1
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Zhou S, Li Y, Wang Q, Lyu Z. Integrated Actuation and Sensing: Toward Intelligent Soft Robots. CYBORG AND BIONIC SYSTEMS 2024; 5:0105. [PMID: 38711958 PMCID: PMC11070852 DOI: 10.34133/cbsystems.0105] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/06/2023] [Accepted: 02/16/2024] [Indexed: 05/08/2024] Open
Abstract
Soft robotics has received substantial attention due to its remarkable deformability, making it well-suited for a wide range of applications in complex environments, such as medicine, rescue operations, and exploration. Within this domain, the interaction of actuation and sensing is of utmost importance for controlling the movements and functions of soft robots. Nonetheless, current research predominantly focuses on isolated actuation and sensing capabilities, often neglecting the critical integration of these 2 domains to achieve intelligent functionality. In this review, we present a comprehensive survey of fundamental actuation strategies and multimodal actuation while also delving into advancements in proprioceptive and haptic sensing and their fusion. We emphasize the importance of integrating actuation and sensing in soft robotics, presenting 3 integration methodologies, namely, sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. Furthermore, we highlight the challenges in the field and suggest compelling directions for future research. Through this comprehensive synthesis, we aim to stimulate further curiosity among researchers and contribute to the development of genuinely intelligent soft robots.
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Affiliation(s)
| | | | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering,
Southeast University, Nanjing 211189, China
| | - Zhiyang Lyu
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering,
Southeast University, Nanjing 211189, China
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2
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Porte E, Eristoff S, Agrawala A, Kramer-Bottiglio R. Characterization of Temperature and Humidity Dependence in Soft Elastomer Behavior. Soft Robot 2024; 11:118-130. [PMID: 37669451 PMCID: PMC10880277 DOI: 10.1089/soro.2023.0004] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/07/2023] Open
Abstract
Soft robots are predicted to operate well in unstructured environments due to their resilience to impacts, embodied intelligence, and potential ability to adapt to uncertain circumstances. Soft robots are of further interest for space and extraterrestrial missions, owing to their lightweight and compressible construction. Most soft robots in the literature to-date are made of elastomer bodies. However, limited data are available on the material characteristics of commonly used elastomers in extreme environments. In this study, we characterize four commonly used elastomers in the soft robotics literature-EcoFlex 00-30, Dragon Skin 10, Smooth-Sil 950, and Sylgard 184-in a temperature range of -40°C to 80°C and humidity range of 5-95% RH. We perform pull-to-failure, stiffness, and stress-relaxation tests. Furthermore, we perform a case study on soft elastomers used in stretchable capacitive sensors to evaluate the implications of the constituent material behavior on component performance. We find that all elastomers show temperature-dependent behavior, with typical stiffening of the material and a lower strain at failure with increasing temperature. The stress-relaxation response to temperature depends on the type of elastomer. Limited material effects are observed in response to different humidity conditions. The mechanical properties of the capacitive sensors are only dependent on temperature, but the measured capacitance shows changes related to both humidity and temperature changes, indicating that component-specific properties need to be considered in tandem with the mechanical design. This study provides essential insights into elastomer behavior for the design and successful operation of soft robots in varied environmental conditions.
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Affiliation(s)
- Elze Porte
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
- Department of Mechanical Engineering, University College London, London, United Kingdom
- Department of Civil, Environmental & Geomatic Engineering, University College London, London, United Kingdom
| | - Sophia Eristoff
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Anjali Agrawala
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Rebecca Kramer-Bottiglio
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
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3
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Wang Y, Hu X, Cui L, Xiao X, Yang K, Zhu Y, Jin H. Bioinspired handheld time-share driven robot with expandable DoFs. Nat Commun 2024; 15:768. [PMID: 38278829 PMCID: PMC10817928 DOI: 10.1038/s41467-024-44993-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/13/2023] [Accepted: 01/11/2024] [Indexed: 01/28/2024] Open
Abstract
Handheld robots offer accessible solutions with a short learning curve to enhance operator capabilities. However, their controllable degree-of-freedoms are limited due to scarce space for actuators. Inspired by muscle movements stimulated by nerves, we report a handheld time-share driven robot. It comprises several motion modules, all powered by a single motor. Shape memory alloy (SMA) wires, acting as "nerves", connect to motion modules, enabling the selection of the activated module. The robot contains a 202-gram motor base and a 0.8 cm diameter manipulator comprised of sequentially linked bending modules (BM). The manipulator can be tailored in length and integrated with various instruments in situ, facilitating non-invasive access and high-dexterous operation at remote surgical sites. The applicability was demonstrated in clinical scenarios, where a surgeon held the robot to conduct transluminal experiments on a human stomach model and an ex vivo porcine stomach. The time-share driven mechanism offers a pragmatic approach to build a multi-degree-of-freedom robot for broader applications.
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Affiliation(s)
- Yunjiang Wang
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Xinben Hu
- Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, 310009, Hangzhou, China
- Key Laboratory of Precise Treatment and Clinical Translational Research of Neurological Diseases, 310005, Hangzhou, China
| | - Luhang Cui
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Xuan Xiao
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Keji Yang
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Yongjian Zhu
- Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, 310009, Hangzhou, China.
- Key Laboratory of Precise Treatment and Clinical Translational Research of Neurological Diseases, 310005, Hangzhou, China.
| | - Haoran Jin
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China.
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4
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Wang B, Wu W, Liu H, Wang L, Qi M, Wei Z, Zhang H, Sang L. 3D-printing of biomass furan-based polyesters with robust mechanical performance and shape memory property. Int J Biol Macromol 2024; 254:127701. [PMID: 37907179 DOI: 10.1016/j.ijbiomac.2023.127701] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/05/2023] [Revised: 10/03/2023] [Accepted: 10/17/2023] [Indexed: 11/02/2023]
Abstract
3D-printing provides a feasible technique for realizing new materials into structural and intelligent parts. In this work, biomass furan-based polyesters poly (ethylene furanoate) (PEF), poly (trimethylene furanoate) (PTF), and poly (butylene furanoate) (PBF) were successfully synthesized in a 5 L reactor through the melt polycondensation process and fabricated into 3D-printing feedstocks. It was demonstrated that the three furan-based polyesters were additively-manufactured into complicated structures. Besides, the mechanical and thermal properties of furan-based polyesters could be tailored by the chain length of diol monomer. The mechanical performance of 3D-printed PEF, PTF and PBF were characterized and compared with commercial filaments. The tensile strength of PEF and PTF could reach 74.6 and 63.8 MPa respectively, which exhibited superior tensile property to poly(ether-ether-ketone) (PEEK), polyamide (PA) and polylactic acid (PLA). Meanwhile, the compression results demonstrated that the PEF and PTF possessed comparable energy absorption capacity with PEEK and PLA respectively, which indicated excellent mechanical properties of furan-based polyesters. It was interesting to find that the 3D-printed structures including solid cube, bionic flower and lattice structures were employed to prove that the PTF possessed excellent shape memory properties. Therefore, the proposed biomass furan-based polymers would offer more freedom in the field of 3D-printing.
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Affiliation(s)
- Bo Wang
- School of Materials Science and Engineering, Dalian University of Technology, Dalian 116024, China
| | - Wenyang Wu
- School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China
| | - Han Liu
- School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China
| | - Lei Wang
- Zhongke Guosheng (Hangzhou) Technology Co., Ltd., Hangzhou 310051, China
| | - Min Qi
- School of Materials Science and Engineering, Dalian University of Technology, Dalian 116024, China
| | - Zhiyong Wei
- Department of Polymer Science and Engineering, School of Chemical Engineering, Dalian University of Technology, Dalian 116024, China
| | - Hao Zhang
- Department of Orthopedics, Central Hospital of Dalian University of Technology, Dalian 116027, China.
| | - Lin Sang
- School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China.
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5
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Zhang Y, Wang T, He W, Zhu S. Human-Powered Master Controllers for Reconfigurable Fluidic Soft Robots. Soft Robot 2023; 10:1126-1136. [PMID: 37196160 DOI: 10.1089/soro.2022.0077] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/19/2023] Open
Abstract
Fluidic soft robots have the advantages of inherent compliance and adaptability, but they are significantly restricted by complex control systems and bulky power devices, including fluidic valves, fluidic pumps, electrical motors, as well as batteries, which make it challenging to operate in narrow space, energy shortage, or electromagnetic sensitive situations. To overcome the shortcomings, we develop portable human-powered master controllers to provide an alternative solution for the master-slave control of the fluidic soft robots. Each controller can supply multiple fluidic pressures to the multiple chambers of the soft robots simultaneously. We use modular fluidic soft actuators to reconfigure soft robots with various functions as control objects. Experimental results show that flexible manipulation and bionic locomotion can be simply realized using the human-powered master controllers. The developed controllers which eliminate energy storage and electronic components can provide a promising candidate of soft robot control in surgical, industrial, and entertainment applications.
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Affiliation(s)
- Yunce Zhang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
| | - Tao Wang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan, China
| | - Weidong He
- Ocean College, Zhejiang University, Zhoushan, China
| | - Shiqiang Zhu
- Ocean College, Zhejiang University, Zhoushan, China
- Zhejiang Lab, Hangzhou, China
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6
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Su M, Qiu Y, Chen H, Huang C, Guan Y, Zhu H. Design, Modeling, and Application of Reinforced-Airbag-Based Pneumatic Actuators with High Load and Cellular Rearrangement. Soft Robot 2023; 10:1083-1098. [PMID: 37140563 DOI: 10.1089/soro.2022.0062] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/05/2023] Open
Abstract
Although various soft pneumatic actuators have been studied, their performance, including load capacity, has not been satisfied yet. Enhancing their actuation capability and using them to develop soft robots with high performance is still an open and challenging issue. In this study, we developed novel pneumatic actuators based on fiber-reinforced airbags as a solution to this problem, of which the maximum pressure reaches more than 100 kPa. Through cellular rearrangement, the developed actuators could bend uni- or bidirectionally, achieving large driving force, large deformation, and high conformability. Hence, they could be used to develop soft manipulators with relatively large payload (up to 10 kg, about 50 times the body self-weight) and soft climbing robots with high mobility. In this article, we first present the design of the airbag-based actuators and then model the airbag to obtain the relationship between the pneumatic pressure, external force, and deformation. Subsequently, we validate the models by comparing the simulated and measured results and test the load capacity of the bending actuators. Afterward, we present the development of a soft pneumatic robot that can rapidly climb horizontal, inclined, and vertical poles with different cross-sectional shapes and even outdoor natural objects, like bamboos, at a speed of 12.6 mm/s generally. In particular, it can dexterously transition between poles at any angle, which, to the best of our knowledge, has not been achieved before.
