Soft actuation methods are a developing field of robotics deemed suitable for physical human-robot interactions due to the adaptability of materials and compliant structures. Thermo-active soft actuators are a subset of these which convert thermal energy to mechanical work in the form of elongation, bending, or twisting to conform to the environment. This study is divided into three major studies that all use actuators with a working principle of phase-change fluid vaporizing for expansion with applied heat from a Peltier. The first study evaluates the bandwidth and efficiency between (i) traditional Joule heating, and (ii) Peltier heating, finding that Peltier heating can considerably improve the operational bandwidth of the actuator. The second study uses a thin membrane actuator placed in a braided mesh to form a McKibben muscle capable of lifting 5N, and formed into a gripper capable of manipulating objects within the environment. The third study uses actuators of a solid, hollow and flexible Peltier embedded silicone structure and are evaluated and optimized in order to increase actuation speed, finding that the embedded flexible Peltier design was able to elongate over 50% of its original height in 20 seconds. The overall aim of all of these studies was to improve bandwidth, efficiency, actuator lifetime, and create more symmetrical actuation and deactuation cycles.

En el país es poco común el uso de energías renovables, por ello es importante que se difundan las tecnologías asociadas al uso de este tipo de recursos. La energía geotérmica superficial es un recurso que se puede aprovechar prácticamente en toda la corteza terrestre, no proporciona una cantidad de energía elevada, pero si tiene aplicaciones que reducen la producción de CO2 (por sistemas de calefacción) y el consumo de energía. En la investigación se analizan los sistemas geotérmicos de baja entalpia, específicamente las cimentaciones termoactivas, las cuales consisten en incorporar el intercambiador de calor en la estructura de la cimentación, esto aunado a la bomba de calor y el sistema de distribución constituye un uso importante de la energía geotérmica somera en los sistemas de calefacción de edificaciones. Para desarrollar las cimentaciones termoactivas es necesario realizar estudios previos tales como, estudio de características geotécnicas y térmicas del suelo, hidrogeología y geología. / The use of renewable energies is rare in the country, so it is important that the technologies associated with the use of this type of resources be disseminated. Surface geothermal energy is a resource that can be used practically throughout the earth's crust, it does not provide a high amount of energy but it does have applications that reduce CO2 production (by heating systems) and energy consumption. The research analyzes low enthalpy geothermal systems, specifically thermoactive foundations, which consist of incorporating the heat exchanger in the foundation structure, this together with the heat pump and the distribution system constitutes an important use of shallow geothermal energy in building heating systems. To develop thermoactive foundations it is necessary to carry out previous studies such as a study of the geotechnical and thermal characteristics of the soil, hydrogeology and geology. / Tesis