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Pan X, Pu W, Liu Y, Xiao Y, Pu J, Shi Y, Wu H, Wang H. Self-Perceptional Soft Robotics by a Dielectric Elastomer. ACS APPLIED MATERIALS & INTERFACES 2024; 16:26797-26807. [PMID: 38722638 DOI: 10.1021/acsami.4c04700] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/24/2024]
Abstract
Soft robotics has been a rapidly growing field in recent decades due to its advantages of softness, deformability, and adaptability to various environments. However, the separation of perception and actuation in soft robot research hinders its progress toward compactness and flexibility. To address this limitation, we propose the use of a dielectric elastomer actuator (DEA), which exhibits both an actuation capability and perception stability. Specifically, we developed a DEA array to localize the 3D spatial position of objects. Subsequently, we integrate the actuation and sensing properties of DEA into soft robots to achieve self-perception. We have developed a system that integrates actuation and sensing and have proposed two modes to achieve this integration. Furthermore, we demonstrated the feasibility of this system for soft robots. When the robots detect an obstacle or an approaching object, they can swiftly respond by avoiding or escaping the obstacle. By eliminating the need for separate perception and motion considerations, self-perceptional soft robots can achieve an enhanced response performance and enable applications in a more compact and flexible field.
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Affiliation(s)
- Xinghai Pan
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Wei Pu
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Yanling Liu
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Yuhang Xiao
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Junhong Pu
- School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Ye Shi
- ZJU-UIUC Institute, Zhejiang University, Zhejiang 314400, China
| | - Hui Wu
- State Key Laboratory of New Ceramics and Fine Processing, School of Materials Science and Engineering, Tsinghua University, Beijing 100084, China
| | - Haolun Wang
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
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2
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Wu S, Zhao T, Zhu Y, Paulino GH. Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation. Proc Natl Acad Sci U S A 2024; 121:e2322625121. [PMID: 38709915 PMCID: PMC11098090 DOI: 10.1073/pnas.2322625121] [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: 12/22/2023] [Accepted: 03/12/2024] [Indexed: 05/08/2024] Open
Abstract
Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.
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Affiliation(s)
- Shuang Wu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Tuo Zhao
- Department of Civil and Environmental Engineering, Princeton University, Princeton, NJ08544
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Glaucio H. Paulino
- Department of Civil and Environmental Engineering, Princeton University, Princeton, NJ08544
- Princeton Materials Institute, Princeton University, Princeton, NJ08544
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3
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Liu Z, Zhan W, Liu X, Zhu Y, Qi M, Leng J, Wei L, Han S, Wu X, Yan X. A wireless controlled robotic insect with ultrafast untethered running speeds. Nat Commun 2024; 15:3815. [PMID: 38719823 PMCID: PMC11078929 DOI: 10.1038/s41467-024-47812-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2023] [Accepted: 04/12/2024] [Indexed: 05/12/2024] Open
Abstract
Running speed degradation of insect-scale (less than 5 cm) legged microrobots after carrying payloads has become a bottleneck for microrobots to achieve high untethered locomotion performance. In this work, we present a 2-cm legged microrobot (BHMbot, BeiHang Microrobot) with ultrafast untethered running speeds, which is facilitated by the complementary combination of bouncing length and bouncing frequency in the microrobot's running gait. The untethered BHMbot (2-cm-long, 1760 mg) can achieve a running speed of 17.5 BL s-1 and a turning centripetal acceleration of 65.4 BL s-2 at a Cost of Transport of 303.7 and a power consumption of 1.77 W. By controlling its two front legs independently, the BHMbot demonstrates various locomotion trajectories including circles, rectangles, letters and irregular paths across obstacles through a wireless control module. Such advancements enable the BHMbot to carry out application attempts including sound signal detection, locomotion inside a turbofan engine and transportation via a quadrotor.
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Affiliation(s)
- Zhiwei Liu
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Wencheng Zhan
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Beijing Key Laboratory of Aero-Engine Structure and Strength, Beijing, China
| | - Xinyi Liu
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Yangsheng Zhu
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Mingjing Qi
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Jiaming Leng
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Lizhao Wei
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Shousheng Han
- School of Integrated Circuits, Tsinghua University, Beijing, China
| | - Xiaoming Wu
- School of Integrated Circuits, Tsinghua University, Beijing, China.
| | - Xiaojun Yan
- School of Energy and Power Engineering, Beihang University, Beijing, China.
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China.
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China.
- Research Institute of Aero-Engine, Beihang University, Beijing, China.
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Dikici Y, Daltorio K, Akkus O. Nodes for modes: nodal honeycomb metamaterial enables a soft robot with multimodal locomotion. BIOINSPIRATION & BIOMIMETICS 2024; 19:046002. [PMID: 38631362 DOI: 10.1088/1748-3190/ad3ff8] [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: 02/05/2024] [Accepted: 04/17/2024] [Indexed: 04/19/2024]
Abstract
Soft-bodied animals, such as worms and snakes, use many muscles in different ways to traverse unstructured environments and inspire tools for accessing confined spaces. They demonstrate versatility of locomotion which is essential for adaptation to changing terrain conditions. However, replicating such versatility in untethered soft-bodied robots with multimodal locomotion capabilities have been challenging due to complex fabrication processes and limitations of soft body structures to accommodate hardware such as actuators, batteries and circuit boards. Here, we present MetaCrawler, a 3D printed metamaterial soft robot designed for multimodal and omnidirectional locomotion. Our design approach facilitated an easy fabrication process through a discrete assembly of a modular nodal honeycomb lattice with soft and hard components. A crucial benefit of the nodal honeycomb architecture is the ability of its hard components, nodes, to accommodate a distributed actuation system, comprising servomotors, control circuits, and batteries. Enabled by this distributed actuation, MetaCrawler achieves five locomotion modes: peristalsis, sidewinding, sideways translation, turn-in-place, and anguilliform. Demonstrations showcase MetaCrawler's adaptability in confined channel navigation, vertical traversing, and maze exploration. This soft robotic system holds the potential to offer easy-to-fabricate and accessible solutions for multimodal locomotion in applications such as search and rescue, pipeline inspection, and space missions.
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Affiliation(s)
- Yusuf Dikici
- Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, United States of America
- Department of Mechanical Engineering, Bartın University, Bartın, Turkey
| | - Kathryn Daltorio
- Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, United States of America
| | - Ozan Akkus
- Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, United States of America
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United States of America
- Department of Orthopedic Surgery, University Hospitals Cleveland Medical Center, Cleveland, OH, United States of America
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5
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Stanley AA, Roby ES, Keller SJ. High-speed fluidic processing circuits for dynamic control of haptic and robotic systems. SCIENCE ADVANCES 2024; 10:eadl3014. [PMID: 38569043 PMCID: PMC10990265 DOI: 10.1126/sciadv.adl3014] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/11/2023] [Accepted: 02/27/2024] [Indexed: 04/05/2024]
Abstract
Fluidic logic circuits simplify system design for soft robotics by eliminating bulky components while enabling operation in a range of hostile environments that are incompatible with electronics but at the expense of limited computational capabilities and response times on the order of seconds. This paper presents a four-terminal fluidic transistor optimized for fast switching times, reduced component count, low unit cost, and high reproducibility to achieve complex fluidic control circuits while maintaining flow rates of liters per minute. A ring oscillator using three fluidic transistors achieves oscillation frequencies up to a kilohertz with full signal propagation, tolerating billions of cycles without failure. Fundamental processor circuits like a full adder and a 3-bit analog-to-digital converter require just seven transistors each. A decode circuit drives a high-resolution soft haptic display with refresh times below the human perception threshold for latency, and an electronics-free control circuit performs closed-loop position control of a pneumatic actuator with disturbance rejection, demonstrating the value across domains.
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Affiliation(s)
| | - Erik S. Roby
- Meta Platforms Inc., Reality Labs Research, Redmond, WA, USA
| | - Sean J. Keller
- Meta Platforms Inc., Reality Labs Research, Redmond, WA, USA
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6
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Li H, Li X, Zhou P, Zhang X, Wei C, Yao J. A Flexible Escape Skin Bioinspired by the Defensive Behavior of Shedding Scales. Soft Robot 2024; 11:296-307. [PMID: 37855814 DOI: 10.1089/soro.2022.0211] [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] [Indexed: 10/20/2023] Open
Abstract
Artificial skins with functions such as sensing, variable stiffness, actuation, self-healing, display, adhesion, and camouflage have been developed and widely used, but artificial skins with escape function are still a research gap. In nature, every species of animal can use its innate skills and functions to escape capture. Inspired by the behavior of fish-scale geckoes escaping predation by shedding scales when grasped or touched, we propose a flexible escape skin by attaching artificial scales to a flexible film. Experiments demonstrate that the escape skin has significant effects in reducing escape force, escaping from harmful force environments, and resisting mechanical damage. Furthermore, we enabled active control of escape force and skin hardness by changing temperature, increasing the adaptability of the escape skin to the surrounding. Our study helps lay the foundation for engineering systems that depend on escape skin to improve robustness.
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Affiliation(s)
- Haili Li
- Zhejiang Provincial Key Laboratory of Part Rolling Technology, Faculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo, China
| | - Xingzhi Li
- Zhejiang Provincial Key Laboratory of Part Rolling Technology, Faculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo, China
| | - Pan Zhou
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
| | - Xuanhao Zhang
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
| | - Chunjie Wei
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
| | - Jiantao Yao
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
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7
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Yang Y, Xie Y, Liu J, Li Y, Chen F. 3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting. Soft Robot 2024. [PMID: 38330424 DOI: 10.1089/soro.2023.0079] [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: 02/10/2024] Open
Abstract
The field of soft robotics is rapidly evolving, and there is a growing interest in developing soft robots with bioinspired features for use in various applications. This research presented the design and development of 3D-printed origami actuators for a soft robot with amphibious locomotion and tongue hunting capabilities. Two different types of programmable origami actuators were designed and manufactured, namely Z-shaped and twist tower actuators. In addition, two actuator variations were developed based on the Z-shaped actuator, including the pelvic fin and the coiling/uncoiling types. The Z-shaped actuators were used for the rear legs to facilitate the locomotion of the water-like frogs. Meanwhile, the twisted tower actuators were used for the rotation joints in the forelegs and for locomotion on land. The pelvic fin actuator was developed to imitate the land locomotion of the mudskipper, and the coiling/uncoiling actuator was designed for tongue hunting motion. The origami actuators and soft robot prototype were tested through a series of experiments, which showed that the robot was capable of efficiently moving in water and on land and performing tongue hunting motions. Our results demonstrate the effectiveness of these actuators in producing the desired motions and provide insights into the potential of applying 3D-printed origami actuators in the development of soft robots with bioinspired features.