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Affiliation(s)
- Manjia Su
- Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, Guangdong, China
| | - Yu Qiu
- Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, Guangdong, China
| | - Hongkai Chen
- Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, Guangdong, China
| | - Cheng Huang
- Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, Guangdong, China
| | - Yisheng Guan
- Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, Guangdong, China
| | - Haifei Zhu
- Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, Guangdong, China
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7
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Yoo SH, Kim M, Park HJ, Lee GI, Lee SH, Kwak MK. Vacuum-powered soft actuator with oblique air chambers for easy detachment of artificial dry adhesive by coupled contraction and twisting. SCIENCE AND TECHNOLOGY OF ADVANCED MATERIALS 2023; 24:2274818. [PMID: 38024796 PMCID: PMC10653703 DOI: 10.1080/14686996.2023.2274818] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/22/2023] [Accepted: 10/19/2023] [Indexed: 12/01/2023]
Abstract
A gecko foot-inspired, mushroom-shaped artificial dry adhesive exploiting intermolecular forces between microstructure and surface has drawn research attention for its strong adhesive force. However, the high pull-off strength corresponding to the adhesive force matters when detaching fragile substrates. In this study, we report a vacuum-powered soft actuator having oblique air chambers and a dry adhesive. The soft actuator performs coupled contraction and twisting by applying negative pneumatic pressure inward and exhibits not only high pull-off strength but also easy detachment. This effective detachment can be achieved thanks to the twisting motion of the soft actuator. The detachment performances of the actuator models are assessed using a 6-degrees-of-freedom robot arm. Results show that the soft actuators exhibit remarkable pull-off strength decrement from ~20 N cm-2 to ~2 N cm-2 due to the twisting. Finally, to verify a feasible application of this study, we utilize the inherent compliance of the actuators and introduce a glass transfer system for which a glass substrate on a slope is gripped by the flexibility of the soft actuators and delivered to the destination without any fracture.
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Affiliation(s)
- Seung Hoon Yoo
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
| | - Minsu Kim
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
| | - Han Jun Park
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
| | - Ga In Lee
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
| | - Sung Ho Lee
- Department of Mechanical Engineering, Dong-A University, Busan, Republic of Korea
| | - Moon Kyu Kwak
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
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8
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Pei X, Chen G. Kinetostatic Modeling of Soft Robots: Energy-Minimization Approach and 99-Line MATLAB Implementation. Soft Robot 2023; 10:972-987. [PMID: 37074411 DOI: 10.1089/soro.2022.0070] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/20/2023] Open
Abstract
Soft robots have received a great deal of attention from both academia and industry due to their unprecedented adaptability in unstructured environment and extreme dexterity for complicated operations. Due to the strong coupling between the material nonlinearity due to hyperelasticity and the geometric nonlinearity due to large deflections, modeling of soft robots is highly dependent on commercial finite element software packages. An approach that is accurate and fast, and whose implementation is open to designers, is in great need. Considering that the constitutive relation of the hyperelastic materials is commonly expressed by its energy density function, we present an energy-based kinetostatic modeling approach in which the deflection of a soft robot is formulated as a minimization problem of its total potential energy. A fixed Hessian matrix of strain energy is proposed and adopted in the limited memory Broyden-Fletcher-Goldfarb-Shanno (BFGS) algorithm, which significantly improves its efficiency for solving the minimization problem of soft robots without sacrificing prediction accuracy. The simplicity of the approach leads to an implementation of MATLAB with only 99-line codes, which provides an easy-to-use tool for designers who are designing and optimizing the structures of soft robots. The efficiency of the proposed approach for predicting kinetostatic behaviors of soft robots is demonstrated by seven pneumatic-driven and cable-driven soft robots. The capability of the approach for capturing buckling behaviors in soft robots is also demonstrated. The energy-minimization approach, as well as the MATLAB implementation, could be easily tailored to fulfill various tasks, including design, optimization, and control of soft robots.
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Affiliation(s)
- Xiaohui Pei
- School of Electro-Mechanical Engineering, Xidian University, Xi'an, China
| | - Guimin Chen
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Lab of Intelligent Robots, Xi'an Jiaotong University, Xi'an, China
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9
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Duhr P, Meier YA, Damanpack A, Carpenter J, Studart AR, Rafsanjani A, Demirörs AF. Kirigami Makes a Soft Magnetic Sheet Crawl. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2301895. [PMID: 37357135 PMCID: PMC10477847 DOI: 10.1002/advs.202301895] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/23/2023] [Revised: 05/28/2023] [Indexed: 06/27/2023]
Abstract
Limbless crawling on land requires breaking symmetry of the friction with the ground and exploiting an actuation mechanism to generate propulsive forces. Here, kirigami cuts are introduced into a soft magnetic sheet that allow to achieve effective crawling of untethered soft robots upon application of a rotating magnetic field. Bidirectional locomotion is achieved under clockwise and counterclockwise rotating magnetic fields with distinct locomotion patterns and crawling speed in forward and backward propulsions. The crawling and deformation profiles of the robot are experimentally characterized and combined with detailed multiphysics numerical simulations to extract locomotion mechanisms in both directions. It is shown that by changing the shape of the cuts and orientation of the magnet the robot can be steered, and if combined with translational motion of the magnet, complex crawling paths are programed. The proposed magnetic kirigami robot offers a simple approach to developing untethered soft robots with programmable motion.
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Affiliation(s)
- Pierre Duhr
- Complex MaterialsDepartment of MaterialsETH ZurichZurichCH‐8092Switzerland
| | - Yuki A. Meier
- Complex MaterialsDepartment of MaterialsETH ZurichZurichCH‐8092Switzerland
| | - Alireza Damanpack
- Department of Mechanical and Electrical EngineeringUniversity of Southern DenmarkOdense5230Denmark
| | - Julia Carpenter
- Complex MaterialsDepartment of MaterialsETH ZurichZurichCH‐8092Switzerland
| | - André R. Studart
- Complex MaterialsDepartment of MaterialsETH ZurichZurichCH‐8092Switzerland
| | - Ahmad Rafsanjani
- SDU Soft RoboticsSDU BioroboticsThe Maersk Mc‐Kinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
| | - Ahmet F. Demirörs
- Complex MaterialsDepartment of MaterialsETH ZurichZurichCH‐8092Switzerland
- Present address:
Department of PhysicsUniversity of FribourgFribourgCH‐1700Switzerland
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10
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Kohsaka H. Linking neural circuits to the mechanics of animal behavior in Drosophila larval locomotion. Front Neural Circuits 2023; 17:1175899. [PMID: 37711343 PMCID: PMC10499525 DOI: 10.3389/fncir.2023.1175899] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/28/2023] [Accepted: 06/13/2023] [Indexed: 09/16/2023] Open
Abstract
The motions that make up animal behavior arise from the interplay between neural circuits and the mechanical parts of the body. Therefore, in order to comprehend the operational mechanisms governing behavior, it is essential to examine not only the underlying neural network but also the mechanical characteristics of the animal's body. The locomotor system of fly larvae serves as an ideal model for pursuing this integrative approach. By virtue of diverse investigation methods encompassing connectomics analysis and quantification of locomotion kinematics, research on larval locomotion has shed light on the underlying mechanisms of animal behavior. These studies have elucidated the roles of interneurons in coordinating muscle activities within and between segments, as well as the neural circuits responsible for exploration. This review aims to provide an overview of recent research on the neuromechanics of animal locomotion in fly larvae. We also briefly review interspecific diversity in fly larval locomotion and explore the latest advancements in soft robots inspired by larval locomotion. The integrative analysis of animal behavior using fly larvae could establish a practical framework for scrutinizing the behavior of other animal species.
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Affiliation(s)
- Hiroshi Kohsaka
- Graduate School of Informatics and Engineering, The University of Electro-Communications, Chofu, Tokyo, Japan
- Department of Complexity Science and Engineering, Graduate School of Frontier Science, The University of Tokyo, Chiba, Japan
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11
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Xu Y, Zhu J, Chen H, Yong H, Wu Z. A Soft Reconfigurable Circulator Enabled by Magnetic Liquid Metal Droplet for Multifunctional Control of Soft Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2300935. [PMID: 37311235 PMCID: PMC10427373 DOI: 10.1002/advs.202300935] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/10/2023] [Revised: 05/17/2023] [Indexed: 06/15/2023]
Abstract
Integrated control circuits with multiple computation functions are essential for soft robots to achieve diverse complex real tasks. However, designing compliant yet simple circuits to embed multiple computation functions in soft electronic systems above the centimeter scale is still a tough challenge. Herein, utilizing smooth cyclic motions of magnetic liquid metal droplets (MLMD) in specially designed and surface-modified circulating channels, a soft reconfigurable circulator (SRC) consisting of three simple and reconfigurable basic modules is described. Through these modules, MLMD can utilize their conductivity and extreme deformation capabilities to transfer their simple cyclic motions as input signals to programmable electrical output signals carrying computing information. The obtained SRCs make it possible for soft robots to perform complex computing tasks, such as logic, programming, and self-adaptive control (a combination of programming and feedback control). Following, a digital logic-based grasping function diagnosis, a locomotion reprogrammable soft car, and a self-adaptive control-based soft sorting gripper are demonstrated to verify SRCs' capabilities. The unique attributes of MLMD allow complex computations based on simple configurations and inputs, which provide new ways to enhance soft robots' computing capabilities.
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Affiliation(s)
- Yi Xu
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
| | - Jiaqi Zhu
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
| | - Han Chen
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
| | - Haochen Yong
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
| | - Zhigang Wu
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
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12
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Miao Z, Liang J, Chen H, Lu J, Sun X, Liu Y, Tang F, Zhang M. Power Autonomy and Agility Control of an Untethered Insect-Scale Soft Robot. Soft Robot 2023; 10:749-759. [PMID: 36787456 DOI: 10.1089/soro.2021.0201] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/16/2023] Open
Abstract
It is still challenging to achieve agility and trajectory control for untethered soft robots on an insect scale given their low mechanical impedance and compact structures. In this study, fast translational movements and swift turning motions are demonstrated on a power autonomous soft robot with a piezoelectric-thin-film-actuated body and electrostatic turning footpads. A high relative running speed of 2.5 body length per second compared with existing untethered robots is realized on a 24-mm-long untethered prototype integrated with power source, control, and wireless communication modules. An arc-shaped leg structure is adopted to self-regulate the frication forces on different footpads during turning by an inclination-induced redistribution of the payload gravity on legs and footpads. The trajectory maneuverability is demonstrated by navigating a 380 mg robot prototype with an 1810 mg payload to pass through a 58-cm-long S-shaped path with wireless control in 43.4 s. Due to the flexibility of the all-polymer body structure, the robustness of the untethered robot to large strain is demonstrated when compressed by 91 times the weight of the robot. A maximum travel distance of 58.6 m is achieved for the robot equipped with a 40 mA·h lithium battery, corresponding to the cost of transport of 261. This work provides a feasible solution to achieve high agility and advance the practicability of untethered soft robots on an insect scale.
