PhD

Recent years have seen significant developments in both the practical field of soft robotics and of the mathematical theories that can be used to describe the mechanics of complex materials with active internal structures. From a mathematical perspective, researchers such as Prof. Alain Goriely [1,2,3], Prof. Jacopo Ciambella [4] and their coworkers have pioneered the use of morphoelasticity and the theory of fibre-reinforced materials to describe the actions of cells and other active bodies to shape tissue and to develop and maintain residual stresses. At the same time, Prof. Jonathan Rossiter and colleagues have embarked on work to develop new, light, and efficient soft robotic technologies towards creating a practical synthetic muscle that could be used to restore strength and mobility to patients [5].
The aim of this work is to bridge between the theoretical work done on mathematical theories of elasticity (especially those being developed in mathematical biology) and engineering work in the field of soft robotics. Having developed a deeper understanding of modern continuum mechanics over the first year of my studies, I will apply this understanding to developing practical and efficient mathematical descriptions of key elements of soft robotic structures. In the first instance, this will focus on looking at the connections between soft and hard materials using previous work on fibre-reinforced materials and damage; future work will consider applying morphoelasticity to the actuation of soft robotic muscles and/or to problems around the manufacture of soft materials with desired properties involving residual stress and fibre reinforcement.
The key novelty of this research stems from the deep mathematical engagement with theories of the mechanics of complex materials combined with contact with roboticists working on practical problems. In the first instance, the novelty will stem from the application of existing theories to new practical applications. As the work develops, I anticipate that it will also lead to new theoretical work in order to develop efficient and accurate descriptions of soft robotic systems in a form that could be applied to robotic control problems.
This project falls within the EPSRC Continuum Mechanics research area and also connects with the Robotics research area and may develop some connections to the Materials Engineering - Composites area depending on the long-term direction of the research. The core focus will be on mathematical theories of continuum mechanics but will also look at how these theories can be formulated in ways that are practical for broader engineering topics.
This project involves internal collaboration with the Bristol Robotics Laboratory, and more specifically the Soft Robotics group led by Prof. Rossiter and his emPOWER grant on synthetic muscle. I do not anticipate any direct collaboration with companies during the course of the PhD.