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Affiliation(s)
- Yang Yang
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET), Nanjing University of Information Science and Technology, Nanjing, China
| | - Yuan Xie
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
| | - Jia Liu
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
- Tianchang Research Institute of NUIST, Tianchang, Anhui, China
| | - Yunquan Li
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China
| | - Feifei Chen
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
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8
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Li G, Qiu W, Wang M, Zhu Y, Liu F. Development of an earthworm-based soft robot for colon sampling. Front Robot AI 2024; 11:1309220. [PMID: 38384358 PMCID: PMC10879271 DOI: 10.3389/frobt.2024.1309220] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/08/2023] [Accepted: 01/25/2024] [Indexed: 02/23/2024] Open
Abstract
Colorectal cancer as a major disease that poses a serious threat to human health continues to rise in incidence. And the timely colon examinations are crucial for the prevention, diagnosis, and treatment of this disease. Clinically, gastroscopy is used as a universal means of examination, prevention and diagnosis of this disease, but this detection method is not patient-friendly and can easily cause damage to the intestinal mucosa. Soft robots as an emerging technology offer a promising approach to examining, diagnosing, and treating intestinal diseases due to their high flexibility and patient-friendly interaction. However, existing research on intestinal soft robots mainly focuses on controlled movement and observation within the colon or colon-like environments, lacking additional functionalities such as sample collection from the intestine. Here, we designed and developed an earthworm-like soft robot specifically for colon sampling. It consists of a robot body with an earthworm-like structure for movement in the narrow and soft pipe-environments, and a sampling part with a flexible arm structure resembling an elephant trunk for bidirectional bending sampling. This soft robot is capable of flexible movement and sample collection within an colon-like environment. By successfully demonstrating the feasibility of utilizing soft robots for colon sampling, this work introduces a novel method for non-destructive inspection and sampling in the colon. It represents a significant advancement in the field of medical robotics, offering a potential solution for more efficient and accurate examination and diagnosis of intestinal diseases, specifically for colorectal cancer.
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Affiliation(s)
- Gongxin Li
- Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi, Jiangsu, China
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9
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Feng J, Zhao Y, Kang J, Hu W, Wu R, Zhang W. Interference Morphology of Free-Growing Tendrils and Application of Self-Locking Structures. Soft Robot 2024. [PMID: 38285476 DOI: 10.1089/soro.2023.0052] [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: 01/30/2024] Open
Abstract
Organisms can adapt to various complex environments by obtaining optimal morphologies. Plant tendrils evolve an extraordinary and stable spiral morphology in the free-growing stage. By combining apical and asymmetrical growth strategies, the tendrils can adjust their morphology to wrap around and grab different supports. This phenomenon of changing tendril morphology through the movement of growth inspires a thoughtful consideration of the laws of growth that underlie it. In this study, tendril growth is modeled based on the Kirchhoff rod theory to obtain the exact morphological equations. Based on this, the movement patterns of the tendrils are investigated under different growth strategies. It is shown that the self-interference phenomenon appears as the tendril grows, allowing it to hold onto its support more firmly. In addition, a finite element model is constructed using continuum media mechanics and following the finite growth theory to simulate tendril growth. The growth morphology and self-interference phenomenon of tendrils are observed visually. Furthermore, an innovative class of fluid elastic actuators is designed to verify the growth phenomena of tendrils, which can realize the wrapping and locking functions. Several experiments are conducted to measure the end output force and the smallest size that can be clamped, and the output efficiency of the elastic actuator and the optimal working pressure are verified. The results presented in this study could reveal the formation law of free tendril spiral morphology and provide an inspiring idea for the programmability and motion control of bionic soft robots, with promising applications in the fields of underwater rescue and underwater picking.
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Affiliation(s)
- Jingjing Feng
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Yiwei Zhao
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Jiquan Kang
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Wenhua Hu
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Ruiqin Wu
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Wei Zhang
- Department of Mechanics, Guangxi University, Nanning, Guangxi, China
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10
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Saintyves B, Spenko M, Jaeger HM. A self-organizing robotic aggregate using solid and liquid-like collective states. Sci Robot 2024; 9:eadh4130. [PMID: 38266100 DOI: 10.1126/scirobotics.adh4130] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/24/2023] [Accepted: 12/19/2023] [Indexed: 01/26/2024]
Abstract
Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a modular system that blurs the distinction between soft, modular, and swarm robotics. The system consists of gear-like units that each contain a single actuator such that units can self-assemble into larger, granular aggregates using magnetic coupling. These aggregates can reconfigure dynamically and also split into subsystems that might later recombine. Aggregates can self-organize into collective states with solid- and liquid-like properties, thus displaying widely differing compliance. These states can be perturbed locally via actuators or externally via mechanical feedback from the environment to produce adaptive shape-shifting in a decentralized manner. This, in turn, can generate locomotion strategies adapted to different conditions. Aggregates can move over obstacles without using external sensors or coordinates to maintain a steady gait over different surfaces without electronic communication among units. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.
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Affiliation(s)
| | - Matthew Spenko
- Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL 60616, USA
| | - Heinrich M Jaeger
- James Franck Institute, University of Chicago, Chicago, IL 60637, USA
- Department of Physics, University of Chicago, Chicago, IL 60637, USA
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11
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Sirithunge C, Wang H, Iida F. Soft touchless sensors and touchless sensing for soft robots. Front Robot AI 2024; 11:1224216. [PMID: 38312746 PMCID: PMC10830750 DOI: 10.3389/frobt.2024.1224216] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/17/2023] [Accepted: 01/02/2024] [Indexed: 02/06/2024] Open
Abstract
Soft robots are characterized by their mechanical compliance, making them well-suited for various bio-inspired applications. However, the challenge of preserving their flexibility during deployment has necessitated using soft sensors which can enhance their mobility, energy efficiency, and spatial adaptability. Through emulating the structure, strategies, and working principles of human senses, soft robots can detect stimuli without direct contact with soft touchless sensors and tactile stimuli. This has resulted in noteworthy progress within the field of soft robotics. Nevertheless, soft, touchless sensors offer the advantage of non-invasive sensing and gripping without the drawbacks linked to physical contact. Consequently, the popularity of soft touchless sensors has grown in recent years, as they facilitate intuitive and safe interactions with humans, other robots, and the surrounding environment. This review explores the emerging confluence of touchless sensing and soft robotics, outlining a roadmap for deployable soft robots to achieve human-level dexterity.
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Affiliation(s)
| | - Huijiang Wang
- Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom
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12
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Liang X, Yuan C, Wan C, Gao X, Bowen C, Pan M. Soft Self-Healing Robot Driven by New Micro Two-Way Shape Memory Alloy Spring. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2305163. [PMID: 37984867 PMCID: PMC10787064 DOI: 10.1002/advs.202305163] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/27/2023] [Revised: 09/15/2023] [Indexed: 11/22/2023]
Abstract
Soft robotic bodies are susceptible to mechanical fatigue, punctures, electrical breakdown, and aging, which can result in the degradation of performance or unexpected failure. To overcome these challenges, a soft self-healing robot is created using a thermoplastic methyl thioglycolate-modified styrene-butadiene-styrene (MG-SBS) elastomer tube fabricated by melt-extrusion, to allow the robot to self-heal autonomously at room temperature. After repeated damage and being separated into several parts, the robot is able to heal its stiffness and elongation to break to enable almost complete recovery of robot performance after being allowed to heal at room temperature for 24 h. The self-healing capability of the robot is examined across the material scale to robot scale by detailed investigations of the healing process, healing efficiency, mechanical characterization of the robot, and assessment of dynamic performance before and after healing. The self-healing robot is driven by a new micro two-way shape-memory alloy (TWSMA) spring actuator which achieved a crawling speed of 21.6 cm/min, equivalent to 1.57 body length per minute. An analytical model of the robot is created to understand the robot dynamics and to act as an efficient tool for self-healing robot design and optimization. This work therefore provides a new methodology to create efficient, robust, and damage-tolerant soft robots.
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Affiliation(s)
- Xianrong Liang
- Department of Mechanical Engineering, University of Bath, Bath, UK
| | - Chenggang Yuan
- Department of Mechanical Engineering, University of Bath, Bath, UK
| | - Chaoying Wan
- International Institute for Nanocomposites Manufacturing (IINM), WMG, University of Warwick, Coventry, CV4 7AL, UK
| | - Xiaolong Gao
- College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, 100029, China
| | - Chris Bowen
- Department of Mechanical Engineering, University of Bath, Bath, UK
| | - Min Pan
- Department of Mechanical Engineering, University of Bath, Bath, UK
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13
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Han C, Jeong Y, Ahn J, Kim T, Choi J, Ha J, Kim H, Hwang SH, Jeon S, Ahn J, Hong JT, Kim JJ, Jeong J, Park I. Recent Advances in Sensor-Actuator Hybrid Soft Systems: Core Advantages, Intelligent Applications, and Future Perspectives. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2302775. [PMID: 37752815 PMCID: PMC10724400 DOI: 10.1002/advs.202302775] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/02/2023] [Revised: 08/17/2023] [Indexed: 09/28/2023]
Abstract
The growing demand for soft intelligent systems, which have the potential to be used in a variety of fields such as wearable technology and human-robot interaction systems, has spurred the development of advanced soft transducers. Among soft systems, sensor-actuator hybrid systems are considered the most promising due to their effective and efficient performance, resulting from the synergistic and complementary interaction between their sensor and actuator components. Recent research on integrated sensor and actuator systems has resulted in a range of conceptual and practical soft systems. This review article provides a comprehensive analysis of recent advances in sensor and actuator integrated systems, which are grouped into three categories based on their primary functions: i) actuator-assisted sensors for intelligent detection, ii) sensor-assisted actuators for intelligent movement, and iii) sensor-actuator interactive devices for a hybrid of intelligent detection and movement. In addition, several bottlenecks in current studies are discussed, and prospective outlooks, including potential applications, are presented. This categorization and analysis will pave the way for the advancement and commercialization of sensor and actuator-integrated systems.