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Affiliation(s)
- Zicong Miao
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | | | - Huimin Chen
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Jiangfeng Lu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Xiang Sun
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Ying Liu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Fei Tang
- State Key Laboratory of Precision Measurement Technology and Instruments, Department of Precision Instruments, Tsinghua University, Beijing, China
| | - Min Zhang
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
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13
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Zhai Y, De Boer A, Yan J, Shih B, Faber M, Speros J, Gupta R, Tolley MT. Desktop fabrication of monolithic soft robotic devices with embedded fluidic control circuits. Sci Robot 2023; 8:eadg3792. [PMID: 37343076 DOI: 10.1126/scirobotics.adg3792] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2022] [Accepted: 05/24/2023] [Indexed: 06/23/2023]
Abstract
Most soft robots are pneumatically actuated and fabricated by molding and assembling processes that typically require many manual operations and limit complexity. Furthermore, complex control components (for example, electronic pumps and microcontrollers) must be added to achieve even simple functions. Desktop fused filament fabrication (FFF) three-dimensional printing provides an accessible alternative with less manual work and the capability of generating more complex structures. However, because of material and process limitations, FFF-printed soft robots often have a high effective stiffness and contain a large number of leaks, limiting their applications. We present an approach for the design and fabrication of soft, airtight pneumatic robotic devices using FFF to simultaneously print actuators with embedded fluidic control components. We demonstrated this approach by printing actuators an order of magnitude softer than those previously fabricated using FFF and capable of bending to form a complete circle. Similarly, we printed pneumatic valves that control a high-pressure airflow with low control pressure. Combining the actuators and valves, we demonstrated a monolithically printed electronics-free autonomous gripper. When connected to a constant supply of air pressure, the gripper autonomously detected and gripped an object and released the object when it detected a force due to the weight of the object acting perpendicular to the gripper. The entire fabrication process of the gripper required no posttreatment, postassembly, or repair of manufacturing defects, making this approach highly repeatable and accessible. Our proposed approach represents a step toward complex, customized robotic systems and components created at distributed fabricating facilities.
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Affiliation(s)
- Yichen Zhai
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | | | - Jiayao Yan
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Benjamin Shih
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Martin Faber
- BASF 3D Printing Solutions B.V., Emmen, Netherlands
| | - Joshua Speros
- BASF Corporation California Research Alliance, Berkeley, CA 94720, USA
| | - Rohini Gupta
- BASF Corporation California Research Alliance, Berkeley, CA 94720, USA
| | - Michael T Tolley
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
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14
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Kim S, Cha Y. A soft crawling robot with a modular design based on electrohydraulic actuator. iScience 2023; 26:106726. [PMID: 37216115 PMCID: PMC10192932 DOI: 10.1016/j.isci.2023.106726] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/11/2022] [Revised: 12/26/2022] [Accepted: 04/20/2023] [Indexed: 05/24/2023] Open
Abstract
The soft structure of creatures without a rigid internal skeleton can easily adapt to any atypical environment. In the same context, robots with soft structures can change their shape to adapt to complex and varied surroundings. In this study, we introduce a caterpillar-inspired soft crawling robot with a fully soft body. The proposed crawling robot consists of soft modules based on an electrohydraulic actuator, a body frame, and contact pads. The modular robotic design produces deformations similar to the peristaltic crawling behavior of caterpillars. In this approach, the deformable body replicates the mechanism of the anchor movement of a caterpillar by sequentially varying the friction between the robot contact pads and the ground. The robot carries out forward movement by repeating the operation pattern. The robot has also been demonstrated to traverse slopes and narrow crevices.
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Affiliation(s)
- Sohyun Kim
- School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea
| | - Youngsu Cha
- School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea
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15
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López-González A, Tejada JC, López-Romero J. Review and Proposal for a Classification System of Soft Robots Inspired by Animal Morphology. Biomimetics (Basel) 2023; 8:biomimetics8020192. [PMID: 37218778 DOI: 10.3390/biomimetics8020192] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2023] [Revised: 03/31/2023] [Accepted: 04/20/2023] [Indexed: 05/24/2023] Open
Abstract
The aim of this article is to propose a bio-inspired morphological classification for soft robots based on an extended review process. The morphology of living beings that inspire soft robotics was analyzed; we found coincidences between animal kingdom morphological structures and soft robot structures. A classification is proposed and depicted through experiments. Additionally, many soft robot platforms present in the literature are classified using it. This classification allows for order and coherence in the area of soft robotics and provides enough freedom to expand soft robotics research.
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Affiliation(s)
- Alexandro López-González
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
| | - Juan C Tejada
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
- Computational Intelligence and Automation Research Group (GIICA), Universidad EIA, Envigado 055428, Colombia
| | - Janet López-Romero
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
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16
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Zhou Q, Xu J, Fang H. A CPG-Based Versatile Control Framework for Metameric Earthworm-Like Robotic Locomotion. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2206336. [PMID: 36775888 DOI: 10.1002/advs.202206336] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/30/2022] [Revised: 01/08/2023] [Indexed: 05/18/2023]
Abstract
Annelids such as earthworms are considered to have central pattern generators (CPGs) that generate rhythms in neural circuits to coordinate the deformation of body segments for effective locomotion. At present, the states of earthworm-like robot segments are often assigned holistically and artificially by mimicking the earthworms' retrograde peristalsis wave, which is unable to adapt their gaits for variable environments and tasks. This motivates the authors to extend the bioinspired research from morphology to neurobiology by mimicking the CPG to build a versatile framework for spontaneous motion control. Here, the spatiotemporal dynamics is exploited from the coupled Hopf oscillators to not only unify the two existing gait generators for restoring temporal-symmetric phase-coordinated gaits and discrete gaits but also generate novel temporal-asymmetric phase-coordinated gaits. Theoretical and experimental tests consistently confirm that the introduction of temporal asymmetry improves the robot's locomotion performance. The CPG-based controller also enables seamless online switching of locomotion gaits to avoid abrupt changes, sharp stops, and starts, thus improving the robot's adaptability in variable working scenarios.
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Affiliation(s)
- Qinyan Zhou
- Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI & Robotics, Fudan University, Shanghai, 200433, China
| | - Jian Xu
- Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI & Robotics, Fudan University, Shanghai, 200433, China
| | - Hongbin Fang
- Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI & Robotics, Fudan University, Shanghai, 200433, China
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17
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Muff LF, Mills AS, Riddle S, Buclin V, Roulin A, Chiel HJ, Quinn RD, Weder C, Daltorio KA. Modular Design of a Polymer-Bilayer-Based Mechanically Compliant Worm-Like Robot. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2210409. [PMID: 36807655 DOI: 10.1002/adma.202210409] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/09/2022] [Revised: 01/25/2023] [Indexed: 05/05/2023]
Abstract
Soft earthworm-like robots that exhibit mechanical compliance can, in principle, navigate through uneven terrains and constricted spaces that are inaccessible to traditional legged and wheeled robots. However, unlike the biological originals that they mimic, most of the worm-like robots reported to date contain rigid components that limit their compliance, such as electromotors or pressure-driven actuation systems. Here, a mechanically compliant worm-like robot with a fully modular body that is based on soft polymers is reported. The robot is composed of strategically assembled, electrothermally activated polymer bilayer actuators, which are based on a semicrystalline polyurethane with an exceptionally large nonlinear thermal expansion coefficient. The segments are designed on the basis of a modified Timoshenko model, and finite element analysis simulation is used to describe their performance. Upon electrical activation of the segments with basic waveform patterns, the robot can move through repeatable peristaltic locomotion on exceptionally slippery or sticky surfaces and it can be oriented in any direction. The soft body enables the robot to wriggle through openings and tunnels that are much smaller than its cross-section.
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Affiliation(s)
- Livius F Muff
- Adolphe Merkle Institute, University of Fribourg, Chemin des Verdiers 4, Fribourg, CH-1700, Switzerland
| | - Austin S Mills
- Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Shane Riddle
- Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Véronique Buclin
- Adolphe Merkle Institute, University of Fribourg, Chemin des Verdiers 4, Fribourg, CH-1700, Switzerland
| | - Anita Roulin
- Adolphe Merkle Institute, University of Fribourg, Chemin des Verdiers 4, Fribourg, CH-1700, Switzerland
| | - Hillel J Chiel
- Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Roger D Quinn
- Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Christoph Weder
- Adolphe Merkle Institute, University of Fribourg, Chemin des Verdiers 4, Fribourg, CH-1700, Switzerland
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18
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Wu W, Zhou Y, Liu Q, Ren L, Chen F, Fuh JYH, Zheng A, Li X, Zhao J, Li G. Metallic 4D Printing of Laser Stimulation. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2206486. [PMID: 36683254 PMCID: PMC10131821 DOI: 10.1002/advs.202206486] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/17/2022] [Revised: 12/29/2022] [Indexed: 06/17/2023]
Abstract
4D printing of metallic shape-morphing systems can be applied in many fields, including aerospace, smart manufacturing, naval equipment, and biomedical engineering. The existing forming materials for metallic 4D printing are still very limited except shape memory alloys. Herein, a 4D printing method to endow non-shape-memory metallic materials with active properties is presented, which could overcome the shape-forming limitation of traditional material processing technologies. The thermal stress spatial control of 316L stainless steel forming parts is achieved by programming the processing parameters during a laser powder bed fusion (LPBF) process. The printed parts can realize the shape changing of selected areas during or after forming process owing to stress release generated. It is demonstrated that complex metallic shape-morphing structures can be manufactured by this method. The principles of printing parameters programmed and thermal stress pre-set are also applicable to other thermoforming materials and additive manufacturing processes, which can expand not only the materials used for 4D printing but also the applications of 4D printing technologies.
