https://datadoi.ee/handle/33/404 Thu, 09 Apr 2026 00:14:34 GMT 2026-04-09T00:14:34Z https://datadoi.ee/handle/33/663 Design Requirements Dataset for a Social Robot in Children's Social Skills Training Piirisild, Anu; Roštšinskaja, Alina; Kruusamäe, Karl; Zinatullin, Leonid; Eist, Rasmus; Kolk, Anneli; Kaasik, Friedrich; Aabloo, Alvo This dataset contains the requirements for the SemuBot. SemuBot is an open-source Social Assistive Robots (SAR) platform specifically designed for robot-mediated training sessions for children with communication and speech disorders. Wed, 01 Jan 2025 00:00:00 GMT https://datadoi.ee/handle/33/663 2025-01-01T00:00:00Z Piirisild, Anu Roštšinskaja, Alina Kruusamäe, Karl Zinatullin, Leonid Eist, Rasmus Kolk, Anneli Kaasik, Friedrich Aabloo, Alvo https://datadoi.ee/handle/33/337 Influence of Carboxylate Anions on Phase Behavior of Choline Ionic Liquid Mixtures Elhi, Fred; Nurk, Gunnar; Aabloo, Alvo; Põhako-Esko, Kaija Mixing ionic liquids is a suitable strategy to tailor properties, e.g., to reduce melting points. The present study aims to widen the application range of low-toxic choline-based ionic liquids by studying eight binary phase diagrams of six different choline carboxylates. Five of them show eutectic points with melting points dropping by 13 to 45 °C. The eutectic mixtures of choline acetate and choline 2-methylbutarate were found to melt at 45 °C, which represents a remarkable melting point depression compared to the pure compounds with melting points of 81 (choline acetate) and 90 °C (choline 2-methylbutarate), respectively. Besides melting points, the thermal stabilities of the choline salt mixtures were investigated to define the thermal operation range for potential practical applications of these mixtures. Typical decomposition temperatures were found between 165 and 207 °C, with choline lactate exhibiting the highest thermal stability. Tue, 07 Apr 2020 00:00:00 GMT https://datadoi.ee/handle/33/337 2020-04-07T00:00:00Z Elhi, Fred Nurk, Gunnar Aabloo, Alvo Põhako-Esko, Kaija https://datadoi.ee/handle/33/336 Understanding the Behavior of Fully Non-Toxic Polypyrrole-Gelatin and Polypyrrole-PVdF Soft Actuators with Choline Ionic Liquids Elhi, Fred; Karu, Karl; Rinne, Pille; Nadel, Kadi-Anne; Järvekülg, Martin; Aabloo, Alvo; Tamm, Tarmo; Ivaništšev, Vladislav; Põhako-Esko, Kaija Smart and soft electroactive polymer actuators as building blocks for soft robotics have many beneficial properties that could make them useful in future biomimetic and biomedical applications. Gelatin—a material exploited for medical applications—can be used to make a fully biologically benign soft electroactive polymer actuator that provides high performance and has been shown to be harmless. In our study, these polypyrrole-gelatin trilayer actuators with choline acetate and choline isobutyrate showed the highest strain difference and highest efficiency in strain difference to charge density ratios compared to a reference system containing imidazolium-based ionic liquid and a traditional polyvinylidene fluoride (PVdF) membrane material. As neither the relative ion sizes nor the measured parameters of the ionic liquids could explain their behavior in the actuators, molecular dynamics simulations and density functional theory calculations were conducted. Strong cation-cation clustering was found and the radial distribution functions provided further insight into the topic, showing that the cation-cation correlation peak height is a good predictor of strain difference of the actuators. Thu, 21 May 2020 00:00:00 GMT https://datadoi.ee/handle/33/336 2020-05-21T00:00:00Z Elhi, Fred Karu, Karl Rinne, Pille Nadel, Kadi-Anne Järvekülg, Martin Aabloo, Alvo Tamm, Tarmo Ivaništšev, Vladislav Põhako-Esko, Kaija https://datadoi.ee/handle/33/335 Electromechanically active polymer actuators based on biofriendly choline ionic liquids Elhi, Fred; Priks, Hans; Rinne, Pille; Kaldalu, Niilo; Žusinaite, Eva; Johanson, Urmas; Aabloo, Alvo; Tamm, Tarmo; Põhako-Esko, Kaija Smart and soft electroactive polymer actuators have many beneficial properties, making them attractive for biomimetic and biomedical applications. However, the selection of components to fabricate biofriendly composites has been limited. Although biofriendly options for electrodes and membranes are available, the conventional ionic liquids (ILs) often used as the electrolytes in the actuators have been considered toxic in varying degrees. Here we present a smart electroactive composite with carefully designed and selected components that have shown low toxicity and a biofriendly nature. In the present study, polypyrrole-PVdF trilayer actuators using six different choline ILs were prepared and characterized. Choline ILs have shown promise in applications where low environmental and biological impact is critical. Despite this, the anions in ILs have a strong impact on toxicity. To evaluate how the anions effect the bioactivity of the ILs used to prepare the actuators, the ILs were tested on different microbial cultures (Escherichia coli, Staphylococcus aureus, Shewanella oneidensis MR-1) and HeLa cells. All of the selected choline ILs showed minimal toxic effects even at high concentrations. Electro-chemomechanical characterization of the actuators indicated that polypyrrole-PVdF actuators with choline ILs are viable candidates for soft robotic applications. From the tested ILs, choline acetate showed the highest strain difference and outperformed the reference system containing an imidazolium-based IL. Wed, 11 Mar 2020 00:00:00 GMT https://datadoi.ee/handle/33/335 2020-03-11T00:00:00Z Elhi, Fred Priks, Hans Rinne, Pille Kaldalu, Niilo Žusinaite, Eva Johanson, Urmas Aabloo, Alvo Tamm, Tarmo Põhako-Esko, Kaija