed discrete rigid elements modeling strategy can be simply extended to other 3D printed hydrogel actuator systems where mechanical pixels are characterized by 3D printing.
The inhomogeneity of the resistance of conducting polypyrrole-coated nylon–Lycra and polyester (P... more The inhomogeneity of the resistance of conducting polypyrrole-coated nylon–Lycra and polyester (PET) fabrics and its effects on surface temperature were investigated through a systematic experimental and numerical work including the optimization of coating conditions to determine the lowest resistivity conductive fabrics and establish a correlation between the fabrication conditions and the efficiency and uniformity of Joule heating in conductive textiles. For this purpose, the effects of plasma pre-treatment and molar concentration analysis of the dopant anthraquinone sulfonic acid (AQSA), oxidant ferric chloride, and monomer pyrrole was carried out to establish the conditions to determine the sample with the lowest electrical resistance for generating heat and model the experiments using the finite element modeling (FEM). Both PET and nylon-Lycra underwent atmospheric plasma treatment to functionalize the fabric surface to improve the binding of the polymer and obtain coatings wit...
Recently, there has been a proliferation of soft robots and actuators that exhibit improved capab... more Recently, there has been a proliferation of soft robots and actuators that exhibit improved capabilities and adaptability through three-dimensional (3D) bioprinting. Flexibility and shape recovery attributes of stimuli-responsive polymers as the main components in the production of these dynamic structures enable soft manipulations in fragile environments, with potential applications in biomedical and food sectors. Topology optimization (TO), when used in conjunction with 3D bioprinting with optimal design features, offers new capabilities for efficient performance in compliant mechanisms. In this paper, multimaterial TO analysis is used to improve and control the bending performance of a bioprinted soft actuator with electrolytic stimulation. The multimaterial actuator performance is evaluated by the amplitude and rate of bending motion and compared with the single material printed actuator. The results demonstrated the efficacy of multimaterial 3D bioprinting optimization for the ...
A new type of soft actuator was developed by using hydrogel materials and three-dimensional (3D) ... more A new type of soft actuator was developed by using hydrogel materials and three-dimensional (3D) printing technology, attracting the attention of researchers in the soft robotics field. Due to parametric uncertainties of such actuators, which originate in both a custom design nature of 3D printing as well as time and voltage variant characteristics of polyelectrolyte actuators, a sophisticated model to estimate their behaviour is required. This paper presents a practical modeling approach for the deflection of a 3D printed soft actuator. The suggested model is composed of electrical and mechanical dynamic models while the earlier version describes the actuator as a resistive-capacitive (RC) circuit. The latter model relates the ionic charges to the bending of an actuator. The experimental results were acquired to estimate the transfer function parameters of the developed model incorporating Takagi-Sugeno (T-S) fuzzy sets. The proposed model was successful in estimating the end-point...
Conducting polymer-coated textiles possess a wide range of electrical properties. The surface res... more Conducting polymer-coated textiles possess a wide range of electrical properties. The surface resistivity is influenced by concentrations of the reactants, the thickness of the coating, the nature of the substrate surface, the extent of penetration of the polymer into the textile structure, and the strength of the binding of the coating to the textile surface. Low resistivity in fabric results from highly doped thicker coatings that penetrate well into the textile structure, thus enabling good electrical contact between fibers. Microwave studies showed that conductive textiles are not highly effective as electromagnetic shielding materials owing to their medium-level conductivity and therefore large skin depth. Combined with the fact that coatings are around 1 μm thick, they cannot act as effective reflective barriers to electromagnetic radiation. However, because they are highly absorptive in the microwave region, absorbing materials can be designed in conjunction with conductive textiles. Study of Fourier transform-infrared spectra of aged polypyrrole films has shown an increase in intensity of an α,β-unsaturated conjugated carbonyl peak that may be linked to the increase in resistance but cannot be the only factor, because the rate of electrical decay was influenced by several factors such as temperature, the type and concentration of the dopant, and the aging time, all of which signify a complex mechanism of degradation of conductivity. Degradation is a major concern for conductive textile systems that needs to be characterized before considering these materials for potential applications.
A compliant three-dimensional (3D)-printed soft gripper is designed based on the bioinspired spir... more A compliant three-dimensional (3D)-printed soft gripper is designed based on the bioinspired spiral spring in this study. The soft gripper is then 3D-printed using a suitable thermoplastic filament material to deliver the desired performance. The sensorless mechanism introduced in this study provides adequate compliance with a single linear actuator for interacting with delicate objects, such as manipulation of human biological materials and fruit picking. The kinematic and dynamic models of the monolithic gripper are derived analytically as well as by means of finite element analysis to synthesize its functionality. The fabricated gripper module is installed on a robot arm to demonstrate the efficacy of design for picking and placing fruits without damaging them. The presented mechanism could be customized and used in the medical and agricultural sectors with diverse geometry objects.