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Affiliation(s)
- Wenzheng Wu
- School of Mechanical and Aerospace EngineeringJilin UniversityChangchunJilin130025P. R. China
| | - Yiming Zhou
- School of Mechanical and Aerospace EngineeringJilin UniversityChangchunJilin130025P. R. China
| | - Qingping Liu
- Key Laboratory of Bionic Engineering (Ministry of Education)Jilin UniversityChangchun130025P. R. China
| | - Luquan Ren
- School of Mechanical and Aerospace EngineeringJilin UniversityChangchunJilin130025P. R. China
- Key Laboratory of Bionic Engineering (Ministry of Education)Jilin UniversityChangchun130025P. R. China
| | - Fan Chen
- Department of Mechanical EngineeringNational University of SingaporeSingapore117576Singapore
| | - Jerry Ying Hsi Fuh
- Department of Mechanical EngineeringNational University of SingaporeSingapore117576Singapore
| | - Aodu Zheng
- School of Mechanical and Aerospace EngineeringJilin UniversityChangchunJilin130025P. R. China
- Chongqing Research InstituteJilin University618 Liangjiang Avenue, Longxing Town, Yubei DistrictChongqing401122P. R. China
| | - Xuechao Li
- School of Mechanical and Aerospace EngineeringJilin UniversityChangchunJilin130025P. R. China
- Chongqing Research InstituteJilin University618 Liangjiang Avenue, Longxing Town, Yubei DistrictChongqing401122P. R. China
| | - Ji Zhao
- School of Mechanical Engineering and AutomationNortheastern UniversityShenyangLiaoning110004P. R. China
| | - Guiwei Li
- School of Mechanical and Aerospace EngineeringJilin UniversityChangchunJilin130025P. R. China
- Key Laboratory of Bionic Engineering (Ministry of Education)Jilin UniversityChangchun130025P. R. China
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19
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Mangan M, Floreano D, Yasui K, Trimmer BA, Gravish N, Hauert S, Webb B, Manoonpong P, Szczecinski N. A virtuous cycle between invertebrate and robotics research: perspective on a decade of Living Machines research. BIOINSPIRATION & BIOMIMETICS 2023; 18:035005. [PMID: 36881919 DOI: 10.1088/1748-3190/acc223] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/19/2022] [Accepted: 03/07/2023] [Indexed: 06/18/2023]
Abstract
Many invertebrates are ideal model systems on which to base robot design principles due to their success in solving seemingly complex tasks across domains while possessing smaller nervous systems than vertebrates. Three areas are particularly relevant for robot designers: Research on flying and crawling invertebrates has inspired new materials and geometries from which robot bodies (their morphologies) can be constructed, enabling a new generation of softer, smaller, and lighter robots. Research on walking insects has informed the design of new systems for controlling robot bodies (their motion control) and adapting their motion to their environment without costly computational methods. And research combining wet and computational neuroscience with robotic validation methods has revealed the structure and function of core circuits in the insect brain responsible for the navigation and swarming capabilities (their mental faculties) displayed by foraging insects. The last decade has seen significant progress in the application of principles extracted from invertebrates, as well as the application of biomimetic robots to model and better understand how animals function. This Perspectives paper on the past 10 years of the Living Machines conference outlines some of the most exciting recent advances in each of these fields before outlining lessons gleaned and the outlook for the next decade of invertebrate robotic research.
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Affiliation(s)
- Michael Mangan
- The University of Sheffield, Mappin St, Sheffield S10 2TN, United Kingdom
| | - Dario Floreano
- Ecole Polytechnique Federale de Lausanne, Laboratory of Intelligent Systems, Station 9, Lausanne CH-1015, Switzerland
| | - Kotaro Yasui
- Tohoku University, Frontier Research Institute for Interdisciplinary Sciences, 6-3 Aramaki aza Aoba, Aoba-ku, Sendai 980-8578, Japan
| | - Barry A Trimmer
- Tufts University, Biology, 200 Boston Av, Boston, MA 02111, United States of America
| | - Nick Gravish
- University of California San Diego, Mechanical and Aerospace Engineering, Building EBU II, La Jolla, CA 92093, United States of America
| | - Sabine Hauert
- University of Bristol, Engineering Mathematics, Bristol BS8 1QU, United Kingdom
| | - Barbara Webb
- University of Edinburgh, School of Informatics, 10 Crichton St, Edinburgh EH8 9AB, United Kingdom
| | - Poramate Manoonpong
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China
- Bio-Inspired Robotics and Neural Engineering Laboratory, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Wangchan Valley, Rayong 21210, Thailand
| | - Nicholas Szczecinski
- West Virginia University, Mechanical and Aerospace Engineering, Morgantown, WV 26506-6201, United States of America
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20
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Freeman C, Maynard M, Vikas V. Topology and Morphology Design of Spherically Reconfigurable Homogeneous Modular Soft Robots. Soft Robot 2023; 10:52-65. [PMID: 35796705 DOI: 10.1089/soro.2021.0125] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
Imagine a swarm of terrestrial robots that can explore an environment, and, on completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them in maneuvering variable terrains. The sphere-plane reconfiguration is equivalent to projecting a spherical shell onto a plane, an operation that is not possible without distortions. Fortunately, soft materials have the potential to adapt to this disparity of the Gaussian curvatures. Modular Soft Robots (MSoRos) have promise of achieving dimensional change by exploiting their continuum and deformable nature. However, the design of such soft robots has remained unexplored thus far. Here, for the first time, we present the topology and morphology design of MSoRos that are capable of reconfiguring between spherical and planar configurations. Our approach is based in geometry, where a platonic solid determines the number of modules required for plane-to-sphere reconfiguration and the radius of the resulting sphere, for example, four "tetrahedron-based" or six "cube-based" MSoRos are required for spherical reconfiguration. The methodology involves: (1) inverse orthographic projection of a "module-topology curve" onto the circumscribing sphere to generate the spherical topology; (2) azimuthal projection of the spherical topology onto a tangent plane at the center of the module resulting in the planar topology; and (3) adjusting the limb stiffness and curling ability by manipulating the geometry of cavities to realize a physical finite-width, Motor-Tendon Actuated MSoRo that can actuate between the sphere-plane configurations. The topology design is shown to be scale invariant, that is, the scaling of base platonic solid is reflected linearly in spherical and planar topologies. The module-topology curve is optimized for the reconfiguration and locomotion ability using an intramodular distortion metric that quantifies sphere-to-plane distortion. The geometry of the cavity optimizes for the limb stiffness and curling ability without compromising the actuator's structural integrity.
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Affiliation(s)
- Caitlin Freeman
- Agile Robotics Lab, Department of Mechanical Engineering, University of Alabama, Tuscaloosa, Alabama, USA
| | - Michael Maynard
- Agile Robotics Lab, Department of Mechanical Engineering, University of Alabama, Tuscaloosa, Alabama, USA
| | - Vishesh Vikas
- Agile Robotics Lab, Department of Mechanical Engineering, University of Alabama, Tuscaloosa, Alabama, USA
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21
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Das R, Babu SPM, Visentin F, Palagi S, Mazzolai B. An earthworm-like modular soft robot for locomotion in multi-terrain environments. Sci Rep 2023; 13:1571. [PMID: 36709355 PMCID: PMC9884293 DOI: 10.1038/s41598-023-28873-w] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/25/2022] [Accepted: 01/24/2023] [Indexed: 01/30/2023] Open
Abstract
Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments.
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Affiliation(s)
- Riddhi Das
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy. .,The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy.
| | - Saravana Prashanth Murali Babu
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy. .,Center for Soft Robotics, SDU Biorobotics, The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark.
| | - Francesco Visentin
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.,Department of Computer Science, Università degli Studi di Verona, Verona, Italy
| | - Stefano Palagi
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.,The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.
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22
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Abstract
Thermal actuation is a common actuation method for soft robots. However, a major limitation is the relatively slow actuation speed. Here we report significant increase in the actuation speed of a bimorph thermal actuator by harnessing the snap-through instability. The actuator is made of silver nanowire/polydimethylsiloxane composite. The snap-through instability is enabled by simply applying an offset displacement to part of the actuator structure. The effects of thermal conductivity of the composite, offset displacement, and actuation frequency on the actuator speed are investigated using both experiments and finite element analysis. The actuator yields a bending speed as high as 28.7 cm-1/s, 10 times that without the snap-through instability. A fast crawling robot with locomotion speed of 1.04 body length per second and a biomimetic Venus flytrap were demonstrated to illustrate the promising potential of the fast bimorph thermal actuators for soft robotic applications.
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Affiliation(s)
- Shuang Wu
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Gregory Langston Baker
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA.,Department of Materials Science and Engineering, North Carolina State University, Raleigh, North Carolina, USA.,Joint Department of Biomedical Engineering, University of North Carolina-Chapel Hill and NC State University, Chapel Hill, North Carolina, USA
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23
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Dong X, Luo X, Zhao H, Qiao C, Li J, Yi J, Yang L, Oropeza FJ, Hu TS, Xu Q, Zeng H. Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications. SOFT MATTER 2022; 18:7699-7734. [PMID: 36205123 DOI: 10.1039/d2sm01067d] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/29/2023]
Abstract
Compared to traditional rigid-bodied robots, soft robots are constructed using physically flexible/elastic bodies and electronics to mimic nature and enable novel applications in industry, healthcare, aviation, military, etc. Recently, the fabrication of robots on soft matter with great flexibility and compliance has enabled smooth and sophisticated 'multi-degree-of-freedom' 3D actuation to seamlessly interact with humans, other organisms and non-idealized environments in a highly complex and controllable manner. Herein, we summarize the fabrication approaches, driving strategies, novel applications, and future trends of soft robots. Firstly, we introduce the different fabrication approaches to prepare soft robots and compare and systematically discuss their advantages and disadvantages. Then, we present the actuator-based and material-based driving strategies of soft robotics and their characteristics. The representative applications of soft robotics in artificial intelligence, medicine, sensors, and engineering are summarized. Also, some remaining challenges and future perspectives in soft robotics are provided. This work highlights the recent advances of soft robotics in terms of functional material selection, structure design, control strategies and biomimicry, providing useful insights into the development of next-generation functional soft robotics.
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Affiliation(s)
- Xiaoxiao Dong
- College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China.
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
| | - Xiaohang Luo
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Hong Zhao
- College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China.
| | - Chenyu Qiao
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
| | - Jiapeng Li
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Jianhong Yi
- Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China.
| | - Li Yang
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
- Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China.
| | - Francisco J Oropeza
- Department of Mechanical Engineering, California State University, Los Angeles, California 90032, USA
| | - Travis Shihao Hu
- Department of Mechanical Engineering, California State University, Los Angeles, California 90032, USA
| | - Quan Xu
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Hongbo Zeng
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
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24
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Xu L, Wagner RJ, Liu S, He Q, Li T, Pan W, Feng Y, Feng H, Meng Q, Zou X, Fu Y, Shi X, Zhao D, Ding J, Vernerey FJ. Locomotion of an untethered, worm-inspired soft robot driven by a shape-memory alloy skeleton. Sci Rep 2022; 12:12392. [PMID: 35859091 PMCID: PMC9300706 DOI: 10.1038/s41598-022-16087-5] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/10/2022] [Accepted: 07/04/2022] [Indexed: 11/15/2022] Open
Abstract
Soft, worm-like robots show promise in complex and constrained environments due to their robust, yet simple movement patterns. Although many such robots have been developed, they either rely on tethered power supplies and complex designs or cannot move external loads. To address these issues, we here introduce a novel, maggot-inspired, magnetically driven “mag-bot” that utilizes shape memory alloy-induced, thermoresponsive actuation and surface pattern-induced anisotropic friction to achieve locomotion inspired by fly larvae. This simple, untethered design can carry cargo that weighs up to three times its own weight with only a 17% reduction in speed over unloaded conditions thereby demonstrating, for the first time, how soft, untethered robots may be used to carry loads in controlled environments. Given their small scale and low cost, we expect that these mag-bots may be used in remote, confined spaces for small objects handling or as components in more complex designs.