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Affiliation(s)
- Chankyu Han
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Yongrok Jeong
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
- Radioisotope Research DivisionKorea Atomic Energy Research Institute (KAERI)Daejeon34057Republic of Korea
| | - Junseong Ahn
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
| | - Taehwan Kim
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Jungrak Choi
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Ji‐Hwan Ha
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Hyunjin Kim
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Soon Hyoung Hwang
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
| | - Sohee Jeon
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
| | - Jihyeon Ahn
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Jin Tae Hong
- Radioisotope Research DivisionKorea Atomic Energy Research Institute (KAERI)Daejeon34057Republic of Korea
| | - Jin Joo Kim
- Radioisotope Research DivisionKorea Atomic Energy Research Institute (KAERI)Daejeon34057Republic of Korea
| | - Jun‐Ho Jeong
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
| | - Inkyu Park
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
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14
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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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15
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Zhang K, Fan Y, Shen S, Yang X, Li T. Tunable Folding Assembly Strategy for Soft Pneumatic Actuators. Soft Robot 2023; 10:1099-1114. [PMID: 37437102 DOI: 10.1089/soro.2022.0166] [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: 07/14/2023] Open
Abstract
With intrinsic compliance, soft pneumatic actuators are widely utilized in delicate tasks. However, complex fabrication approaches and limited tunability are still problems. Here, we propose a tunable folding assembly strategy to design and fabricate soft pneumatic actuators called FASPAs (folding assembly soft pneumatic actuators). A FASPA consists only of a folded silicone tube constrained by rubber bands. By designing local stiffness and folding manner, the FASPA can be designed to achieve four configurations, pure bending, discontinuous-curvature bending, helix, and discontinuous-curvature helix. Analytical models are developed to predict the deformation and the tip trajectory of different configurations. Meanwhile, experiments are performed to verify the models. The stiffness, load capacity, output force, and step response are measured, and fatigue tests are performed. Further, grippers with single, double, and triple fingers are assembled by utilizing different types of FASPAs. As such, objects with different shapes, sizes, and weights can be easily grasped. The folding assembly strategy is a promising method to design and fabricate soft robots with complex configurations to complete tough tasks in harsh environments.
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Affiliation(s)
- Kaihang Zhang
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Yaowei Fan
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Shiming Shen
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Xuxu Yang
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Tiefeng Li
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
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16
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Sapai S, Loo JY, Ding ZY, Tan CP, Baskaran VM, Nurzaman SG. A Deep Learning Framework for Soft Robots with Synthetic Data. Soft Robot 2023; 10:1224-1240. [PMID: 37590485 DOI: 10.1089/soro.2022.0188] [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: 08/19/2023] Open
Abstract
Data-driven methods with deep neural networks demonstrate promising results for accurate modeling in soft robots. However, deep neural network models rely on voluminous data in discovering the complex and nonlinear representations inherent in soft robots. Consequently, while it is not always possible, a substantial amount of effort is required for data acquisition, labeling, and annotation. This article introduces a data-driven learning framework based on synthetic data to circumvent the exhaustive data collection process. More specifically, we propose a novel time series generative adversarial network with a self-attention mechanism, Transformer TimeGAN (TTGAN) to precisely learn the complex dynamics of a soft robot. On top of that, the TTGAN is incorporated with a conditioning network that enables it to produce synthetic data for specific soft robot behaviors. The proposed framework is verified on a widely used pneumatic-based soft gripper as an exemplary experimental setup. Experimental results demonstrate that the TTGAN generates synthetic time series data with realistic soft robot dynamics. Critically, a combination of the synthetic and only partially available original data produces a data-driven model with estimation accuracy comparable to models obtained from using complete original data.
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Affiliation(s)
- Shageenderan Sapai
- School of Information Technology, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Junn Yong Loo
- School of Information Technology, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Ze Yang Ding
- School of Engineering and Advanced Engineering Platform, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Chee Pin Tan
- School of Engineering and Advanced Engineering Platform, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Vishnu Monn Baskaran
- School of Information Technology, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Surya Girinatha Nurzaman
- School of Engineering and Advanced Engineering Platform, Monash University Malaysia, Bandar Sunway, Malaysia
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17
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Jiang Q, Hu Z, Wu K, Wu W, Zhang S, Ding H, Wu Z. Squid-Inspired Powerful Untethered Soft Pumps via Magnetically Induced Phase Transitions. Soft Robot 2023. [PMID: 38011800 DOI: 10.1089/soro.2022.0118] [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: 11/29/2023] Open
Abstract
Soft robots possess unique deformability and hence result in great adaptability to various unconstructive environments; meanwhile, untethered soft actuation techniques are critical in fully exploiting their potential for practical applications. However, restricted by the material's softness and structural compliance, most untethered actuation systems were incapable of achieving fully soft construction with a powerful output. While in Nature, with a fully soft body, a squid can burst high-pressure jet flow from a cavity that drives the squid to swim swiftly. Here, inspired by such a unique actuation strategy of squids, an entirely soft pump capable of high-pressure output, fast jetting, and untethered control is presented, and it helps a bionic soft robotic squid to achieve a high-efficient untethered motion in water. The soft pump is designed by a reversible liquid-gas phase transition of an inductive heating magnetic liquid metal composite that acts as an adjustable power source with high heat efficiency. In particular, being purely soft, the pump can yet lift ∼20 times its weight and achieve ∼3 times the specific pressure of the previous record. It may promote the application of soft robots with independent actuation, high output power, and embodied energy supply.
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Affiliation(s)
- Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Zhitong Hu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Kefan Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Wenjun Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
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18
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Mehrotra S, Dey S, Sachdeva K, Mohanty S, Mandal BB. Recent advances in tailoring stimuli-responsive hybrid scaffolds for cardiac tissue engineering and allied applications. J Mater Chem B 2023; 11:10297-10331. [PMID: 37905467 DOI: 10.1039/d3tb00450c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2023]
Abstract
To recapitulate bio-physical properties and functional behaviour of native heart tissues, recent tissue engineering-based approaches are focused on developing smart/stimuli-responsive materials for interfacing cardiac cells. Overcoming the drawbacks of the traditionally used biomaterials, these smart materials portray outstanding mechanical and conductive properties while promoting cell-cell interaction and cell-matrix transduction cues in such excitable tissues. To date, a large number of stimuli-responsive materials have been employed for interfacing cardiac tissues alone or in combination with natural/synthetic materials for cardiac tissue engineering. However, their comprehensive classification and a comparative analysis of the role played by these materials in regulating cardiac cell behaviour and in vivo metabolism are much less discussed. In an attempt to cover the recent advances in fabricating stimuli-responsive biomaterials for engineering cardiac tissues, this review details the role of these materials in modulating cardiomyocyte behaviour, functionality and surrounding matrix properties. Furthermore, concerns and challenges regarding the clinical translation of these materials and the possibility of using such materials for the fabrication of bio-actuators and bioelectronic devices are discussed.
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Affiliation(s)
- Shreya Mehrotra
- Department of Biosciences and Bioengineering, Indian Institute of Technology Guwahati, Guwahti-781039, Assam, India. biman.mandal@iitg,ac.in
| | - Souradeep Dey
- Centre for Nanotechnology, Indian Institute of Technology Guwahati, Guwahti-781039, Assam, India
| | - Kunj Sachdeva
- DBT-Centre of Excellence for Stem Cell Research, All India Institute of Medical Sciences, New Delhi-110029, India
| | - Sujata Mohanty
- DBT-Centre of Excellence for Stem Cell Research, All India Institute of Medical Sciences, New Delhi-110029, India
| | - Biman B Mandal
- Department of Biosciences and Bioengineering, Indian Institute of Technology Guwahati, Guwahti-781039, Assam, India. biman.mandal@iitg,ac.in
- Centre for Nanotechnology, Indian Institute of Technology Guwahati, Guwahti-781039, Assam, India
- Jyoti and Bhupat Mehta School of Health Sciences and Technology, Indian Institute of Technology Guwahati, Guwahati-781039, Assam, India
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19
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Tang W, Zhong Y, Xu H, Qin K, Guo X, Hu Y, Zhu P, Qu Y, Yan D, Li Z, Jiao Z, Fan X, Yang H, Zou J. Self-protection soft fluidic robots with rapid large-area self-healing capabilities. Nat Commun 2023; 14:6430. [PMID: 37833280 PMCID: PMC10576050 DOI: 10.1038/s41467-023-42214-5] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/12/2023] [Accepted: 10/04/2023] [Indexed: 10/15/2023] Open
Abstract
Soft fluidic robots have attracted a lot of attention and have broad application prospects. However, poor fluidic power source and easy to damage have been hindering their development, while the lack of intelligent self-protection also brings inconvenience to their applications. Here, we design diversified self-protection soft fluidic robots that integrate soft electrohydrodynamic pumps, actuators, healing electrofluids, and E-skins. We develop high-performance soft electrohydrodynamic pumps, enabling high-speed actuation and large deformation of untethered soft fluidic robots. A healing electrofluid that can form a self-healed film with excellent stretchability and strong adhesion is synthesized, which can achieve rapid and large-areas-damage self-healing of soft materials. We propose multi-functional E-skins to endow robots intelligence, making robots realize a series of self-protection behaviors. Moreover, our robots allow their functionality to be enhanced by the combination of electrodes or actuators. This design strategy enables soft fluidic robots to achieve their high-speed actuation and intelligent self-protection, opening a door for soft robots with physical intelligence.
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Affiliation(s)
- Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- Institute of Process Equipment, College of Energy Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Huxiu Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Kecheng Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Xinyu Guo
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yu Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Pingan Zhu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yang Qu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Dong Yan
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Zhaoyang Li
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Xujun Fan
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China.
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China.
