Lipton, Jeffery IVashisth, AniruddhGood, Ian Sullivan2025-01-232025-01-232024Good_washington_0250E_27604.pdfhttps://hdl.handle.net/1773/52827Thesis (Ph.D.)--University of Washington, 2024This thesis demonstrates how the use of Torque Responsive Metamaterials mapped fromdesign space to realized performance spaces allows us to overcome large challenges in legged robots, soft grasping, and soft robotic arms. We first establish and dramatically expand a mapping from design space to a realized performance space for our HSA actuators. Then use multi-modal properties enabled by HSAs to create multi-functionality in a robot leg through capstan breaking and the visco-dynamic properties of the HSA. In grasping, we design a complimentary Torsionally Rigid Strain Limiting Layer (TR-SLL) to dramatically increase payloads of soft grasps to over 5kg. When then combine the TR-SLL with a HSA based gripper, enabling HSAs gripers to be created as a single finger. By adding the HSA, We further enhance grasp performance by using the torque responsive nature to increase payload capacity. Finally, we combine HSAs with Bendable Extendable Torsionally Rigid Shafts (BETRs) to create a soft robot arm capable of lifting a YCB mustard bottle at more than half a meter and push over 2kg vertically while supporting its own weight under gravityapplication/pdfen-USCC BY-NC-NDActuatorsCharacterizationHanded Shearing AuxeticsMetamaterialsMulti-functionalitySoft RobotsRoboticsMechanical engineeringEngineeringMechanical engineeringThesis