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Affiliation(s)
- Lin Xu
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China.,State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou, 730000, People's Republic of China
| | - Robert J Wagner
- Department of Mechanical Engineering & Material Science and Engineering Program, University of Colorado at Boulder, Boulder, 80309-0428, USA
| | - Siyuan Liu
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Qingrui He
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Tao Li
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Wenlong Pan
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Yu Feng
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Huanhuan Feng
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Qingguang Meng
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Xiang Zou
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Yu Fu
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China
| | - Xingling Shi
- School of Materials Science and Engineering, Jiangsu University of Science and Technology, Zhenjiang, 212003, People's Republic of China
| | - Dongliang Zhao
- School of Energy and Environment, Southeast University, Nanjing, 210096, People's Republic of China
| | - Jianning Ding
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang, 212013, People's Republic of China.
| | - Franck J Vernerey
- Department of Mechanical Engineering & Material Science and Engineering Program, University of Colorado at Boulder, Boulder, 80309-0428, USA.
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25
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Patterson ZJ, Patel DK, Bergbreiter S, Yao L, Majidi C. A Method for 3D Printing and Rapid Prototyping of Fieldable Untethered Soft Robots. Soft Robot 2022; 10:292-300. [PMID: 35852561 DOI: 10.1089/soro.2022.0003] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
Because they are made of elastically deformable and compliant materials, soft robots can passively change shape and conform to their environment, providing potential advantages over traditional robotics approaches. However, existing manufacturing workflows are often labor intensive and limited in their ability to create highly integrated three-dimensional (3D) heterogeneous material systems. In this study, we address this with a streamlined workflow to produce field-deployable soft robots based on 3D printing with digital light processing (DLP) of silicone-like soft materials. DLP-based 3D printing is used to create soft actuators (2.2 g) capable of exerting up to 0.5 Newtons of force that are integrated into a bioinspired untethered soft robot. The robot walks underwater at speeds comparable with its biological analog, the brittle star. Using a model-free planning algorithm and feedback, the robot follows remote commands to move to desired positions. Moreover, we show that the robot is able to perform untethered locomotion outside of a laboratory and in a natural aquatic environment. Our results represent progress in soft robot manufacturing autonomy for a 3D printed untethered soft robot.
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Affiliation(s)
- Zach J Patterson
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Dinesh K Patel
- Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Sarah Bergbreiter
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Lining Yao
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Carmel Majidi
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
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26
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Yu W, Li X, Chen D, Liu J, Su J, Liu J, Cao C, Yuan H. A minimally designed soft crawling robot for robust locomotion in unstructured pipes. BIOINSPIRATION & BIOMIMETICS 2022; 17:056001. [PMID: 35636388 DOI: 10.1088/1748-3190/ac7492] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/27/2022] [Accepted: 05/30/2022] [Indexed: 06/15/2023]
Abstract
Soft robots have attracted increasing attention due to their excellent versatility and broad applications. In this article, we present a minimally designed soft crawling robot (SCR) capable of robust locomotion in unstructured pipes with various geometric/material properties and surface topology. In particular, the SCR can squeeze through narrow pipes smaller than its cross section and propel robustly in spiked pipes. The gait pattern and locomotion mechanism of this robot are experimentally investigated and analysed by the finite element analysis, revealing that the resultant forward frictional force is generated due to the asymmetric mechanical properties along the length direction of the robot. The proposed simple yet working SCR could inspire novel designs and applications of soft robots in unstructured narrow canals such as large intestines or industrial pipelines.
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Affiliation(s)
- Wenkai Yu
- Shenzhen Key Laboratory of Soft Mechanics & Smart Manufacturing, Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, People's Republic of China
| | - Xin Li
- Shenzhen Key Laboratory of Soft Mechanics & Smart Manufacturing, Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, People's Republic of China
| | - Dunyu Chen
- Shenzhen Key Laboratory of Soft Mechanics & Smart Manufacturing, Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, People's Republic of China
| | - Jingyi Liu
- Shenzhen Key Laboratory of Soft Mechanics & Smart Manufacturing, Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, People's Republic of China
| | - Jiaji Su
- Laboratory for Soft Machines & Electronics, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, United States of America
| | - Ju Liu
- Shenzhen Key Laboratory of Soft Mechanics & Smart Manufacturing, Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, People's Republic of China
| | - Changyong Cao
- Laboratory for Soft Machines & Electronics, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, United States of America
| | - Hongyan Yuan
- Shenzhen Key Laboratory of Soft Mechanics & Smart Manufacturing, Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, People's Republic of China
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27
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Wang C, Li H, Zhang Z, Yu P, Yang L, Du J, Niu Y, Jiang J. Review of Bionic Crawling Micro-Robots. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01649-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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28
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Design and locomotion analysis of modular soft robot. ROBOTICA 2022. [DOI: 10.1017/s0263574722000728] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
Abstract
In the paper, a novel modular soft robot that can crawl and turn is presented. The modular soft robot is composed of multiple drive modules connected in series, including one head module, one tail module and three body modules. Each module is actuated by the air chamber. Due to the nonlinear performance of the air chamber, the strain energy function of the air chamber is established. The relationship between the displacement of the air chamber expansion wall and the inflation pressure is obtained, and the manufacturing parameters of the air chamber are determined. By dividing the body of the robot into a series of continuous flexible models, the driving force and the friction force of the robot in locomotion are analyzed. An inflation and deflation control method is presented to complete the locomotion. According to the experiment, the crawling speed of the robot can reach 15.53 mm/s (0.03 body length per second). The turning speed of the robot can reach 1.273 °/s. The robot can crawl and turn on the rough blanket surface effectively. The robot can explore and move in a complex and changeable environment.
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29
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Umedachi T, Shimizu M. Toward Self-Modifying Bio-Soft Robots. JOURNAL OF ROBOTICS AND MECHATRONICS 2022. [DOI: 10.20965/jrm.2022.p0219] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Soft robotics can dramatically increase the affinity between machines and biological systems. Designing the machine/device to be soft and deformable allows the biological system to interact with the robotic system(s) mechanically, electronically, and chemically. This advantage is evident from the rapid growth of collaborative robotics, where a robot can be mechanically guided by an operator to learn motions from them without the need for coding. This letter introduces a method for combining a soft robotic system with a biological system, demonstrated through a series of case studies of ongoing research projects. These various projects have a common purpose in creating self-modifying bio-soft robots.
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30
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Liu Y, Yang T, Wang D, Yu Y. A low-cost single-motor-driven climbing robot based on overrunning spring clutch mechanisms. INT J ADV ROBOT SYST 2022. [DOI: 10.1177/17298806221079701] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Forestry monitoring and high-voltage cable inspection demand on low-cost climbing robots. The proposed climbing robot has simple control and low cost, enabling loaded, which drives by a single motor. Based on the overrunning spring clutch mechanisms, two motions of holding and climbing are realized by one motor. A rope-driven gripper is for adaptive enveloping holding effectively and a thron wheel is used to attach the climbing surface and stable climbing. The design parameters of the overrunning spring clutch mechanism and the rope-driven gripper are determined. The prototype and experiment setup are built. The enveloping holding experiment is carried out to verify the holding stability and shape adaptability of the rope-driven gripper. The trunk and pipe climbing experiments verify the climbing performance of the climbing robot and its application prospects with a certain load. In the future, as a low-cost climbing robot, a camera or operating mechanism can be equipped for tasks.
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Affiliation(s)
- Yuwang Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
| | - Tao Yang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
| | - Dongqi Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
| | - Yi Yu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
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31
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Scibelli AE, Donatelli CM, Tidswell BK, Payton MR, Tytell ED, Trimmer BA. MONOLITh: a soft non-pneumatic foam robot with a functional mesh skin for use in delicate environments. Adv Robot 2022. [DOI: 10.1080/01691864.2022.2029764] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/01/2022]
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32
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Bell MA, Weaver JC, Wood RJ. An Ambidextrous STarfish-Inspired Exploration and Reconnaissance Robot (The ASTER-bot). Soft Robot 2021; 9:991-1000. [PMID: 34978920 DOI: 10.1089/soro.2021.0053] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
As more roboticists are turning to Nature for design inspiration, it is becoming increasingly apparent that multisystem-level investigations of biological processes can frequently lead to unexpected advances in the development of experimental research platforms. Inspired by these efforts, we present here a holistic approach to developing an autonomous starfish-inspired soft robot that embodies a number of key design, fabrication, and actuation principles. These key concepts include integrated and sequentially deployable magnetic tube feet for site-specific and reversible substrate attachment, individually addressable flexible arms, and highly efficient and self-contained fluidic engines. These individual features offer a level of synergistic motion control not previously seen in other starfish-inspired robots. For example, our bistable dome-like tube feet are capable of achieving high adhesion forces to ferrous surfaces and low removal forces. These tube feet are further integrated with a fluidic engine to drive the entire arm while maintaining the ability to accurately control the arm position with a 270° range of motion. Furthermore, the arm and fluidic engine are modular, allowing each of the five arms to be replaced in seconds or enabling the exploration of a variety of limb geometries. Through the incorporation of these different design elements, the ASTER-bot (named for its star-like body plan) is capable of locomotion on ferrous surfaces, above and below water, and on nonplanar surfaces. This article further describes the design, fabrication, and integration strategies and characterizes the energetic and locomotory performance of this pentaradial robotic prototype.