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20
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Yang Y, Li D, Sun Y, Wu M, Su J, Li Y, Yu X, Li L, Yu J. Muscle-inspired soft robots based on bilateral dielectric elastomer actuators. MICROSYSTEMS & NANOENGINEERING 2023; 9:124. [PMID: 37814608 PMCID: PMC10560252 DOI: 10.1038/s41378-023-00592-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/10/2023] [Revised: 07/10/2023] [Accepted: 08/21/2023] [Indexed: 10/11/2023]
Abstract
Muscle groups perform their functions in the human body via bilateral muscle actuation, which brings bionic inspiration to artificial robot design. Building soft robotic systems with artificial muscles and multiple control dimensions could be an effective means to develop highly controllable soft robots. Here, we report a bilateral actuator with a bilateral deformation function similar to that of a muscle group that can be used for soft robots. To construct this bilateral actuator, a low-cost VHB 4910 dielectric elastomer was selected as the artificial muscle, and polymer films manufactured with specific shapes served as the actuator frame. By end-to-end connecting these bilateral actuators, a gear-shaped 3D soft robot with diverse motion capabilities could be developed, benefiting from adjustable actuation combinations. Lying on the ground with all feet on the ground, a crawling soft robot with dexterous movement along multiple directions was realized. Moreover, the directional steering was instantaneous and efficient. With two feet standing on the ground, it also acted as a rolling soft robot that can achieve bidirectional rolling motion and climbing motion on a 2° slope. Finally, inspired by the orbicularis oris muscle in the mouth, a mouthlike soft robot that could bite and grab objects 5.3 times of its body weight was demonstrated. The bidirectional function of a single actuator and the various combination modes among multiple actuators together allow the soft robots to exhibit diverse functionalities and flexibility, which provides a very valuable reference for the design of highly controllable soft robots.
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Affiliation(s)
- Yale Yang
- State Key Laboratory of Electronic Thin Films and Integrated Devices, School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, PR China
- Chongqing Key Laboratory of Materials Surface & Interface Science, Chongqing Co-Innovation Center for Micro/Nano Optoelectronic Materials and Devices, Micro/Nano Optoelectronic Materials and Devices International Science and Technology Cooperation Base of China, School of Materials Science and Engineering, Chongqing University of Arts and Sciences, Chongqing, PR China
| | - Dengfeng Li
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong, SAR China
| | - Yanhua Sun
- State Key Laboratory of Electronic Thin Films and Integrated Devices, School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, PR China
- Chongqing Key Laboratory of Materials Surface & Interface Science, Chongqing Co-Innovation Center for Micro/Nano Optoelectronic Materials and Devices, Micro/Nano Optoelectronic Materials and Devices International Science and Technology Cooperation Base of China, School of Materials Science and Engineering, Chongqing University of Arts and Sciences, Chongqing, PR China
| | - Mengge Wu
- State Key Laboratory of Electronic Thin Films and Integrated Devices, School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, PR China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR China
| | - Jingyou Su
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR China
| | - Ying Li
- Chongqing Key Laboratory of Materials Surface & Interface Science, Chongqing Co-Innovation Center for Micro/Nano Optoelectronic Materials and Devices, Micro/Nano Optoelectronic Materials and Devices International Science and Technology Cooperation Base of China, School of Materials Science and Engineering, Chongqing University of Arts and Sciences, Chongqing, PR China
| | - Xinge Yu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR China
| | - Lu Li
- Chongqing Key Laboratory of Materials Surface & Interface Science, Chongqing Co-Innovation Center for Micro/Nano Optoelectronic Materials and Devices, Micro/Nano Optoelectronic Materials and Devices International Science and Technology Cooperation Base of China, School of Materials Science and Engineering, Chongqing University of Arts and Sciences, Chongqing, PR China
| | - Junsheng Yu
- State Key Laboratory of Electronic Thin Films and Integrated Devices, School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, PR China
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21
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Lee GS, Kim JG, Kim JT, Lee CW, Cha S, Choi GB, Lim J, Padmajan Sasikala S, Kim SO. 2D Materials Beyond Post-AI Era: Smart Fibers, Soft Robotics, and Single Atom Catalysts. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023:e2307689. [PMID: 37777874 DOI: 10.1002/adma.202307689] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/01/2023] [Revised: 09/18/2023] [Indexed: 10/02/2023]
Abstract
Recent consecutive discoveries of various 2D materials have triggered significant scientific and technological interests owing to their exceptional material properties, originally stemming from 2D confined geometry. Ever-expanding library of 2D materials can provide ideal solutions to critical challenges facing in current technological trend of the fourth industrial revolution. Moreover, chemical modification of 2D materials to customize their physical/chemical properties can satisfy the broad spectrum of different specific requirements across diverse application areas. This review focuses on three particular emerging application areas of 2D materials: smart fibers, soft robotics, and single atom catalysts (SACs), which hold immense potentials for academic and technological advancements in the post-artificial intelligence (AI) era. Smart fibers showcase unconventional functionalities including healthcare/environmental monitoring, energy storage/harvesting, and antipathogenic protection in the forms of wearable fibers and textiles. Soft robotics aligns with future trend to overcome longstanding limitations of hard-material based mechanics by introducing soft actuators and sensors. SACs are widely useful in energy storage/conversion and environmental management, principally contributing to low carbon footprint for sustainable post-AI era. Significance and unique values of 2D materials in these emerging applications are highlighted, where the research group has devoted research efforts for more than a decade.
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Affiliation(s)
- Gang San Lee
- National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly, Department of Materials Science and Engineering, KAIST, Daejeon, 34141, Republic of Korea
- KAIST Institute for Nanocentry, KAIST, Daejeon, 34141, Republic of Korea
| | - Jin Goo Kim
- National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly, Department of Materials Science and Engineering, KAIST, Daejeon, 34141, Republic of Korea
- KAIST Institute for Nanocentry, KAIST, Daejeon, 34141, Republic of Korea
| | - Jun Tae Kim
- National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly, Department of Materials Science and Engineering, KAIST, Daejeon, 34141, Republic of Korea
- KAIST Institute for Nanocentry, KAIST, Daejeon, 34141, Republic of Korea
| | - Chan Woo Lee
- National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly, Department of Materials Science and Engineering, KAIST, Daejeon, 34141, Republic of Korea
- KAIST Institute for Nanocentry, KAIST, Daejeon, 34141, Republic of Korea
| | - Sujin Cha
- National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly, Department of Materials Science and Engineering, KAIST, Daejeon, 34141, Republic of Korea
- KAIST Institute for Nanocentry, KAIST, Daejeon, 34141, Republic of Korea
| | - Go Bong Choi
- National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly, Department of Materials Science and Engineering, KAIST, Daejeon, 34141, Republic of Korea
- KAIST Institute for Nanocentry, KAIST, Daejeon, 34141, Republic of Korea
| | - Joonwon Lim
- Department of Information Display, Kyung Hee University, Seoul, 02447, Republic of Korea
- KHU-KIST Department of Converging Science and Technology, Kyung Hee University, Seoul, 02447, Republic of Korea
| | - Suchithra Padmajan Sasikala
- National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly, Department of Materials Science and Engineering, KAIST, Daejeon, 34141, Republic of Korea
- KAIST Institute for Nanocentry, KAIST, Daejeon, 34141, Republic of Korea
| | - Sang Ouk Kim
- National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly, Department of Materials Science and Engineering, KAIST, Daejeon, 34141, Republic of Korea
- KAIST Institute for Nanocentry, KAIST, Daejeon, 34141, Republic of Korea
- Materials Creation, Seoul, 06179, Republic of Korea
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22
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ElDiwiny M, Terryn S, Verbruggen S, Vanderborght B. Nonlinear Multimaterial Architecture for Greater Soft Material's Toughness and Delaying Damage Propagation. Soft Robot 2023; 10:959-971. [PMID: 37172281 DOI: 10.1089/soro.2021.0205] [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: 05/14/2023] Open
Abstract
Designing soft robots that have greater toughness and better resistance to damage propagation while at the same time retaining their properties of compliance is fundamentally important for soft robotics applications. This study's main contribution is proposing a framework for nonlinear multimaterial architectural design of soft structures to increase their toughness and delay damage propagation. What are the limits when combining significantly different materials in one structure that will delay crack propagation while significantly maintaining postdamage toughness? Through this study, we observed that there is a very dynamic interplay when combining significantly different materials in one structure; this interplay could weaken or strengthen the multimaterial structure's toughness. In biological evolutionary terms, the Pangolin, Seashell, and Arapaima have found their answer for deflecting the crack and maintaining strength in their bodies. How does nature put these multimaterial structures together? Our research led us to find that the multimaterial toughness limits depend largely on the following parameters: components' relative morphology, architecture, spatial distribution, surface areas, and Young's Modulus. We found that a linear geometry, when it comes to morphology and/or architecture relative to surface area in multimaterial design, significantly reduces total toughness and fails to delay crack propagation. In contrast, incorporating geometric nonlinearities in both morphology and architecture significantly maintains higher total toughness even after damage, and significantly delays crack propagation. We believe that this study can open the door to further research and ultimately to promising and wide applications in soft robotics.
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Affiliation(s)
- Marwa ElDiwiny
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
| | - Seppe Terryn
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Svetlana Verbruggen
- Department of Mechanics of Materials and Constructions, Vrije Universiteit Brussel (VUB), Brussel, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
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23
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O'Neill CT, Young HT, Hohimer CJ, Proietti T, Rastgaar M, Artemiadis P, Walsh CJ. Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications. Soft Robot 2023; 10:937-947. [PMID: 37042697 DOI: 10.1089/soro.2021.0173] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/13/2023] Open
Abstract
The design of soft actuators is often focused on achieving target trajectories or delivering specific forces and torques, rather than controlling the impedance of the actuator. This article outlines a new soft, tunable pneumatic impedance module based on an antagonistic actuator setup of textile-based pneumatic actuators intended to deliver bidirectional torques about a joint. Through mechanical programming of the actuators (select tuning of geometric parameters), the baseline torque to angle relationship of the module can be tuned. A high bandwidth fluidic controller that can rapidly modulate the pressure at up to 8 Hz in each antagonistic actuator was also developed to enable tunable impedance modulation. This high bandwidth was achieved through the characterization and modeling of the proportional valves used, derivation of a fluidic model, and derivation of control equations. The resulting impedance module was capable of modulating its stiffness from 0 to 100 Nm/rad, at velocities up to 120°/s and emulating asymmetric and nonlinear stiffness profiles, typical in wearable robotic applications.