Nanocellulose is of great interest in material science nowadays mainly because of its hydrophilic... more Nanocellulose is of great interest in material science nowadays mainly because of its hydrophilic, renewable, biodegradable, and biocompatible nature, as well as its excellent mechanical strength and tailorable surface ready for modification. Currently, nanocellulose is attracting attention to overcome the current challenges of dynamic hydrogels: robustness, autonomous self-healing, and self-recovery (SELF) properties simultaneously occurring in one system. In this regard, this review aims to explore current advances in design and fabrication of dynamic nanocellulose hydrogels and elucidate how incorporating nanocellulose with dynamic motifs simultaneously improves both SELF and robustness of hydrogels. Finally, current challenges and prospects of dynamic nanocellulose hydrogels are discussed.
Abstract With increasing utilization of robots in daily tasks, especially in biomedical and envir... more Abstract With increasing utilization of robots in daily tasks, especially in biomedical and environmental monitoring applications, there would be demands for soft, biodegradable, or even edible actuators that provide more versatility than conventional rigid materials (e.g., metals and plastics). Polyelectrolyte hydrogels produce mechanical motion in response to electrical stimulus, making them good candidates for implementation of soft actuators. However, their conventional fabrication process has so far hindered their applicability in a broad range of controlled folding behaviors. A novel application of 3D printing in biodegradable and biocompatible soft robots is presented in this study. It is observed that the contactless electroactive polyelectrolyte structures demonstrate reversible bending through polarity changes of electrodes. Edible gelatin and chitosan hydrogels are chosen as potential candidates of polyelectrolyte actuators. Actuation of 3D printed chitosan and its performance are compared with...
Due to the growing interest in three-dimensional (3D) printed soft actuators, the establishment o... more Due to the growing interest in three-dimensional (3D) printed soft actuators, the establishment of an appropriate mathematical model that could effectively predict the actuators' dynamic behavior has become necessary. This study presents the development of an effective modeling strategy for the dynamic analysis of a 3D printed polyelectrolyte actuator undergoing large bending deformations. The proposed model is composed of two parts, namely electrical and mechanical dynamic models. The electrical model describes the actuator as a gray box model, whereas the mechanical model relates the stored charges to the bending displacement through considering the printed actuator as a discretized system connected by spring-damping elements. The experimental results verified the accuracy of the proposed model, particularly under large voltages and actuation bending. The proposed discrete rigid elements modeling strategy can be simply extended to other 3D printed hydrogel actuator systems where mechanical pixels are characterized by 3D printing.
The inhomogeneity of the resistance of conducting polypyrrole-coated nylon–Lycra and polyester (P... more The inhomogeneity of the resistance of conducting polypyrrole-coated nylon–Lycra and polyester (PET) fabrics and its effects on surface temperature were investigated through a systematic experimental and numerical work including the optimization of coating conditions to determine the lowest resistivity conductive fabrics and establish a correlation between the fabrication conditions and the efficiency and uniformity of Joule heating in conductive textiles. For this purpose, the effects of plasma pre-treatment and molar concentration analysis of the dopant anthraquinone sulfonic acid (AQSA), oxidant ferric chloride, and monomer pyrrole was carried out to establish the conditions to determine the sample with the lowest electrical resistance for generating heat and model the experiments using the finite element modeling (FEM). Both PET and nylon-Lycra underwent atmospheric plasma treatment to functionalize the fabric surface to improve the binding of the polymer and obtain coatings wit...
Recently, there has been a proliferation of soft robots and actuators that exhibit improved capab... more Recently, there has been a proliferation of soft robots and actuators that exhibit improved capabilities and adaptability through three-dimensional (3D) bioprinting. Flexibility and shape recovery attributes of stimuli-responsive polymers as the main components in the production of these dynamic structures enable soft manipulations in fragile environments, with potential applications in biomedical and food sectors. Topology optimization (TO), when used in conjunction with 3D bioprinting with optimal design features, offers new capabilities for efficient performance in compliant mechanisms. In this paper, multimaterial TO analysis is used to improve and control the bending performance of a bioprinted soft actuator with electrolytic stimulation. The multimaterial actuator performance is evaluated by the amplitude and rate of bending motion and compared with the single material printed actuator. The results demonstrated the efficacy of multimaterial 3D bioprinting optimization for the ...
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Papers by Akif Kaynak