2026 ASEE Annual Conference & Exposition

Teaching 2D to 3D design: Integrating a Pneumatic Cushion Simulation Tool into a Soft Robotics Course

This paper describes the integration of a pneumatic cushion simulation tool into an undergraduate and graduate elective course in soft robotics within a biomedical engineering curriculum. While hands-on fabrication is central to soft robotics education, physical prototyping can be time-intensive, difficult to scale for large classes, and often relies on trial-and-error iteration. One area of soft robotics focuses on inflatable structures for wearable and healthcare technologies. These designs are commonly designed and fabricated on planar sheets of plastic before inflation. When introduced to a new technology or fabrication technique, students often struggle to predict how two-dimensional (2D) actuator geometries translate into three-dimensional (3D) inflation behavior. To address these challenges, we introduced a simple simulation tool to support predictive design and reduce barriers to engaging with modeling. This tool allows students to upload 2D cushion drawings composed of air bladder units and visualize the resulting 3D inflation height maps for user specific seat cushions. Rather than replacing fabrication or providing high-fidelity analysis, a simulation was designed to build intuition around geometry-driven actuation and expose students to modeling as a design aid. The simulation activity was completed near the end of the semester, following foundational instruction in pneumatic actuation and soft actuator fabrication. Students completed an iterative design assignment in class during which they modified cushion geometries based on simulation feedback and reflected on their design decisions. Evaluation of the activity included post-assignment surveys and written reflections. Results indicate that the simulation supported geometry-informed iteration, enabled rapid design exploration, and improved students’ understanding of how two-dimensional design choices influence soft pneumatic system behavior. This work demonstrates how accessible simulation tools can complement hands-on fabrication in soft robotics education and support scalable, design-centered learning in upper-level engineering courses.

The tool described in this paper is available from:
The SEAT project website: https://publish.illinois.edu/seat-team/education-resources/
Corresponding author's website: https://www.hollygolecki.com/teaching

Authors

Evelyn Ochoa Arias University of Illinois at Urbana - Champaign [biography]

Evelyn Ochoa Arias (she/her) is a Mechanical Engineering PhD student in Mechanical Science and Engineering at the University of Illinois Urbana-Champaign. Her research focuses on soft robotics, with an emphasis on designing accessible and human-centered technologies such as pressure-redistributing wheelchair cushions. She is particularly interested in rapid prototyping methods, image-driven modeling, and biomedical applications of soft actuators. She previously earned a a B.S. in Mechanical Engineering from the University of Illinois Chicago.
Natalie M Taylor http://orcid.org/https://0009-0008-6017-1991 University of Illinois at Urbana - Champaign [biography]

Natalie Taylor (she/her) is a PhD student in Bioengineering at the University of Illinois Urbana-Champaign. Her research interests include soft robotics and inclusive teaching practices, particularly for students with physical disabilities in laboratory environments. Natalie previously earned an M.Eng. in Bioengineering and a B.S. in Molecular and Cellular Biology from the University of Illinois Urbana-Champaign.
Andy Granados University of Illinois at Urbana - Champaign [biography]

Andy Granados (he/him) is a second-year undergraduate student studying bioengineering in the Grainger College of Engineering at the University of Illinois Urbana-Champaign. He studies applications of soft robotics in medical device design and is interested in increasing accessibility in engineering education. Andy plans to pursue graduate school and a career in biomedical research.
Diane Valeria Gonzalez University of Illinois at Urbana - Champaign [biography]

Diane Gonzalez (she/her) is a MS student in Mechanical Science and Engineering at the University of Illinois Urbana-Champaign. Her research interests include soft robotics, bio-inspired robotics and biomedical devices. Diane received her BS in Mechanical Science and Engineering from the University of Illinois Urbana-Champaign.
Chris Zallek [biography]

Dr. Chris Zallek (he/him) is a Neurologist at OSF HealthCare and Clinical Assistant Professor at the University of Illinois College of Medicine, Peoria, Illinois. He is also lead investigator for the Neurohealth Lab at the OSF Jump Simulation Center, through which he collaborates with engineers to improve neurological care. Chris received his B.S. and M.D. degrees from the University of Iowa and completed Neurology residency and Neuromuscular/EMG fellowship training at the University of Michigan.
Dr. Emily E Pisani OSF HealthCare [biography]

Dr. Emily Pisani (she/her) is a Physical Therapist and Quality and Education Coordinator for the Rehabilitation Center of Expertise at OSF HealthCare. Emily is a Board-Certified Clinical Specialist in Orthopaedic Physical Therapy. Emily assesses, plans, and implements education programs, and evaluates continuing education for OSF Rehabilitation Services. Additionally, she assists with monitoring and evaluating regulatory compliance. Emily received her BS in Biology from Eastern Illinois University and her Doctor of Physical Therapy from Bradley University.
Mary Schopp OSF Healthcare-Homecare and Hospice [biography]

Mary Schopp, BSN, RN, CWOCN, has forty-four years of clinical experience in home health, and acute care settings. Mary is a specialty certified Wound, Ostomy, and Continence (CWOC) Nurse with fourteen years of clinical experience across home health, hospice, hospice home, and acute care settings. Mary’s professional practice is centered on the management and support of patients with complex wounds, ostomy, and continence needs.
Mary is a two-year member of the Wound, Ostomy, Continence Nurse Society, WOCN WOCEAC Committee, where she contributes to the maintenance of evidence-based practice standards and the accreditation of the Wound Treatment Associate and Ostomy Care Associate programs. Additionally, she has served for three years on the Society of Urological Nurses and Associates (SUNA) Education Taskforce, where she supports the development of patient education resources for individuals with continence disorders.
Mary earned her Bachelor of Science in Nursing from Illinois State University and completed her Wound, Ostomy, and Continence Nurse certification through Metropolitan State University in partnership with WebWOC.
Prof. Elizabeth T Hsiao-Wecksler http://orcid.org/0000-0002-9373-3611 University of Illinois at Urbana - Champaign [biography]

Dr. Elizabeth T. Hsiao-Wecksler (she/her) is the Grayce Wicall Gauthier Professor in the Department of Mechanical Science and Engineering and Director of Applied Health Technology and Design in The Grainger College of Engineering at UIUC. She teaches courses in machine design and musculoskeletal biomechanics. Her research group uses user-centered design, soft and hard robotics, and movement biomechanics to develop novel assistive and medical devices to improve the quality of life of patients and people with disabilities. She holds degrees in Mechanical Engineering from Cornell University (BS), Rochester Institute of Technology (MS), and the University of California – Berkeley (PhD). She is a Fellow of the American Society of Mechanical Engineers, and Fellow and Past-President of the American Society of Biomechanics.
Prof. Holly M Golecki http://orcid.org/0000-0003-3691-0420 University of Illinois at Urbana - Champaign [biography]

Dr. Holly Golecki (she/her) is a Teaching Associate Professor in Bioengineering at the University of Illinois Urbana-Champaign and Department of Biomedical and Translational Sciences at the Carle-Illinois College of Medicine. Holly studies biomaterials and soft robotics and their applications in the university classroom, in research and in engaging future engineers in human-centered design. Holly received her BS/MS in Materials Science and Engineering from Drexel University and her PhD in Engineering Sciences (Bioengineering) from Harvard University.

Note

The full paper will be available to logged in and registered conference attendees once the conference starts on June 21, 2026, and to all visitors after the conference ends on June 24, 2026

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