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Affiliation(s)
- Ciarán T O'Neill
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
| | - Harrison T Young
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
| | - Cameron J Hohimer
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
| | - Tommaso Proietti
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
| | - Mo Rastgaar
- Polytechnic Institute, Purdue University, West Lafayette, Indiana, USA
| | - Panagiotis Artemiadis
- Department of Mechanical Engineering, College of Engineering, University of Delaware, Newark, Delaware, USA
| | - Conor J Walsh
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
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24
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Zhao Y, Hong Y, Li Y, Qi F, Qing H, Su H, Yin J. Physically intelligent autonomous soft robotic maze escaper. SCIENCE ADVANCES 2023; 9:eadi3254. [PMID: 37682998 PMCID: PMC10491293 DOI: 10.1126/sciadv.adi3254] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/18/2023] [Accepted: 08/07/2023] [Indexed: 09/10/2023]
Abstract
Autonomous maze navigation is appealing yet challenging in soft robotics for exploring priori unknown unstructured environments, as it often requires human-like brain that integrates onboard power, sensors, and control for computational intelligence. Here, we report harnessing both geometric and materials intelligence in liquid crystal elastomer-based self-rolling robots for autonomous escaping from complex multichannel mazes without the need for human-like brain. The soft robot powered by environmental thermal energy has asymmetric geometry with hybrid twisted and helical shapes on two ends. Such geometric asymmetry enables built-in active and sustained self-turning capabilities, unlike its symmetric counterparts in either twisted or helical shapes that only demonstrate transient self-turning through untwisting. Combining self-snapping for motion reflection, it shows unique curved zigzag paths to avoid entrapment in its counterparts, which allows for successful self-escaping from various challenging mazes, including mazes on granular terrains, mazes with narrow gaps, and even mazes with in situ changing layouts.
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Affiliation(s)
- Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Fangjie Qi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Haitao Qing
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Hao Su
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Joint NCSU/UNC Department of Biomedical Engineering, North Carolina State University, Raleigh, NC 27695; University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
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25
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Shachaf D, Katz R, Zarrouk D. Wave-like Robotic Locomotion between Highly Flexible Surfaces and Comparison to Worm Robot Locomotion. Biomimetics (Basel) 2023; 8:416. [PMID: 37754167 PMCID: PMC10526330 DOI: 10.3390/biomimetics8050416] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2023] [Revised: 08/27/2023] [Accepted: 09/02/2023] [Indexed: 09/28/2023] Open
Abstract
In a recent study, we developed a minimally actuated robot that utilizes wave-like locomotion and analyzed its kinematics. In this paper, we present an analysis of the robot's locomotion between two highly flexible surfaces. Initially, we created a simulation model of the robot between two surfaces and determined its speed and the conditions of locomotion based on the flexibility of the surface, the geometrical parameters, and the coefficient of friction for horizontal locomotion and climbing at different angles. Our findings indicate that wave locomotion is capable of consistently advancing along the surface, even when the surface is highly flexible. Next, we developed an experimental setup and conducted multiple experiments to validate the accuracy of our simulation. The results indicate an average relative difference of approximately 11% between the speed and advance ratio of the wave crawling between the two surfaces of our simulation model and the experimental results were performed using an actual robot. Lastly, we compared the wave locomotion results to those of the worm locomotion and discovered that wave locomotion outperforms worm locomotion, especially at a higher surface flexibility.
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Affiliation(s)
- Dan Shachaf
- Department of Mechanical Engineering, Ben Gurion University of the Negev, Beersheba 8410501, Israel (D.Z.)
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26
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Orozco F, Horvat D, Miola M, Moreno-Villoslada I, Picchioni F, Bose RK. Electroactive Thermo-Pneumatic Soft Actuator with Self-Healing Features: A Critical Evaluation. Soft Robot 2023; 10:852-859. [PMID: 36927095 DOI: 10.1089/soro.2022.0170] [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: 03/17/2023] Open
Abstract
Soft actuators that operate with overpressure have been successfully implemented as soft robotic grippers. Naturally, as these pneumatic devices are prone to cuts, self-healing properties are attractive. Here, we prepared a gripper that operates based on the liquid-gas phase transition of ethanol within its hollow structure. The gripping surface of the device is coated with a self-healing polymer that heals with heat. This gripper also includes a stainless steel wire along the device that heats the entire structure through resistive heating. This design results in a soft robotic gripper that actuates and heals in parallel driven by the same practical stimulus, that is, electricity. Compared to other self-healing soft grippers, this approach has the advantage of being simple and having autonomous self-healing. However, there remain fundamental drawbacks that limit its implementation. The current work critically assesses this overpressure approach and concludes with a broad perspective regarding self-healing soft robotic grippers.
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Affiliation(s)
- Felipe Orozco
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
| | - Diana Horvat
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
| | - Matteo Miola
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
| | - Ignacio Moreno-Villoslada
- Laboratorio de Polímeros, Instituto de Ciencias Químicas, Facultad de Ciencias, Universidad Austral de Chile, Valdivia, Chile
| | - Francesco Picchioni
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
| | - Ranjita K Bose
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
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27
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Parra Rubio A, Fan D, Jenett B, del Águila Ferrandis J, Tourlomousis F, Abdel-Rahman A, Preiss D, Zemánek J, Triantafyllou M, Gershenfeld N. Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures. Soft Robot 2023; 10:724-736. [PMID: 36730716 PMCID: PMC10442689 DOI: 10.1089/soro.2022.0117] [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: 02/04/2023] Open
Abstract
In this study, we present a method to construct meter-scale deformable structures for underwater robotic applications by discretely assembling mechanical metamaterials. We address the challenge of scaling up nature-like deformable structures while remaining structurally efficient by combining rigid and compliant facets to form custom unit cells that assemble into lattices. The unit cells generate controlled local anisotropies that architect the global deformation of the robotic structure. The resulting flexibility allows better unsteady flow control that enables highly efficient propulsion and optimized force profile manipulations. We demonstrate the utility of this approach in two models. The first is a morphing beam snake-like robot that can generate thrust at specific anguilliform swimming parameters. The second is a morphing surface hydrofoil that, when compared with a rigid wing at the same angles of attack (AoAs), can increase the lift coefficient up to 0.6. In addition, in lower AoAs, the L ∕ D ratio improves by 5 times, whereas in higher angles it improves by 1.25 times. The resulting hydrodynamic performance demonstrates the potential to achieve accessible, scalable, and simple to design and assemble morphing structures for more efficient and effective future ocean exploration and exploitation.
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Affiliation(s)
- Alfonso Parra Rubio
- Center for Bits and Atoms of USA, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | - Dixia Fan
- Intelligent and Informational Fluid Mechanics Laboratory, Westlake University, Hangzhou, China
| | - Benjamin Jenett
- Discrete Lattice Industries, LLC, Laguna Beach, California, USA
| | - José del Águila Ferrandis
- Sea Grant and Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | | | - Amira Abdel-Rahman
- Center for Bits and Atoms of USA, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | - David Preiss
- Center for Bits and Atoms of USA, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | - Jiri Zemánek
- Czech Technical University in Prague, Prague, Czech Republic
| | - Michael Triantafyllou
- Sea Grant and Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | - Neil Gershenfeld
- Center for Bits and Atoms of USA, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
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28
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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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29
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Wang D, Wu X. Grasping Performance Analysis and Comparison of Multi-Chamber Ring-Shaped Soft Grippers. Biomimetics (Basel) 2023; 8:337. [PMID: 37622942 PMCID: PMC10452415 DOI: 10.3390/biomimetics8040337] [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: 05/14/2023] [Revised: 07/11/2023] [Accepted: 07/16/2023] [Indexed: 08/26/2023] Open
Abstract
Biologically inspired pneumatic ring-shaped soft grippers have been extensively studied in the field of soft robotics. However, the effect of the number of air chambers on the grasping performance (grasping range and load capacity) of ring-shaped soft grippers has not been studied. In this article, we propose three ring-shaped soft grippers with the same area of inner walls of air chambers and different numbers of air chambers (two-chamber, three-chamber, and four-chamber) for analyzing and comparing their grasping performance. Finite element method (FEM) models and experimental measurements are conducted to compare the deformation of the inner walls of the three ring-shaped soft grippers, the results indicate that the grasping range of the three-chamber ring-shaped soft gripper is larger than that of the two-chamber ring-shaped soft gripper and the four-chamber ring-shaped soft gripper. Then we choose the three-chamber ring-shaped soft gripper to study the relationship between contact force and air pressure by FEM models and experimental measurements. Several groups of experiments are constructed to compare the load capacity of the three ring-shaped soft grippers, the results indicate that the load capacity of the three-chamber ring-shaped soft gripper is higher than that of the two-chamber ring-shaped soft gripper and the four-chamber ring-shaped soft gripper. The above results reveal that the grasping performance of the three-chamber ring-shaped soft gripper is better than that of other two ring-shaped soft grippers. Furthermore, the application experiments indicate that the three ring-shaped soft grippers can grasp various objects with different weights, material properties, and shapes. This study provides a new idea for investigating ring-shaped soft grippers.
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Affiliation(s)
| | - Xiaojun Wu
- School of Mechanical and Electrical Engineering, Xi’an University of Architecture and Technology, Xi’an 710055, China;
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30
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Zhang Z, Zhang L, Guan M, Zhang S, Jiao T. Research on a Variable Pressure Driving Method for Soft Robots Based on the Electromagnetic Effect. SENSORS (BASEL, SWITZERLAND) 2023; 23:6341. [PMID: 37514635 PMCID: PMC10385017 DOI: 10.3390/s23146341] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/30/2023] [Revised: 07/07/2023] [Accepted: 07/10/2023] [Indexed: 07/30/2023]
Abstract
This study proposes a novel variable air pressure supply structure based on the electromagnetic effect. This structure can be implemented in various soft robots driven by air pressure, including pneumatic artificial muscles, pneumatic soft grippers, and other soft robots. The structure's main body comprises a hollow circular tube, a magnetic piston arranged in the tube, and an electromagnetic solenoid nested outside the tube. The electromagnetic solenoid is designed with special winding and power supply access modes, generating either an attractive force or a repulsive force on the magnetic piston. This solenoid conforms with the magnetic piston expectation in the tube by changing the polarity direction. The interior of the whole structure is a closed space. The gas is conveyed to the soft robot by the gas guide hoses at the two ends of the structure, and the expansion energy of the compressed gas is fully utilized. Then, the gas supply pressure is controlled to drive the robot. The mathematical model of the structure is established based on the analysis of the electromagnetic force and gas pressure on the piston. The simulation results show that the structure's inherent vibration characteristics under various parameters align with expectations. The real-time automatic optimization of the controller parameters is realized by optimizing the incremental proportional-integral-derivative (PID) controller based on a neural network. The simulation results show that the structure can meet the application requirements. The experimental results show that the proposed gas supply structure can provide a continuous pressure supply curve with any frequency in a specific amplitude range and has an excellent tracking effect on the sinusoidal-like pressure curve.