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Affiliation(s)
- Michael A Bell
- John A. Paulson School of Engineering and Applied Sciences, Science and Engineering Center, Allston, Massachusetts, USA
| | - James C Weaver
- John A. Paulson School of Engineering and Applied Sciences, Science and Engineering Center, Allston, Massachusetts, USA
| | - Robert J Wood
- John A. Paulson School of Engineering and Applied Sciences, Science and Engineering Center, Allston, Massachusetts, USA
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33
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Yan Y, Shui L, Liu S, Liu Z, Liu Y. Terrain Adaptability and Optimum Contact Stiffness of Vibro-bot with Arrayed Soft Legs. Soft Robot 2021; 9:981-990. [PMID: 34842452 DOI: 10.1089/soro.2021.0029] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022] Open
Abstract
The terrain adaptability of the state-of-the-art robot is far behind natural animals, partly because of limited sensing, intelligence, controlling, and actuating ability. One possible solution is to explore the flexible locomotion structure and locomotion mode with good adaptability and fault tolerance. Based on this idea, we presented a type of vibro-bot with arrayed soft legs (VBASL) with excellent terrain adaptability by utilizing the rapid vibration of the soft belt array. With the resistance to local terrain blocking and combing the vibrational actuation, the VBASL has an advantage of multi-leg collaboration, so that very simple structure can achieve good terrain adaptability, such as steady locomotion on complex terrains like steep slope, ladders, steps, discrete pillars, and soft sands. Besides, the effects of soft leg geometry, stiffness, and ground topography on terrain adaptability and locomotion speed were also studied, indicating the similar contact stiffness to maximize the locomotion speed on different grounds. Then, a theoretical model was developed to describe the experiments well, which can guide the design of optimum contact stiffness of VBASL to achieve fast locomotion speed and good load capacity. By further modifying the robot structure, more practical functions such as turning, climbing, and anti-impacting were easily realized. The resistance to local terrain blocking and optimum contact stiffness are two important factors to improve the performance of VBASL, which may address the terrain adaptability challenge of robots working in practical unstructured environments.
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Affiliation(s)
- Yingbo Yan
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Langquan Shui
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, PR China
| | - Siyu Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Zeming Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Yilun Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
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34
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Patdiya J, Kandasubramanian B. Progress in 4D printing of stimuli responsive materials. POLYM-PLAST TECH MAT 2021. [DOI: 10.1080/25740881.2021.1934016] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/18/2023]
Affiliation(s)
- Jigar Patdiya
- Rapid Prototyping Laboratory, Department of Metallurgical and Materials Engineering,Defence Institute of Advanced Technology (DU), Ministry of Defence, Girinagar, Pune India
| | - Balasubramanian Kandasubramanian
- Rapid Prototyping Laboratory, Department of Metallurgical and Materials Engineering,Defence Institute of Advanced Technology (DU), Ministry of Defence, Girinagar, Pune India
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35
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Direct Writing Corrugated PVC Gel Artificial Muscle via Multi-Material Printing Processes. Polymers (Basel) 2021; 13:polym13162734. [PMID: 34451273 PMCID: PMC8400140 DOI: 10.3390/polym13162734] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/16/2021] [Revised: 08/12/2021] [Accepted: 08/13/2021] [Indexed: 12/03/2022] Open
Abstract
Electroactive PVC gel is a new artificial muscle material with good performance that can mimic the movement of biological muscle in an electric field. However, traditional manufacturing methods, such as casting, prevent the broad application of this promising material because they cannot achieve the integration of the PVC gel electrode and core layer, and at the same time, it is difficult to create complex and diverse structures. In this study, a multi-material, integrated direct writing method is proposed to fabricate corrugated PVC gel artificial muscle. Inks with suitable rheological properties were developed for printing four functional layers, including core layers, electrode layers, sacrificial layers, and insulating layers, with different characteristics. The curing conditions of the printed CNT/SMP inks under different applied conditions were also discussed. The structural parameters were optimized to improve the actuating performance of the PVC gel artificial muscle. The corrugated PVC gel with a span of 1.6 mm had the best actuating performance. Finally, we printed three layers of corrugated PVC gel artificial muscle with good actuating performance. The proposed method can help to solve the inherent shortcomings of traditional manufacturing methods of PVC gel actuators. The printed structures have potential applications in many fields, such as soft robotics and flexible electronic devices.
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36
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Lu H, Yun G, Cole T, Ouyang Y, Ren H, Shu J, Zhang Y, Zhang S, Dickey MD, Li W, Tang SY. Reversible Underwater Adhesion for Soft Robotic Feet by Leveraging Electrochemically Tunable Liquid Metal Interfaces. ACS APPLIED MATERIALS & INTERFACES 2021; 13:37904-37914. [PMID: 34319083 DOI: 10.1021/acsami.1c09776] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Soft crawling robots have potential applications for surveillance, rescue, and detection in complex environments. Despite this, most existing soft crawling robots either use nonadjustable feet to passively induce asymmetry in friction to actuate or are only capable of moving on surfaces with specific designs. Thus, robots often lack the ability to move along arbitrary directions in a two-dimensional (2D) plane or in unpredictable environments such as wet surfaces. Here, leveraging the electrochemically tunable interfaces of liquid metal, we report the development of liquid metal smart feet (LMSF) that enable electrical control of friction for achieving versatile actuation of prismatic crawling robots on wet slippery surfaces. The functionality of the LMSF is examined on crawling robots with soft or rigid actuators. Parameters that affect the performance of the LMSF are investigated. The robots with the LMSF prove capable of actuating across different surfaces in various solutions. Demonstration of 2D locomotion of crawling robots along arbitrary directions validates the versatility and reliability of the LMSF, suggesting broad utility in the development of advanced soft robotic systems.
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Affiliation(s)
- Hongda Lu
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW 2522, Australia
| | - Guolin Yun
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW 2522, Australia
| | - Tim Cole
- Department of Electronic, Electrical and Systems Engineering, University of Birmingham, Edgbaston, Birmingham B15 2TT, U.K
| | - Yiming Ouyang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Hongtai Ren
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Jian Shu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Yuxin Zhang
- Department of Electronic, Electrical and Systems Engineering, University of Birmingham, Edgbaston, Birmingham B15 2TT, U.K
| | - Shiwu Zhang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Michael D Dickey
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
| | - Weihua Li
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW 2522, Australia
| | - Shi-Yang Tang
- Department of Electronic, Electrical and Systems Engineering, University of Birmingham, Edgbaston, Birmingham B15 2TT, U.K
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37
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Sharifi S, Rux C, Sparling N, Wan G, Mohammadi Nasab A, Siddaiah A, Menezes P, Zhang T, Shan W. Dynamically Tunable Friction via Subsurface Stiffness Modulation. Front Robot AI 2021; 8:691789. [PMID: 34277718 PMCID: PMC8281354 DOI: 10.3389/frobt.2021.691789] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/07/2021] [Accepted: 06/09/2021] [Indexed: 11/13/2022] Open
Abstract
Currently soft robots primarily rely on pneumatics and geometrical asymmetry to achieve locomotion, which limits their working range, versatility, and other untethered functionalities. In this paper, we introduce a novel approach to achieve locomotion for soft robots through dynamically tunable friction to address these challenges, which is achieved by subsurface stiffness modulation (SSM) of a stimuli-responsive component within composite structures. To demonstrate this, we design and fabricate an elastomeric pad made of polydimethylsiloxane (PDMS), which is embedded with a spiral channel filled with a low melting point alloy (LMPA). Once the LMPA strip is melted upon Joule heating, the compliance of the composite structure increases and the friction between the composite surface and the opposing surface increases. A series of experiments and finite element analysis (FEA) have been performed to characterize the frictional behavior of these composite pads and elucidate the underlying physics dominating the tunable friction. We also demonstrate that when these composite structures are properly integrated into soft crawling robots inspired by inchworms and earthworms, the differences in friction of the two ends of these robots through SSM can potentially be used to generate translational locomotion for untethered crawling robots.
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Affiliation(s)
- Siavash Sharifi
- Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, United States.,Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
| | - Caleb Rux
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States.,Mechanical and Industrial Engineering Department, Montana State University, Bozeman, MT, United States
| | - Nathaniel Sparling
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States.,Mechanical and Industrial Engineering Department, Montana State University, Bozeman, MT, United States
| | - Guangchao Wan
- Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, United States
| | - Amir Mohammadi Nasab
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
| | - Arpith Siddaiah
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
| | - Pradeep Menezes
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
| | - Teng Zhang
- Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, United States
| | - Wanliang Shan
- Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, United States.,Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
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38
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Xiong Z, Xiao H, Chen X. Fractal-inspired soft deployable structure: a theoretical study. SOFT MATTER 2021; 17:4834-4841. [PMID: 33881106 DOI: 10.1039/d1sm00006c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
The study of soft deployable structures is an emergent field that is highly correlated with metamaterial design, soft robotics, medical devices, etc. This paper studies a novel two-dimensional (2D) soft deployable structure that has a fractal layout with hierarchically coupled thin walls, which buckles upon actuation and deforms into a "peacock tail" pattern that is over 10 fold its original dimension. Large deflection theory and finite-element (FE) modeling are used to characterize its mechanical performance and to investigate its potential application in multiple fields. Further, 2D FE homogenization is implemented to extend the novel design into an active plane lattice metamaterial, on which parametric studies are carried out to explore its effective stiffness and large strain properties. The results show that, besides excellent deformability, the "peacock tail" soft deployable structure and its lattice metamaterial derivates exhibit intriguing properties such as multi-stiffening, strong anisotropy, zero/negative Poisson's ratio, a unique post-buckling collapse mechanism, etc. Three-dimensional generalization of the fractal compliant system is modeled to elaborate on the practical use of the structures. This paper aims to enrich the spectrum of soft deployable structures, shedding light on the research of novel soft robots, hierarchical structures, and metamaterials.
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Affiliation(s)
- Zechen Xiong
- Earth Engineering Center, Center for Advanced Materials for Energy and Environment, Department of Earth and Environmental Engineering, Columbia University, New York, NY 10027, USA.
| | - Hang Xiao
- School of Chemical Engineering, Northwest University, Xi'an 710069, China.
| | - Xi Chen
- Earth Engineering Center, Center for Advanced Materials for Energy and Environment, Department of Earth and Environmental Engineering, Columbia University, New York, NY 10027, USA.
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39
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Khajehtourian R, Kochmann DM. Soft Adaptive Mechanical Metamaterials. Front Robot AI 2021; 8:673478. [PMID: 34012982 PMCID: PMC8126663 DOI: 10.3389/frobt.2021.673478] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/27/2021] [Accepted: 04/16/2021] [Indexed: 12/12/2022] Open
Abstract
Soft materials are inherently flexible and make suitable candidates for soft robots intended for specific tasks that would otherwise not be achievable (e.g., smart grips capable of picking up objects without prior knowledge of their stiffness). Moreover, soft robots exploit the mechanics of their fundamental building blocks and aim to provide targeted functionality without the use of electronics or wiring. Despite recent progress, locomotion in soft robotics applications has remained a relatively young field with open challenges yet to overcome. Justly, harnessing structural instabilities and utilizing bistable actuators have gained importance as a solution. This report focuses on substrate-free reconfigurable structures composed of multistable unit cells with a nonconvex strain energy potential, which can exhibit structural transitions and produce strongly nonlinear transition waves. The energy released during the transition, if sufficient, balances the dissipation and kinetic energy of the system and forms a wave front that travels through the structure to effect its permanent or reversible reconfiguration. We exploit a triangular unit cell’s design space and provide general guidelines for unit cell selection. Using a continuum description, we predict and map the resulting structure’s behavior for various geometric and material properties. The structural motion created by these strongly nonlinear metamaterials has potential applications in propulsion in soft robotics, morphing surfaces, reconfigurable devices, mechanical logic, and controlled energy absorption.
