1
|
Weidig G, Bush B, Jimenez F, Pelled G, Bush TR. 3D octopus kinematics of complex postures: Translation to long, thin, soft devices and their potential for clinical use. PLoS One 2024; 19:e0303608. [PMID: 38809854 PMCID: PMC11135735 DOI: 10.1371/journal.pone.0303608] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/09/2023] [Accepted: 04/28/2024] [Indexed: 05/31/2024] Open
Abstract
INTRO/BACKGROUND Octopuses are capable of complex arm movements. Unfortunately, experimental barriers and lack of a robust analysis method made it difficult to quantify the three-dimensional (3D) kinematics of soft, flexible bodies, such as the octopus arm. This information is not only crucial for understanding the posture of the animal's arm but also for the development of similarly designed soft, flexible devices. OBJ/GOAL The primary goal of this work was to create a method to comprehensively quantify complex, 3D postures of octopus (Octopus Bimaculoides) arms in a manner that is conducive and translatable to octopus arm-inspired devices for health monitoring and rehabilitation. METHODS In this study, 3D underwater motion capture was used to collect kinematic data on both live octopuses and disembodied arms that still had neural activity. A new method was developed to define how arm curvature and regional segments were oriented relative to each other in 3D. This included identification of the bend within a segment along with the computation of the relative orientation between segments, thus permitting the complete quantification of complex arm motions. RESULTS By comparing vector-based and radius of curvature-based approaches to magnitude of curvature, it was clear that the vector-based approach was less dependent on the length of a segment and that its reported ranges of motion were translatable for outcome measures associated with clinical use. The new approach for the relative orientation of each segment of the octopus arm resulted in the capability of describing the octopus arm in many unique postures, such as straight, simple bending, and complex bending as it utilized the three rotational angles. OUTCOME/IMPACT This method and its application to octopus arms will yield new information that can be used to better communicate and track not only octopus arm movements but in the development of complex, segmented, soft-bodied devices that can be used in health monitoring and rehabilitation.
Collapse
Affiliation(s)
- Garrett Weidig
- Mechanical Engineering Department, Michigan State University, East Lansing, MI, United States of America
| | - Brittany Bush
- Mechanical Engineering Department, Michigan State University, East Lansing, MI, United States of America
| | - Fermin Jimenez
- Mechanical Engineering Department, Michigan State University, East Lansing, MI, United States of America
| | - Galit Pelled
- Mechanical Engineering Department, Michigan State University, East Lansing, MI, United States of America
- Department of Radiology, Michigan State University, East Lansing, MI, United States of America
| | - Tamara Reid Bush
- Mechanical Engineering Department, Michigan State University, East Lansing, MI, United States of America
| |
Collapse
|
2
|
Gong S, Li W, Wu J, Feng B, Yi Z, Guo X, Zhang W, Shao L. A Soft Collaborative Robot for Contact-based Intuitive Human Drag Teaching. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2308835. [PMID: 38647364 DOI: 10.1002/advs.202308835] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/17/2023] [Revised: 04/07/2024] [Indexed: 04/25/2024]
Abstract
Soft material-based robots, known for their safety and compliance, are expected to play an irreplaceable role in human-robot collaboration. However, this expectation is far from real industrial applications due to their complex programmability and poor motion precision, brought by the super elasticity and large hysteresis of soft materials. Here, a soft collaborative robot (Soft Co-bot) with intuitive and easy programming by contact-based drag teaching, and also with exceptional motion repeatability (< 0.30% of body length) and ultra-low hysteresis (< 2.0%) is reported. Such an unprecedented capability is achieved by a biomimetic antagonistic design within a pneumatic soft robot, in which cables are threaded to servo motors through tension sensors to form a self-sensing system, thus providing both precise actuation and dragging-aware collaboration. Hence, the Soft Co-bots can be first taught by human drag and then precisely repeat various tasks on their own, such as electronics assembling, machine tool installation, etc. The proposed Soft Co-bots exhibit a high potential for safe and intuitive human-robot collaboration in unstructured environments, promoting the immediate practical application of soft robots.