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Affiliation(s)
- Zhongyuan Zhang
- Department of Automation, College of Engineering, Ocean University of China, Qingdao 266404, China
| | - Lei Zhang
- Department of Automation, College of Engineering, Ocean University of China, Qingdao 266404, China
| | - Mingjing Guan
- Department of Automation, College of Engineering, Ocean University of China, Qingdao 266404, China
| | - Shuai Zhang
- Department of Automation, College of Engineering, Ocean University of China, Qingdao 266404, China
| | - Tengfei Jiao
- Department of Automation, College of Engineering, Ocean University of China, Qingdao 266404, China
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31
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Jiang X, Yang J, Zeng L, Huang C. A Spider-Joint-like Bionic Actuator with an Approximately Triangular Prism Shape. Biomimetics (Basel) 2023; 8:299. [PMID: 37504187 PMCID: PMC10807400 DOI: 10.3390/biomimetics8030299] [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: 05/09/2023] [Revised: 07/01/2023] [Accepted: 07/06/2023] [Indexed: 07/29/2023] Open
Abstract
The unique drive principle and strong manipulation ability of spider legs have led to several bionic robot designs. However, some parameters of bionic actuators still need to be improved, such as torque. Inspired by the hydraulic drive principle of spider legs, this paper describes the design of a bionic actuator characterized by the use of air pressure on each surface and its transmittance in the direction of movement, achieving a torque amplification effect. The produced torque is as high as 4.78 N m. In addition, its torque characteristics during folding motions are similar to those during unfolding motions, showing that the bionic actuator has stable bidirectional drive capability.
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Affiliation(s)
- Xiaomao Jiang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
| | - Jun Yang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
| | - Le Zeng
- Department of Aviation Machinery Manufacturing, Changsha Aeronautical Vocational and Technical College, Changsha 410124, China;
| | - Changyang Huang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
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32
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He Q, Yin R, Hua Y, Jiao W, Mo C, Shu H, Raney JR. A modular strategy for distributed, embodied control of electronics-free soft robots. SCIENCE ADVANCES 2023; 9:eade9247. [PMID: 37418520 DOI: 10.1126/sciadv.ade9247] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/16/2022] [Accepted: 06/02/2023] [Indexed: 07/09/2023]
Abstract
Robots typically interact with their environments via feedback loops consisting of electronic sensors, microcontrollers, and actuators, which can be bulky and complex. Researchers have sought new strategies for achieving autonomous sensing and control in next-generation soft robots. We describe here an electronics-free approach for autonomous control of soft robots, whose compositional and structural features embody the sensing, control, and actuation feedback loop of their soft bodies. Specifically, we design multiple modular control units that are regulated by responsive materials such as liquid crystal elastomers. These modules enable the robot to sense and respond to different external stimuli (light, heat, and solvents), causing autonomous changes to the robot's trajectory. By combining multiple types of control modules, complex responses can be achieved, such as logical evaluations that require multiple events to occur in the environment before an action is performed. This framework for embodied control offers a new strategy toward autonomous soft robots that operate in uncertain or dynamic environments.
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Affiliation(s)
- Qiguang He
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Rui Yin
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Yucong Hua
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Weijian Jiao
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Chengyang Mo
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Hang Shu
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
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33
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Ye C, Liu Z, Yu S, Fan Z, Wang Y. Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella. Biomimetics (Basel) 2023; 8:271. [PMID: 37504159 PMCID: PMC10377722 DOI: 10.3390/biomimetics8030271] [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: 05/18/2023] [Revised: 06/18/2023] [Accepted: 06/21/2023] [Indexed: 07/29/2023] Open
Abstract
Soft robots demonstrate an impressive ability to adapt to objects and environments. However, current soft mobile robots often use a single mode of movement. This gives soft robots good locomotion performance in specific environments but poor performance in others. In this paper, we propose a leg-wheel mechanism inspired by bacterial flagella and use it to design a leg-wheel robot. This mechanism employs a tendon-driven continuum structure to replicate the bacterial flagellar filaments, while servo and gear components mimic the action of bacterial flagellar motors. By utilizing twisting and swinging motions of the continuum structure, the robot achieves both wheeled and legged locomotion. The paper provides comprehensive descriptions and detailed kinematic analysis of the mechanism and the robot. To verify the feasibility of the robot, a prototype was implemented, and experiments were performed on legged mode, wheeled mode, and post-overturning motion. The experimental results demonstrate that the robot can achieve legged and wheeled motions. Moreover, it is also demonstrated that the robot still has mobility after overturning. This expands the applicability scenarios of the current soft mobile robot.
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Affiliation(s)
- Changlong Ye
- School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang 110136, China
| | - Zhanpeng Liu
- School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang 110136, China
| | - Suyang Yu
- School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang 110136, China
| | - Zifu Fan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 569830, Singapore
| | - Yinchao Wang
- School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang 110136, China
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34
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Hu Z, Zhang Y, Jiang H, Lv JA. Bioinspired helical-artificial fibrous muscle structured tubular soft actuators. SCIENCE ADVANCES 2023; 9:eadh3350. [PMID: 37352358 PMCID: PMC10289666 DOI: 10.1126/sciadv.adh3350] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/24/2023] [Accepted: 05/19/2023] [Indexed: 06/25/2023]
Abstract
Biological tubular actuators show diverse deformations, which allow for sophisticated deformations with well-defined degrees of freedom (DOF). Nonetheless, synthetic active tubular soft actuators largely only exhibit few simple deformations with limited and undesignable DOF. Inspired by 3D fibrous architectures of tubular muscular hydrostats, we devised conceptually new helical-artificial fibrous muscle structured tubular soft actuators (HAFMS-TSAs) with locally tunable molecular orientations, materials, mechanics, and actuation via a modular fabrication platform using a programmable filament winding technique. Unprecedentedly, HAFMS-TSAs can be endowed with 11 different morphing modes through programmable regulation of their 3D helical fibrous architectures. We demonstrate a single "living" artificial plant rationally structured by HAFMS-TSAs exhibiting diverse photoresponsive behaviors that enable adaptive omnidirectional reorientation of its hierarchical 3D structures in the response to environmental irradiation, resembling morphing intelligence of living plants in reacting to changing environments. Our methodology would be significantly beneficial for developing sophisticated soft actuators with designable and tunable DOF.
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Affiliation(s)
- Zhiming Hu
- Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province, School of Engineering, Westlake University, Hangzhou 310024, Zhejiang, China
- School of Engineering, Westlake University, Hangzhou 310030, Zhejiang, China
- Westlake Institute for Advanced Study, Hangzhou 310024, Zhejiang, China
| | - Yanlin Zhang
- School of Engineering, Westlake University, Hangzhou 310030, Zhejiang, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou 310030, Zhejiang, China
- Research Center for Industries of the Future, Westlake University, Hangzhou 310030, Zhejiang, China
| | - Jiu-an Lv
- Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province, School of Engineering, Westlake University, Hangzhou 310024, Zhejiang, China
- School of Engineering, Westlake University, Hangzhou 310030, Zhejiang, China
- Westlake Institute for Advanced Study, Hangzhou 310024, Zhejiang, China
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35
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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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Wei J, Pan F, Ping H, Yang K, Wang Y, Wang Q, Fu Z. Bioinspired Additive Manufacturing of Hierarchical Materials: From Biostructures to Functions. RESEARCH (WASHINGTON, D.C.) 2023; 6:0164. [PMID: 37303599 PMCID: PMC10254471 DOI: 10.34133/research.0164] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 04/04/2023] [Accepted: 05/17/2023] [Indexed: 06/13/2023]
Abstract
Throughout billions of years, biological systems have evolved sophisticated, multiscale hierarchical structures to adapt to changing environments. Biomaterials are synthesized under mild conditions through a bottom-up self-assembly process, utilizing substances from the surrounding environment, and meanwhile are regulated by genes and proteins. Additive manufacturing, which mimics this natural process, provides a promising approach to developing new materials with advantageous properties similar to natural biological materials. This review presents an overview of natural biomaterials, emphasizing their chemical and structural compositions at various scales, from the nanoscale to the macroscale, and the key mechanisms underlying their properties. Additionally, this review describes the designs, preparations, and applications of bioinspired multifunctional materials produced through additive manufacturing at different scales, including nano, micro, micro-macro, and macro levels. The review highlights the potential of bioinspired additive manufacturing to develop new functional materials and insights into future directions and prospects in this field. By summarizing the characteristics of natural biomaterials and their synthetic counterparts, this review inspires the development of new materials that can be utilized in various applications.
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Affiliation(s)
- Jingjiang Wei
- Institute for Advanced Materials Deformation and Damage from Multi-Scale, Institute for Advanced Study,
Chengdu University, Chengdu 610106, P. R. China
| | - Fei Pan
- Department of Chemistry,
University of Basel, Basel 4058, Switzerland
| | - Hang Ping
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing,
Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Kun Yang
- Institute for Advanced Materials Deformation and Damage from Multi-Scale, Institute for Advanced Study,
Chengdu University, Chengdu 610106, P. R. China
| | - Yanqing Wang
- College of Polymer Science and Engineering,
Sichuan University, Chengdu 610065, P. R. China
| | - Qingyuan Wang
- Institute for Advanced Materials Deformation and Damage from Multi-Scale, Institute for Advanced Study,
Chengdu University, Chengdu 610106, P. R. China
| | - Zhengyi Fu
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing,
Wuhan University of Technology, Wuhan 430070, P. R. China
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37
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Kashef Tabrizian S, Terryn S, Cornellà AC, Brancart J, Legrand J, Van Assche G, Vanderborght B. Assisted damage closure and healing in soft robots by shape memory alloy wires. Sci Rep 2023; 13:8820. [PMID: 37258618 DOI: 10.1038/s41598-023-35943-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/09/2023] [Accepted: 05/26/2023] [Indexed: 06/02/2023] Open
Abstract
Self-healing soft robots show enormous potential to recover functional performance after healing the damages. However, healing in these systems is limited by the recontact of the fracture surfaces. This paper presents for the first time a shape memory alloy (SMA) wire-reinforced soft bending actuator made out of a castor oil-based self-healing polymer, with the incorporated ability to recover from large incisions via shape memory assisted healing. The integrated SMA wires serve three major purposes; (i) Large incisions are closed by contraction of the current-activated SMA wires that are integrated into the chamber. These pull the fracture surfaces into contact, enabling the healing. (ii) The heat generated during the activation of the SMA wires is synergistically exploited for accelerating the healing. (iii) Lastly, during pneumatic actuation, the wires constrain radial expansion and one-side longitudinal extension of the soft chamber, effectuating the desired actuator bending motion. This novel approach of healing is studied via mechanical and ultrasound tests on the specimen level, as well as via bending characterization of the pneumatic robot in multiple damage healing cycles. This technology allows soft robots to become more independent in terms of their self-healing capabilities from human intervention.
