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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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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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Du L, Ma S, Tokuda K, Tian Y, Li L. Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits. Front Robot AI 2022; 9:899850. [PMID: 35783025 PMCID: PMC9243582 DOI: 10.3389/frobt.2022.899850] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/19/2022] [Accepted: 04/25/2022] [Indexed: 11/25/2022] Open
Abstract
Inchworm-styled locomotion is one of the simplest gaits for mobile robots, which enables easy actuation, effective movement, and strong adaptation in nature. However, an agile inchworm-like robot that realizes versatile locomotion usually requires effective friction force manipulation with a complicated actuation structure and control algorithm. In this study, we embody a friction force controller based on the deformation of the robot body, to realize bidirectional locomotion. Two kinds of differential friction forces are integrated into a beam-like soft robot body, and along with the cyclical actuation of the robot body, two locomotion gaits with opposite locomotion directions can be generated and controlled by the deformation process of the robot body, that is, the dynamic gaits. Based on these dynamic gaits, two kinds of locomotion control schemes, the amplitude-based control and the frequency-based control, are proposed, analyzed, and validated with both theoretical simulations and prototype experiments. The soft inchworm crawler achieves the versatile locomotion result via a simple system configuration and minimalist actuation input. This work is an example of using soft structure vibrations for challenging robotic tasks.
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Affiliation(s)
- Liang Du
- Shanghai Robotics Institute, Shanghai University, Shanghai, China
| | - Shugen Ma
- Faculty of Science and Engineering, Ritsumeikan University, Shiga, Japan
- *Correspondence: Shugen Ma,
| | - Keisuke Tokuda
- Faculty of Science and Engineering, Ritsumeikan University, Shiga, Japan
| | - Yang Tian
- Faculty of Science and Engineering, Ritsumeikan University, Shiga, Japan
| | - Longchuan Li
- Faculty of Science and Engineering, Ritsumeikan University, Shiga, Japan
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Ashby J, Rosset S, Henke EFM, Anderson IA. One Soft Step: Bio-Inspired Artificial Muscle Mechanisms for Space Applications. Front Robot AI 2022; 8:792831. [PMID: 35096985 PMCID: PMC8793852 DOI: 10.3389/frobt.2021.792831] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/11/2021] [Accepted: 12/06/2021] [Indexed: 12/16/2022] Open
Abstract
Soft robots, devices with deformable bodies and powered by soft actuators, may fill a hitherto unexplored niche in outer space. All space-bound payloads are heavily limited in terms of mass and volume, due to the cost of launch and the size of spacecraft. Being constructed from stretchable materials allows many possibilities for compacting soft robots for launch and later deploying into a much larger volume, through folding, rolling, and inflation. This morphability can also be beneficial for adapting to operation in different environments, providing versatility, and robustness. To be truly soft, a robot must be powered by soft actuators. Dielectric elastomer transducers (DETs) offer many advantages as artificial muscles. They are lightweight, have a high work density, and are capable of artificial proprioception. Taking inspiration from nature, in particular the starfish podia, we present here bio-inspired inflatable DET actuators powering low-mass robots capable of performing complex motion that can be compacted to a fraction of their operating size.
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Affiliation(s)
- Joseph Ashby
- Biomimetics Laboratory, Auckland Bioengineering Institute, University of Auckland, Auckland, New Zealand
- *Correspondence: Joseph Ashby,
| | - Samuel Rosset
- Biomimetics Laboratory, Auckland Bioengineering Institute, University of Auckland, Auckland, New Zealand
| | - E.-F. Markus Henke
- Biomimetics Laboratory, Auckland Bioengineering Institute, University of Auckland, Auckland, New Zealand
- Institute for Semiconductors and Microsystems, TU Dresden, Dresden, Germany
- StretchSense (Sensor Holdings Ltd.), Auckland, New Zealand
- Dresden Center of Intelligent Materials (DCIM), TU Dresden, Dresden, Germany
| | - Iain A. Anderson
- Biomimetics Laboratory, Auckland Bioengineering Institute, University of Auckland, Auckland, New Zealand
- StretchSense (Sensor Holdings Ltd.), Auckland, New Zealand
- PowerOn Ltd., Auckland, New Zealand
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Li WB, Zhang WM, Gao QH, Guo Q, Wu S, Zou HX, Peng ZK, Meng G. Electrically Activated Soft Robots: Speed Up by Rolling. Soft Robot 2020; 8:611-624. [PMID: 33180656 DOI: 10.1089/soro.2020.0012] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022] Open
Abstract
Soft robots show excellent body compliance, adaptability, and mobility when coping with unstructured environments and human-robot interactions. However, the moving speed for soft locomotion robots is far from that of their rigid partners. Rolling locomotion can provide a promising solution for developing high-speed robots. Based on different rolling mechanisms, three rolling soft robot (RSR) prototypes with advantages of simplicity, lightweight, fast rolling speed, good compliance, and shock resistance are fabricated by using dielectric elastomer actuators. The experimental results demonstrate that the impulse-based and gravity-based RSRs can move both stably and continuously on the ground with a maximum speed higher than 1 blps (body length per second). The ballistic RSR exhibits a high rolling speed of ∼4.59 blps. And during its accelerating rolling process, the instantaneous rolling speed of the robot prototype reaches about 0.65 m/s (13.21 blps), which is much faster than most of the previously reported locomotion robots driven by soft responsive materials. The structure design and implementation methods based on different rolling mechanisms presented can provide guidance and inspiration for creating new, fast-moving, and hybrid mobility soft robots.
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Affiliation(s)
- Wen-Bo Li
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Wen-Ming Zhang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Qiu-Hua Gao
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Qiwei Guo
- Shanghai Institute of Aerospace Systems Engineering, Shanghai, China
| | - Song Wu
- Shanghai Institute of Aerospace Systems Engineering, Shanghai, China
| | - Hong-Xiang Zou
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Zhi-Ke Peng
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Guang Meng
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
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Modelling User Preference for Embodied Artificial Intelligence and Appearance in Realistic Humanoid Robots. INFORMATICS 2020. [DOI: 10.3390/informatics7030028] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/05/2023] Open
Abstract
Realistic humanoid robots (RHRs) with embodied artificial intelligence (EAI) have numerous applications in society as the human face is the most natural interface for communication and the human body the most effective form for traversing the manmade areas of the planet. Thus, developing RHRs with high degrees of human-likeness provides a life-like vessel for humans to physically and naturally interact with technology in a manner insurmountable to any other form of non-biological human emulation. This study outlines a human–robot interaction (HRI) experiment employing two automated RHRs with a contrasting appearance and personality. The selective sample group employed in this study is composed of 20 individuals, categorised by age and gender for a diverse statistical analysis. Galvanic skin response, facial expression analysis, and AI analytics permitted cross-analysis of biometric and AI data with participant testimonies to reify the results. This study concludes that younger test subjects preferred HRI with a younger-looking RHR and the more senior age group with an older looking RHR. Moreover, the female test group preferred HRI with an RHR with a younger appearance and male subjects with an older looking RHR. This research is useful for modelling the appearance and personality of RHRs with EAI for specific jobs such as care for the elderly and social companions for the young, isolated, and vulnerable.
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