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Affiliation(s)
- Romik Khajehtourian
- Mechanics and Materials Lab, Department of Mechanical and Process Engineering, ETH Zürich, Zürich, Switzerland
| | - Dennis M Kochmann
- Mechanics and Materials Lab, Department of Mechanical and Process Engineering, ETH Zürich, Zürich, Switzerland
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40
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Sachyani Keneth E, Kamyshny A, Totaro M, Beccai L, Magdassi S. 3D Printing Materials for Soft Robotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2003387. [PMID: 33164255 DOI: 10.1002/adma.202003387] [Citation(s) in RCA: 60] [Impact Index Per Article: 20.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/18/2020] [Revised: 07/09/2020] [Indexed: 05/23/2023]
Abstract
Soft robotics is a growing field of research, focusing on constructing motor-less robots from highly compliant materials, some are similar to those found in living organisms. Soft robotics has a high potential for applications in various fields such as soft grippers, actuators, and biomedical devices. 3D printing of soft robotics presents a novel and promising approach to form objects with complex structures, directly from a digital design. Here, recent developments in the field of materials for 3D printing of soft robotics are summarized, including high-performance flexible and stretchable materials, hydrogels, self-healing materials, and shape memory polymers, as well as fabrication of all-printed robots (multi-material printing, embedded electronics, untethered and autonomous robotics). The current challenges in the fabrication of 3D printed soft robotics, including the materials available and printing abilities, are presented and the recent activities addressing these challenges are also surveyed.
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Affiliation(s)
- Ela Sachyani Keneth
- Casali Center of Applied Chemistry, Institute of Chemistry and the Center for Nanoscience and Nanotechnology, The Hebrew University of Jerusalem, Jerusalem, 91904, Israel
| | - Alexander Kamyshny
- Casali Center of Applied Chemistry, Institute of Chemistry and the Center for Nanoscience and Nanotechnology, The Hebrew University of Jerusalem, Jerusalem, 91904, Israel
| | - Massimo Totaro
- Istituto Italiano di Tecnologia (IIT) Soft BioRobotics Perception lab, Viale Rinaldo Piaggio 34, Pontedera, Pisa, 56025, Italy
| | - Lucia Beccai
- Istituto Italiano di Tecnologia (IIT) Soft BioRobotics Perception lab, Viale Rinaldo Piaggio 34, Pontedera, Pisa, 56025, Italy
| | - Shlomo Magdassi
- Casali Center of Applied Chemistry, Institute of Chemistry and the Center for Nanoscience and Nanotechnology, The Hebrew University of Jerusalem, Jerusalem, 91904, Israel
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41
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Drotman D, Jadhav S, Sharp D, Chan C, Tolley MT. Electronics-free pneumatic circuits for controlling soft-legged robots. Sci Robot 2021; 6:6/51/eaay2627. [PMID: 34043527 DOI: 10.1126/scirobotics.aay2627] [Citation(s) in RCA: 87] [Impact Index Per Article: 29.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/15/2020] [Accepted: 01/26/2021] [Indexed: 12/20/2022]
Abstract
Pneumatically actuated soft robots have recently shown promise for their ability to adapt to their environment. Previously, these robots have been controlled with electromechanical components, such as valves and pumps, that are typically bulky and expensive. Here, we present an approach for controlling the gaits of soft-legged robots using simple pneumatic circuits without any electronic components. This approach produces locomotive gaits using ring oscillators composed of soft valves that generate oscillating signals analogous to biological central pattern generator neural circuits, which are acted upon by pneumatic logic components in response to sensor inputs. Our robot requires only a constant source of pressurized air to power both control and actuation systems. We demonstrate this approach by designing pneumatic control circuits to generate walking gaits for a soft-legged quadruped with three degrees of freedom per leg and to switch between gaits to control the direction of locomotion. In experiments, we controlled a basic walking gait using only three pneumatic memory elements (valves). With two oscillator circuits (seven valves), we were able to improve locomotion speed by 270%. Furthermore, with a pneumatic memory element we designed to mimic a double-pole double-throw switch, we demonstrated a control circuit that allowed the robot to select between gaits for omnidirectional locomotion and to respond to sensor input. This work represents a step toward fully autonomous, electronics-free walking robots for applications including low-cost robotics for entertainment and systems for operation in environments where electronics may not be suitable.
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Affiliation(s)
- Dylan Drotman
- Department of Mechanical Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Saurabh Jadhav
- Department of Mechanical Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - David Sharp
- Department of Mechanical Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Christian Chan
- Department of Mechanical Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Michael T Tolley
- Department of Mechanical Engineering, University of California, San Diego, La Jolla, CA 92093, USA. .,Materials Science and Engineering Program, University of California, San Diego, La Jolla, CA 92093, USA
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42
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Joyee EB, Szmelter A, Eddington D, Pan Y. 3D Printed Biomimetic Soft Robot with Multimodal Locomotion and Multifunctionality. Soft Robot 2020; 9:1-13. [PMID: 33275498 DOI: 10.1089/soro.2020.0004] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Soft robots can outperform traditional rigid robots in terms of structural compliance, enhanced safety, and efficient locomotion. However, it is still a grand challenge to design and efficiently manufacture soft robots with multimodal locomotion capability together with multifunctionality for navigating in dynamic environments and meanwhile performing diverse tasks in real-life applications. This study presents a 3D-printed soft robot, which has spatially varied material compositions (0-50% particle-polymer weight ratio), multiscale hierarchical surface structures (10 nm, 1 μm, and 70 μm features on 5 mm wide robot footpads), and consists of functional components for multifunctionality. A novel additive manufacturing process, magnetic-field-assisted projection stereolithography (M-SL), is innovated to fabricate the proposed robot with prescribed material heterogeneity and structural hierarchy, and hence locally engineered flexibility and preprogrammed functionality. The robot incorporates untethered magnetic actuation with superior multimodal locomotion capabilities for completing tasks in harsh environments, including effective load carrying (up to ∼30 times of its own weight) and obstacle removing (up to 6.5 times of its own weight) in congested spaces (e.g., 5 mm diameter glass tube, gastric folds of a pig stomach) by gripping or pushing objects (e.g., 0.3-8 times of its own weight with a velocity up to 31 mm/s). Furthermore, the robot footpads are covered by multiscale hierarchical spike structures with features spanning from nanometers (e.g., 10 nm) to millimeters. Such high structural hierarchy enables multiple superior functions, including changing a naturally hydrophilic surface to hydrophobic, hairy adhesion, and excellent cell attaching and growth properties. It is found that the hairy adhesion and the engineered hydrophobicity of the robot footpad enable robust navigation in wet and slippery environments. The multimaterial multiscale robot design and the direct digital manufacturing method enable complex and versatile robot behaviors in sophisticated environments, facilitating a wide spectrum of real-life applications.
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Affiliation(s)
- Erina Baynojir Joyee
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago (UIC), Chicago, Illinois, USA
| | - Adam Szmelter
- Department of Bioengineering, University of Illinois at Chicago (UIC), Chicago, Illinois, USA
| | - David Eddington
- Department of Bioengineering, University of Illinois at Chicago (UIC), Chicago, Illinois, USA
| | - Yayue Pan
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago (UIC), Chicago, Illinois, USA
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43
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Zhou W, Gravish N. Rapid two-anchor crawling from a milliscale prismatic-push-pull (3P) robot. BIOINSPIRATION & BIOMIMETICS 2020; 15:065001. [PMID: 32702676 DOI: 10.1088/1748-3190/aba8ab] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/17/2020] [Accepted: 07/23/2020] [Indexed: 06/11/2023]
Abstract
Many crawling organisms such as caterpillars and worms use a method of movement in which two or more anchor points alternately push and pull the body forward at a constant frequency. In this paper we present a milliscale push-pull robot which is capable of operating across a wide range of actuation frequencies thus enabling us to expand our understanding of two-anchor locomotion beyond the low-speed regime. We designed and fabricated a milliscale robot which uses anisotropic friction at two oscillating contact points to propel itself forward in a push-pull fashion. In experiments we varied the oscillation frequency,f, over a wide range (10-250 Hz) and observe a non-linear relationship between robot speed over this full frequency range. At low frequency (f< 100 Hz) forward speed increased linearly with frequency. However, at an intermediate push-pull frequency (f> 100 Hz) speed was relatively constant with increasing frequency. Lastly, at higher frequency (f> 170 Hz) the linear speed-frequency relationship returned. The speed-frequency relationship at low actuation frequencies is consistent with previously described two-anchor models and experiments in biology and robotics, however the higher frequency behavior is inconsistent with two-anchor frictional behavior. To understand the locomotion behavior of our system we first develop a deterministic two-anchor model in which contact forces are determined exactly from static or dynamic friction. Our experiments deviate from the model predictions, and through 3D kinematics measurements we confirm that ground contact is intermittent in robot locomotion at higher frequencies. By including probabilistic foot slipping behavior in the two-anchor friction model we are able to describe the three-regimes of robot locomotion.
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Affiliation(s)
- Wei Zhou
- Department of Mechanical & Aerospace Engineering, University of California at San Diego, CA, 92093 United States of America
| | - Nick Gravish
- Department of Mechanical & Aerospace Engineering, University of California at San Diego, CA, 92093 United States of America
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44
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Gu G, Wang D, Ge L, Zhu X. Analytical Modeling and Design of Generalized Pneu-Net Soft Actuators with Three-Dimensional Deformations. Soft Robot 2020; 8:462-477. [PMID: 32822253 DOI: 10.1089/soro.2020.0039] [Citation(s) in RCA: 16] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022] Open
Abstract
Pneu-net soft actuators, consisting of pneumatic networks of small chambers embedded in elastomeric structures, are particularly promising candidates in the society of soft robotics. However, there are few studies on the analytical modeling of pneu-net soft actuators, especially in the three-dimensional space. In this article, based on the minimum potential energy method and the continuum rod theory, we propose an analytical model and corresponding design approach for a class of generalized pneu-net soft actuators (gPNSAs) with both bending and twisting deformations by combining the geometric complexity and material elasticity. We experimentally verify our modeling approach and finally investigate the effects of geometric parameters, material properties, and external force on the deformations of gPNSAs, which can be used as a tool for the design of gPNSAs. We further demonstrate that our developed model can predict the deformations of gPNSAs made of multiple materials.