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Affiliation(s)
| | - Seppe Terryn
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Aleix Costa Cornellà
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Joost Brancart
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Julie Legrand
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
| | - Guy Van Assche
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
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38
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Liu Y, Wang Y, Yang X, Huang W, Zhang Y, Zhang X, Wang X. Stiffness Variable Polymer for Soft Actuators with Sharp Stiffness Switch and Fast Response. ACS APPLIED MATERIALS & INTERFACES 2023. [PMID: 37201204 DOI: 10.1021/acsami.3c03880] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/20/2023]
Abstract
Stiffness variable polymers are an essential family of materials that have aroused considerable attention in soft actuators. Although lots of strategies have been proposed to achieve variable stiffness, it remains a formidable challenge to achieve a polymer with a wide stiffness range and fast stiffness change. Herein, a series of variable stiffness polymers with a fast stiffness change and wide stiffness range were successfully synthesized, and the formulas were optimized via Pearson correlation tests. The rigid/soft stiffness ratio of the designed polymer samples can reach up to 1376-folds. Impressively, owing to the phase-changing side chains, the narrow endothermic peak can be observed with full width at half-maximum within 5 °C. Moreover, the shape memory properties of the shape fixity (Rf) and shape recovery ratio (Rr) values of the shape memory properties could reach up to 99.3 and 99.2%, respectively. Then, the obtained polymer was introduced into a kind of designed 3D printing soft actuator. The soft actuator can achieve sharp heating-cooling cycle of 19 s under a 1.2 A current with 4 °C water as coolant and can lift a 200 g weight at the actuating state. Moreover, the stiffness of the soft actuator can reach up to 718 mN/mm. The soft actuator exhibits an outstanding actuate behavior and stiffness switchable capability. We expect our design strategy and obtained variable stiffness polymers to be potentially applied in soft actuators and other devices.
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Affiliation(s)
- Yahao Liu
- College of Naval Architecture and Ocean Engineering, Naval University of Engineering, Wuhan 430022, China
- Staff Room of Chemistry and Material, Department of Basic Course, Naval University of Engineering, Wuhan 430022, China
| | - Yuansheng Wang
- College of Naval Architecture and Ocean Engineering, Naval University of Engineering, Wuhan 430022, China
| | - Xue Yang
- National Key Laboratory on Ship Vibration & Noise, Wuhan 430022, China
| | - Wei Huang
- College of Naval Architecture and Ocean Engineering, Naval University of Engineering, Wuhan 430022, China
- Staff Room of Chemistry and Material, Department of Basic Course, Naval University of Engineering, Wuhan 430022, China
| | - Yu Zhang
- Army Engineering University, Shijiazhuang Campus, Shijiazhuang 050003, China
| | - Xiao Zhang
- Engineering University of PAP, Xi'an 710086, China
| | - Xuan Wang
- Staff Room of Chemistry and Material, Department of Basic Course, Naval University of Engineering, Wuhan 430022, China
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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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40
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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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41
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Xu J, Dong Y, Yang J, Jiang Z, Tang L, Chen X, Cao K. The Soft Ray-Inspired Robots Actuated by Solid-Liquid Interpenetrating Silicone-Based Dielectric Elastomer Actuator. Soft Robot 2023; 10:354-364. [PMID: 36318819 DOI: 10.1089/soro.2022.0024] [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: 04/18/2023] Open
Abstract
Dielectric elastomer actuators (DEAs) are widely used in robotics and artificial muscles because of their large energy densities and short response time. In this study, we developed two types of soft ray-inspired robots using solid-liquid interpenetrating silicone-based DEAs, named SIS DEAs. The optimized SIS DEA had an actuation strain of 79.8% at 20.43 kV/mm in a freestanding state, which was used as the muscle of the ray robot. To imitate the swimming behavior of the ray, the effect of the driving frequency on the velocity of the ray robot was explored. The ray robot achieved a maximum swimming rate of 5.7 mm/s when the driving frequency was ∼0.6 Hz. In addition, the steady-state and the transient simulation were carried out to reveal the mechanism of the ray robot's electro-swimming. The results revealed that the actuating deformation of the SIS DEAs caused the electro-deformation of the ray robot, and the periodical electro-deformation generated the high-speed vortex beneath the robot to push the ray robot forward. The high actuation strain in the freestanding state and the shape customizability of the SIS DEAs made it an ideal alternative to muscles for various soft robots.
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Affiliation(s)
- Jiahui Xu
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, China
| | - Yiling Dong
- College of Arts and Sciences, Indiana University, Bloomington, Indiana, USA
| | - Jiang Yang
- Institute of Smart Sensing and Measurement, College of Control Science and Engineering, Zhejiang University, Hangzhou, China
| | - Ziyin Jiang
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, China
| | - Longcheng Tang
- Key Laboratory of Organosilicon Chemistry and Material Technology of Ministry of Education, Hangzhou Normal University, Hangzhou, China
| | - Xiangrong Chen
- Zhejiang Provincial Key Laboratory of Electrical Machine Systems, College of Electrical Engineering, Zhejiang University, Hangzhou, China
| | - Kun Cao
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, China
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42
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Yamashita S, Ito K. Six-legged crawling soft robot: NOBIYAKA. ARTIFICIAL LIFE AND ROBOTICS 2023. [DOI: 10.1007/s10015-023-00861-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/31/2023]
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43
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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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44
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Sun Y, Zong C, Pancheri F, Chen T, Lueth TC. Design of topology optimized compliant legs for bio-inspired quadruped robots. Sci Rep 2023; 13:4875. [PMID: 36966220 PMCID: PMC10039952 DOI: 10.1038/s41598-023-32106-5] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/02/2022] [Accepted: 03/21/2023] [Indexed: 03/27/2023] Open
Abstract
Robotic legs are an important component of the quadruped robot for achieving different motion gaits. Although the conventional rigid-link-based legs can generally perform robust motions, they still have the issues with poor sealing when operating in complex and liquid terrains. To cope with this problem, fully compliant legs with monolithic structure have been introduced in recent years to improve the system compactness and structural compliance of quadruped robots. In this article, we present a topology-optimization-based method to achieve efficient design of compliant robotic legs. In order to balance the structural stiffness and bending flexibility of the realized leg, a multi-objective optimization algorithm is utilized. A series of design cases are presented to illustrate the design principle and analytical procedure of the proposed method. In addition, experimental evaluation is also performed, and the results have demonstrated that, a quadruped robot with the optimized legs can successfully achieve stable and continuous straight-line walking motions.
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Affiliation(s)
- Yilun Sun
- Institute of Micro Technology and Medical Device Technology, Technical University of Munich, 85748, Garching, Germany.
| | - Chujun Zong
- Institute of Energy Efficient and Sustainable Design and Building, Technical University of Munich, 80333, Munich, Germany
| | - Felix Pancheri
- Institute of Micro Technology and Medical Device Technology, Technical University of Munich, 85748, Garching, Germany
| | - Tong Chen
- Institute of Micro Technology and Medical Device Technology, Technical University of Munich, 85748, Garching, Germany
- Department of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo, 113-8656, Japan
| | - Tim C Lueth
- Institute of Micro Technology and Medical Device Technology, Technical University of Munich, 85748, Garching, Germany
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45
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Wu S, Hong Y, Zhao Y, Yin J, Zhu Y. Caterpillar-inspired soft crawling robot with distributed programmable thermal actuation. SCIENCE ADVANCES 2023; 9:eadf8014. [PMID: 36947625 PMCID: PMC10032605 DOI: 10.1126/sciadv.adf8014] [Citation(s) in RCA: 20] [Impact Index Per Article: 20.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/14/2022] [Accepted: 02/21/2023] [Indexed: 06/14/2023]
Abstract
Many inspirations for soft robotics are from the natural world, such as octopuses, snakes, and caterpillars. Here, we report a caterpillar-inspired, energy-efficient crawling robot with multiple crawling modes, enabled by joule heating of a patterned soft heater consisting of silver nanowire networks in a liquid crystal elastomer (LCE)-based thermal bimorph actuator. With patterned and distributed heaters and programmable heating, different temperature and hence curvature distribution along the body of the robot are achieved, enabling bidirectional locomotion as a result of the friction competition between the front and rear end with the ground. The thermal bimorph behavior is studied to predict and optimize the local curvature of the robot under thermal stimuli. The bidirectional actuation modes with the crawling speeds are investigated. The capability of passing through obstacles with limited spacing are demonstrated. The strategy of distributed and programmable heating and actuation with thermal responsive materials offers unprecedented capabilities for smart and multifunctional soft robots.
