BioBotics
A soft robotic system that explores human gesture control and bioplastic interfaces.
Timeline
October - December, 2025
Role
Individual Master's Project
MDes, UC Berkeley
Mentored by
Dr.Sudhu Tewari,
Chris Myers
Process
Conceptualization, Coding, Electronics, Fabrication, Working Prototype, Project Documentation
The opportunity in soft robotics
Rigid control systems and unsustainable materials limit how soft robotics can evolve. This project explores gesture-based teleoperation and bioplastics through a pick-and-place robotic system that translates human input into motion, while enabling structured testing of bioplastic grippers for performance and reliability.
Testing Bioplastic Compositions
Starch-based bioplastics were tested and iterated to evaluate flexibility, strength, and airtightness for soft robotic use.
The experiments revealed both clear potential and current limitations, helping define directions for future material refinement.
Composition 1
Tapioca starch .......... 100 g
Water ...................... 200 ml
Vinegar .................... 5 ml
Glycerin .................. 5 ml
Composition 2
Tapioca starch .......... 100 g
Water ...................... 400 ml
Vinegar .................... 10 ml
Glycerin .................. 20 ml
Pectin ..................... 20 g
Composition 3
Tapioca starch .......... 100 g
Water ...................... 400 ml
Vinegar .................... 10 ml
Glycerin .................. 20 ml
Pectin ..................... 20 g
Carrageenan .......... 10 g
Citric acid ............... 15 g
Composition 4
Tapioca starch .......... 100 g
Water ...................... 400 ml
Vinegar .................... 10 ml
Glycerin .................. 20 ml
Pectin ..................... 20 g
Carrageenan .......... 10 g
Citric acid ............... 15 g
Note:
Spread onto cotton gauze to increase strength and reduce shrinkage.
Electronics Setup
A compact control system integrating the microcontroller, motor driver, vacuum pump, and power supply. Early PCB exploration reduced footprint and organized components to ensure reliable, sequential operation for gesture-based pick-and-place control.
Process and Testing
System wiring overview
Connections mapped for integration.
Custom PCB design
Optimized for compact assembly.
PCB milling process
Board fabricated using Othermill.
Pick-and-place mechanism test
Repeated testing of the sequenced motion.
Servo integration test
Mounted within final enclosure.
Vacuum gripper test
Grip, lift and seal validation.
Gesture based Interface
Hand gestures captured by a webcam are translated into robotic motion in real time. Lateral movement controls the arm’s position, while a pinch gesture activates the vacuum gripper to pick and place objects.
Wave to control motion
Moving the hand left or right directly maps to the robotic arm’s X-axis movement, enabling intuitive positioning without physical controls.
Pinch to trigger actuation
A pinch gesture activates the vacuum pump allowing gripper to grab an object. Releasing the pinch turns off suction and drops the object.
Natural interaction loop
Together, these gestures create a fluid pick-and-place interaction that mirrors natural hand movement.
Designing the
Mechanical Bridge
A custom connector was developed to bridge the servo arm, soft gripper, and vacuum system into a single integrated component.
Three functions. One part.
- Mount securely to the servo shaft.
- Seal the membrane for airtight suction.
- Channel vacuum from the pump through
a nozzle connection.
Three iterations refined the form, with each version becoming smaller, more secure, and more reliable. The final design significantly improved sealing performance and overall gripper stability.
BioBotics Enclosure
The enclosure was designed to unify the robotic arm, gripper, and electronics into a clean, approachable form. The focus was on reducing visual clutter, keeping the system modular and easy to disassemble.
The form is divided into three parts: base, tower, and arm. Each manages motion, wiring, and balance within a single cohesive system.
Integrated Arm Drive
A raised servo housing directly drives the robotic arm, creating visual heirarchy and a mechanical advantage for clean motion.
Unified Gripper Connection
A single connector secures the jamming gripper while channeling vacuum through an airtight path.
Input / Output Interface
Power and vacuum interfaces are unified into one structured output zone, simplifying setup while preserving the integrity of the form.
BioBotics
Biomaterials × Soft Robotics × Spatial Interfaces
This system acts as a test bed for experimenting with gesture-based control, allowing different interaction models to be tested and refined. It also enables the evaluation of biomaterial grippers, helping assess their durability, flexibility, and ability to perform under repeated use.