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Affiliation(s)
- Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.,State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China
| | - Dong Wang
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Lisen Ge
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Xiangyang Zhu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.,State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China
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45
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Niu H, Feng R, Xie Y, Jiang B, Sheng Y, Yu Y, Baoyin H, Zeng X. MagWorm: A Biomimetic Magnet Embedded Worm-Like Soft Robot. Soft Robot 2020; 8:507-518. [PMID: 32822273 DOI: 10.1089/soro.2019.0167] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/30/2022] Open
Abstract
Emerging worm-like soft robots with various soft materials and different actuation mechanism have been frequently discussed. It is very challenging for soft robots in realizing a fast and untethered crawling. In this article, a biomimetic magnet embedded worm-like robot (shorted as "MagWorm") in the size of centimeter level is designed and investigated. The actuation of the MagWorm is achieved by housing permanent magnetic patches in its soft body, which interact with an external moving drive-magnet system. A dynamic model is established, coupling the discrete elastic rod model with magnetic actuation. The driving mechanism is then numerically studied. Quantitative comparisons between the numerical solution and experiment results show reasonable agreement. It is shown that the MagWorm can deform part of its body into a "Ω" shape and generate biomimetic crawling locomotion. The crawling speed of the robot is studied experimentally with different sizes. Some potential applications are also proposed and demonstrated. The MagWorm represents compact and low-cost solutions that use permanent magnets for remote actuation of soft robot and can be continuously operated during long procedures.
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Affiliation(s)
- Hanqing Niu
- School of Automation, Beijing Institute of Technology, Beijing, China
| | - Ruoyu Feng
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Yuwei Xie
- School of Automation, Beijing Institute of Technology, Beijing, China
| | - Bowen Jiang
- School of Automation, Beijing Institute of Technology, Beijing, China
| | - Yongzhi Sheng
- School of Automation, Beijing Institute of Technology, Beijing, China
| | - Yang Yu
- School of Aeronautic Science and Engineering, Beihang University, Beijing, China
| | - Hexi Baoyin
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Xiangyuan Zeng
- School of Automation, Beijing Institute of Technology, Beijing, China
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46
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Li Y, Ren T, Li Y, Liu Q, Chen Y. Untethered-Bioinspired Quadrupedal Robot Based on Double-Chamber Pre-charged Pneumatic Soft Actuators with Highly Flexible Trunk. Soft Robot 2020; 8:97-108. [PMID: 32522089 DOI: 10.1089/soro.2019.0137] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Given that mobile soft robots are adaptable to the environment, they are always tethered with slow locomotion speed. Compared with other types of mobile robots, mobile soft robots may be more suitable for rescuing tasks, accompanying elderly people, and being used as a safe toy for children. However, the infinite freedom of soft robots increases the difficulty of precision control. In addition, the large volume and long tube of the conventional soft actuator structure limit the range of motion of current mobile soft robots. In this article, a newly designed innovative untethered-bioinspired quadrupedal robot based on double-chamber pre-charged pneumatic (DCPCP) soft actuators with highly flexible trunk is proposed. Asymmetrical cross-tendons actuated by servo motors are used to drive the DCPCP soft legs so that buckling can be avoided and mimic the gait of quadruped animals with the simplest drive and control strategy. In addition, the proposed design greatly improves energy efficiency and exhibits superior performance of variable stiffness. The bioinspired highly flexible trunk is designed with the supporting spine structure and tendon driven muscle to deform, which can constantly adjust to the contact situation between the foot and the ground to adjust the center of gravity of the soft quadruped robot and increase stability when walking and turning. The proposed soft quadruped robot does not require any air compressors, valves, and hoses. The characteristics of untethered, high-energy efficiency, linear control, and stability make the soft quadruped robot suitable for many applications.
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Affiliation(s)
- Yujia Li
- College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu, China
| | - Tao Ren
- College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu, China
| | - Yunquan Li
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Qingyou Liu
- State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation, Chengdu University of Technology, Chengdu, China
| | - Yonghua Chen
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
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47
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Tang Y, Chi Y, Sun J, Huang TH, Maghsoudi OH, Spence A, Zhao J, Su H, Yin J. Leveraging elastic instabilities for amplified performance: Spine-inspired high-speed and high-force soft robots. SCIENCE ADVANCES 2020; 6:eaaz6912. [PMID: 32494714 PMCID: PMC7209986 DOI: 10.1126/sciadv.aaz6912] [Citation(s) in RCA: 89] [Impact Index Per Article: 22.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/30/2019] [Accepted: 02/18/2020] [Indexed: 05/19/2023]
Abstract
Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of spine-inspired fast and strong soft machines. Unlike most current soft robots that are designed as inherently and unimodally stable, our design leverages tunable snap-through bistability to fully explore the ability of soft robots to rapidly store and release energy within tens of milliseconds. We demonstrate this generic design principle with three high-performance soft machines: High-speed cheetah-like galloping crawlers with locomotion speeds of 2.68 body length/s, high-speed underwater swimmers (0.78 body length/s), and tunable low-to-high-force soft grippers with over 1 to 103 stiffness modulation (maximum load capacity is 11.4 kg). Our study establishes a new generic design paradigm of next-generation high-performance soft robots that are applicable for multifunctionality, different actuation methods, and materials at multiscales.
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Affiliation(s)
- Yichao Tang
- Department of Mechanical Engineering, Temple University, 1947 North 12th Street, Philadelphia, PA 19122, USA
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Jiefeng Sun
- Department of Mechanical Engineering, Colorado State University, Fort Collins, CO 80523, USA
| | - Tzu-Hao Huang
- Department of Mechanical Engineering, The City University of New York, City College, New York, NY 10031, USA
| | - Omid H. Maghsoudi
- Department of Bioengineering, Temple University, 1947 North 12th Street, Philadelphia, PA 19122, USA
| | - Andrew Spence
- Department of Bioengineering, Temple University, 1947 North 12th Street, Philadelphia, PA 19122, USA
| | - Jianguo Zhao
- Department of Mechanical Engineering, Colorado State University, Fort Collins, CO 80523, USA
| | - Hao Su
- Department of Mechanical Engineering, The City University of New York, City College, New York, NY 10031, USA
| | - Jie Yin
- Department of Mechanical Engineering, Temple University, 1947 North 12th Street, Philadelphia, PA 19122, USA
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
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48
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Jiang M, Zhou Z, Gravish N. Flexoskeleton Printing Enables Versatile Fabrication of Hybrid Soft and Rigid Robots. Soft Robot 2020; 7:770-778. [PMID: 32255734 DOI: 10.1089/soro.2019.0156] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
One of the many secrets to the success and prevalence of insects is their versatile, robust, and complex exoskeleton morphology. A fundamental challenge in insect-inspired robotics has been the fabrication of robotic exoskeletons that can match the complexity of exoskeleton structural mechanics. Hybrid robots composed of rigid and soft elements have previously required access to expensive multi-material three-dimensional (3D) printers, multistep casting and machining processes, or limited material choice when using consumer-grade fabrication methods. In this study, we introduce a new design and fabrication process to rapidly construct flexible exoskeleton-inspired robots called "flexoskeleton printing." We modify a consumer-grade fused deposition modeling (FDM) 3D printer to deposit filament directly onto a heated thermoplastic base layer, which provides extremely strong bond strength between deposited material and the inextensible, flexible base layer. This process significantly improves the fatigue resistance of printed components and enables a new class of insect-inspired robot morphologies. We demonstrate these capabilities through design and testing of a wide library of canonical flexoskeleton elements; ultimately leading to the integration of elements into a flexoskeleton walking legged robot.
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Affiliation(s)
- Mingsong Jiang
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA
| | - Ziyi Zhou
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA
| | - Nicholas Gravish
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA
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49
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Hybrid State Constraint Adaptive Disturbance Rejection Controller for a Mobile Worm Bio-Inspired Robot. MATHEMATICAL AND COMPUTATIONAL APPLICATIONS 2020. [DOI: 10.3390/mca25010013] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
This study presents the design of a hybrid active disturbance rejection controller (H-ADRC) which regulates the gait cycle of a worm bio-inspired robotic device (WBRD). The WBRD is designed as a full actuated six rigid link robotic manipulator. The controller considers the state restrictions in the device articulations; this means the maximum and minimum angular ranges, to avoid any possible damage to the structure. The controller uses an active compensation method to estimate the unknown dynamics of the WBRD by means of an extended state observer. The sequence of movements for the gait cycle of a WBRD is represented as a class of hybrid system by alternative reference frameworks placed at the first and the last link. The stability analysis employs a class of Hybrid Barrier Lyapunov Function to ensure the fulfillment of the angular restrictions in the robotic device. The proposed controller is evaluated using a numerical simulation system based on the virtual version of the WBRD. Moreover, experimental results confirmed that the H-ADRC may endorse the realization of the proposed gait cycle despite the presence of perturbations and modeling uncertainties. The H-ADRC is compared against a proportional derivative (PD) controller and a proportional-integral-derivative (PID) controller. The H-ADRC shows a superior performance as a consequence of the estimation provided by the homogeneous extended state observer.
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50
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Li H, Yao J, Zhou P, Zhao W, Xu Y, Zhao Y. Design and modeling of a high-load soft robotic gripper inspired by biological winding. BIOINSPIRATION & BIOMIMETICS 2020; 15:026006. [PMID: 31822642 DOI: 10.1088/1748-3190/ab6033] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
The improvement of the load capacity of soft robotic grippers has always been a challenge. The load improvement methods of existing soft robotic grippers mainly include the development of soft actuators with high output force and the creation of closed gripping structures. Inspired by winding behaviors of animals and plants, we propose a high-load soft robotic gripper driven by pneumatic artificial muscles (PAMs) that combines the advantages of a high force soft actuator and a closed gripping structure. Most existing model formulations focus on characterizing the end force generated to the length contraction and applied pressure of PAMs. However, the focus of this work is to build the force model of PAMs in winding shape to analyze the tightening force of the high-load soft gripper, and the model is validated by a tightening force test. An experimental work is carried out to characterize the load capacity and multi-object gripping capacity of the high-load soft gripper. We experimentally prove that it can lift heavy objects that weigh up to 35.5 kg, which is more than 47 times its weight. This work contributes to the load improvement of soft robotic grippers, and the mathematical modeling of engineering systems with winding structures. The developed high-load soft gripper is expected to enter the practical application field from the laboratory.
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Affiliation(s)
- Haili Li
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, People's Republic of China
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