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Affiliation(s)
- Shuang Wu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Department of Materials Science and Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Joint Department of Biomedical Engineering, University of North Carolina-Chapel Hill and NC State University, Chapel Hill, NC 27599, USA
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46
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Giordano G, Murali Babu SP, Mazzolai B. Soft robotics towards sustainable development goals and climate actions. Front Robot AI 2023; 10:1116005. [PMID: 37008983 PMCID: PMC10064016 DOI: 10.3389/frobt.2023.1116005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Accepted: 03/06/2023] [Indexed: 03/19/2023] Open
Abstract
Soft robotics technology can aid in achieving United Nations’ Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By utilizing soft robotics, we can mitigate the detrimental effects of climate change on human society and the natural world through fostering adaptation, restoration, and remediation. Moreover, the implementation of soft robotics can lead to groundbreaking discoveries in material science, biology, control systems, energy efficiency, and sustainable manufacturing processes. However, to achieve these goals, we need further improvements in understanding biological principles at the basis of embodied and physical intelligence, environment-friendly materials, and energy-saving strategies to design and manufacture self-piloting and field-ready soft robots. This paper provides insights on how soft robotics can address the pressing issue of environmental sustainability. Sustainable manufacturing of soft robots at a large scale, exploring the potential of biodegradable and bioinspired materials, and integrating onboard renewable energy sources to promote autonomy and intelligence are some of the urgent challenges of this field that we discuss in this paper. Specifically, we will present field-ready soft robots that address targeted productive applications in urban farming, healthcare, land and ocean preservation, disaster remediation, and clean and affordable energy, thus supporting some of the SDGs. By embracing soft robotics as a solution, we can concretely support economic growth and sustainable industry, drive solutions for environment protection and clean energy, and improve overall health and well-being.
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Affiliation(s)
- Goffredo Giordano
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy
- Department of Mechanics Mathematics and Management, Politecnico di Barit, Bari, Italy
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
| | - Saravana Prashanth Murali Babu
- SDU Soft Robotics, SDU Biorobotics, The Mærsk McKinney Møller Institute, University of Southern Denmark, Odense, Denmark
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
| | - Barbara Mazzolai
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
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47
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Wang R, Zhang C, Tan W, Yang J, Lin D, Liu L. Electroactive Polymer-Based Soft Actuator with Integrated Functions of Multi-Degree-of-Freedom Motion and Perception. Soft Robot 2023; 10:119-128. [PMID: 35482290 DOI: 10.1089/soro.2021.0104] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/26/2022] Open
Abstract
Soft actuators have received extensive attention in the fields of soft robotics, biomedicine, and intelligence systems owing to their advantages of pliancy, silence, and essential safety. However, most existing soft actuators have only single actuation elements and lack sensing. Therefore, it is difficult for them to perform complex motions with multiple degrees of freedom (multi-DOFs) and high precision. This article reports a miniature columnar dielectric elastomer actuator (DEA) with multi-DOF actuation and sensing, which was fabricated with an electroactive polymer acrylic film (Very High Bond [VHB] acrylic film by 3M Company) and carbon black grease electrodes. The arrangement of the simulation electrodes on the VHB was optimized to realize multi-DOF actuation, and the sensing electrodes were configured on the outer part of the DEA to realize real-time sensing. The results showed that the soft actuator can achieve all-round actuation through the selective power of the stimulation electrodes with a controllable voltage. The maximum bending angle and axial strain of the actuator reached 50° and 13%, respectively. Moreover, the deformation modes, direction, and quantity could be precisely measured using the integrative sensing function. In addition, to demonstrate the advantages of the proposed actuator, a manipulator with multiple actuators was designed and controlled to realize different actions of screwing and grasping with sensing. This research is useful not only for the design of multifunctional soft actuators but also for the development of soft robots with flexible, complex, and precisely controllable motions.
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Affiliation(s)
- Ruiqian 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.,University of the Chinese Academy of Sciences, Beijing, China
| | - Chuang Zhang
- 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
| | - Wenjun Tan
- 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.,University of the Chinese Academy of Sciences, Beijing, China
| | - Jia 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.,University of the Chinese Academy of Sciences, Beijing, China
| | - Daojing Lin
- 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.,University of the Chinese Academy of Sciences, Beijing, China
| | - Lianqing 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
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Dorgan KM, Daltorio KA. Fundamentals of burrowing in soft animals and robots. Front Robot AI 2023; 10:1057876. [PMID: 36793873 PMCID: PMC9923007 DOI: 10.3389/frobt.2023.1057876] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2022] [Accepted: 01/16/2023] [Indexed: 01/31/2023] Open
Abstract
Creating burrows through natural soils and sediments is a problem that evolution has solved numerous times, yet burrowing locomotion is challenging for biomimetic robots. As for every type of locomotion, forward thrust must overcome resistance forces. In burrowing, these forces will depend on the sediment mechanical properties that can vary with grain size and packing density, water saturation, organic matter and depth. The burrower typically cannot change these environmental properties, but can employ common strategies to move through a range of sediments. Here we propose four challenges for burrowers to solve. First, the burrower has to create space in a solid substrate, overcoming resistance by e.g., excavation, fracture, compression, or fluidization. Second, the burrower needs to locomote into the confined space. A compliant body helps fit into the possibly irregular space, but reaching the new space requires non-rigid kinematics such as longitudinal extension through peristalsis, unbending, or eversion. Third, to generate the required thrust to overcome resistance, the burrower needs to anchor within the burrow. Anchoring can be achieved through anisotropic friction or radial expansion, or both. Fourth, the burrower must sense and navigate to adapt the burrow shape to avoid or access different parts of the environment. Our hope is that by breaking the complexity of burrowing into these component challenges, engineers will be better able to learn from biology, since animal performance tends to exceed that of their robotic counterparts. Since body size strongly affects space creation, scaling may be a limiting factor for burrowing robotics, which are typically built at larger scales. Small robots are becoming increasingly feasible, and larger robots with non-biologically-inspired anteriors (or that traverse pre-existing tunnels) can benefit from a deeper understanding of the breadth of biological solutions in current literature and to be explored by continued research.
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Affiliation(s)
- Kelly M. Dorgan
- Dauphin Island Sea Lab, Dauphin Island, AL, United States,School of Marine & Environmental Sciences, University of South Alabama, Mobile, AL, United States,*Correspondence: Kelly M. Dorgan,
| | - Kathryn A. Daltorio
- Mechanical Engineering Department, Case Western Reserve University, Cleveland, OH, United States
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Seleem IA, El-Hussieny H, Ishii H. Recent Developments of Actuation Mechanisms for Continuum Robots: A Review. INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION, AND SYSTEMS 2023; 21:1592-1609. [PMID: 37151813 PMCID: PMC10153025 DOI: 10.1007/s12555-022-0159-8] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/18/2022] [Revised: 06/08/2022] [Accepted: 06/14/2022] [Indexed: 05/09/2023]
Abstract
Traditional rigid robots face significant challenges in congested and tight environments, including bulky size, maneuverability, and safety limitations. Thus, soft continuum robots, inspired by the incredible capabilities of biological appendages such as octopus arms, starfish, and worms, have shown promising performance in complex environments due to their compliance, adaptability, and safety. Different actuation techniques are implemented in soft continuum robots to achieve a smoothly bending backbone, including cable-driven actuators, pneumatic actuators, and hydraulic actuation systems. However, designing and developing efficient actuation mechanisms, motion planning approaches, and control algorithms are challenging due to the high degree of redundancy and non-linearity of soft continuum robots. This article profoundly reviews the merits and drawbacks of soft robots' actuation systems concerning their applications to provide the readers with a brief review reference to explore the recent development of soft robots' actuation mechanisms technology. Moreover, the authors have surveyed the recent review studies in controller design of continuum robots as a guidance for future applications.
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Affiliation(s)
- Ibrahim A. Seleem
- Department of Modern Mechanical Engineering, Faculty of Science and Engineering, Waseda University, Tokyo, Japan
- Present Address: Industrial Electronics and Control Engineering Department, Menoufia University, Shibin Al Kawm, Egypt
| | - Haitham El-Hussieny
- Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, Al Gadida City, Egypt
- Present Address: Electrical Engineering Department, Faculty of Engineering (Shoubra), Benha University, Banha, Egypt
| | - Hiroyuki Ishii
- Department of Modern Mechanical Engineering, Faculty of Science and Engineering, Waseda University, Tokyo, Japan
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Sun YC, Effati M, Naguib HE, Nejat G. SoftSAR: The New Softer Side of Socially Assistive Robots-Soft Robotics with Social Human-Robot Interaction Skills. SENSORS (BASEL, SWITZERLAND) 2022; 23:432. [PMID: 36617030 PMCID: PMC9824785 DOI: 10.3390/s23010432] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/26/2022] [Revised: 12/20/2022] [Accepted: 12/26/2022] [Indexed: 06/17/2023]
Abstract
When we think of "soft" in terms of socially assistive robots (SARs), it is mainly in reference to the soft outer shells of these robots, ranging from robotic teddy bears to furry robot pets. However, soft robotics is a promising field that has not yet been leveraged by SAR design. Soft robotics is the incorporation of smart materials to achieve biomimetic motions, active deformations, and responsive sensing. By utilizing these distinctive characteristics, a new type of SAR can be developed that has the potential to be safer to interact with, more flexible, and uniquely uses novel interaction modes (colors/shapes) to engage in a heighted human-robot interaction. In this perspective article, we coin this new collaborative research area as SoftSAR. We provide extensive discussions on just how soft robotics can be utilized to positively impact SARs, from their actuation mechanisms to the sensory designs, and how valuable they will be in informing future SAR design and applications. With extensive discussions on the fundamental mechanisms of soft robotic technologies, we outline a number of key SAR research areas that can benefit from using unique soft robotic mechanisms, which will result in the creation of the new field of SoftSAR.
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Affiliation(s)
- Yu-Chen Sun
- Autonomous Systems and Biomechatronics Laboratory (ASBLab), Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada
- Toronto Smart Materials and Structures (TSMART), Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada
| | - Meysam Effati
- Autonomous Systems and Biomechatronics Laboratory (ASBLab), Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada
| | - Hani E. Naguib
- Toronto Smart Materials and Structures (TSMART), Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada
- Toronto Institute of Advanced Manufacturing (TIAM), University of Toronto, Toronto, ON M5S 3G8, Canada
- Toronto Rehabilitation Institute, Toronto, ON M5G 2A2, Canada
| | - Goldie Nejat
- Autonomous Systems and Biomechatronics Laboratory (ASBLab), Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada
- Toronto Institute of Advanced Manufacturing (TIAM), University of Toronto, Toronto, ON M5S 3G8, Canada
- Toronto Rehabilitation Institute, Toronto, ON M5G 2A2, Canada
- Rotman Research Institute, Baycrest Health Sciences, North York, ON M6A 2E1, Canada
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