Collapse
Affiliation(s)
- Shoulu Gong
- University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Wenbo Li
- School of Mechanical Engineering and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, 200092, China
| | - Jiahao Wu
- University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Bohan Feng
- University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Zhiran Yi
- School of Mechanical Engineering and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Xinyu Guo
- School of Mechanical Engineering and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Wenming Zhang
- School of Mechanical Engineering and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Lei Shao
- University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China
| |
Collapse
|
3
|
Jamali A, Mishra DB, Goldschmidtboeing F, Woias P. Soft octopus-inspired suction cups using dielectric elastomer actuators with sensing capabilities. BIOINSPIRATION & BIOMIMETICS 2024; 19:036009. [PMID: 38467068 DOI: 10.1088/1748-3190/ad3266] [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: 12/10/2023] [Accepted: 03/11/2024] [Indexed: 03/13/2024]
Abstract
Bioinspired and biomimetic soft grippers are rapidly growing fields. They represent an advancement in soft robotics as they emulate the adaptability and flexibility of biological end effectors. A prominent example of a gripping mechanism found in nature is the octopus tentacle, enabling the animal to attach to rough and irregular surfaces. Inspired by the structure and morphology of the tentacles, this study introduces a novel design, fabrication, and characterization method of dielectric elastomer suction cups. To grasp objects, the developed suction cups perform out-of-plane deflections as the suction mechanism. Their attachment mechanism resembles that of their biological counterparts, as they do not require a pre-stretch over a rigid frame or any external hydraulic or pneumatic support to form and hold the dome structure of the suction cups. The realized artificial suction cups demonstrate the capability of generating a negative pressure up to 1.3 kPa in air and grasping and lifting objects with a maximum 58 g weight under an actuation voltage of 6 kV. They also have sensing capabilities to determine whether the grasping was successful without the need of lifting the objects.
Collapse
Affiliation(s)
- Armin Jamali
- Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg im Breisgau, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany
| | - Dushyant Bhagwan Mishra
- Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg im Breisgau, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany
| | - Frank Goldschmidtboeing
- Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg im Breisgau, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany
| | - Peter Woias
- Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg im Breisgau, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany
| |
Collapse
|
4
|
Kim YI, Kim S, Kim S, Aldalbahi A, Rahaman M, An S, Yarin AL, Yoon SS. Electro-Thermopneumatically Actuated, Adhesion-Force Controllable Octopus-Like Suction Cup Actuator. Soft Robot 2024. [PMID: 38557240 DOI: 10.1089/soro.2023.0172] [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: 04/04/2024] Open
Abstract
A light-weight actuator developed in this work belongs to a class of soft robots, and in a sense, resembles an octopus. Its main function is in the attachment or detachment to a solid surface driven by an electro-thermopneumatic mechanism. In this study, a suction cup similar to that of an octopus is manufactured from an elastomer, which is actuated by an electro-thermopneumatic system, mimicking the movement of the octopus' acetabular muscle. Accordingly, the adhesion force generated by such an actuator is regulated by releasing the inner air or adjusting the cup's elasticity. This actuator is designed to be an assistive device that facilitates the individual's physical strength in case of conditions related to aging or cerebellar disease, or a person who lost limbs. In this study, the actuator capabilities are demonstrated in the form of a grip-assisting glove and prosthetic attacher. Moreover, the adhesion mechanism is quantified by numerical simulations and verified experimentally.
Collapse
Affiliation(s)
- Yong Il Kim
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, Illinois, USA
| | - Siwung Kim
- School of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Seongdong Kim
- School of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Ali Aldalbahi
- Department of Chemistry, College of Science, King Saud University, Riyadh, Saudi Arabia
| | - Mostafizur Rahaman
- Department of Chemistry, College of Science, King Saud University, Riyadh, Saudi Arabia
| | - Seongpil An
- SKKU Advanced Institute of Nanotechnology (SAINT), Department of Nano Engineering, and Department of Nano Science and Technology, Sungkyunkwan University, Suwon, Republic of Korea
| | - Alexander L Yarin
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, Illinois, USA
- School of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Sam S Yoon
- School of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| |
Collapse
|
5
|
Yang H, Liu J, Liu W, Liu W, Deng Z, Ling Y, Wang C, Wu M, Wang L, Wen L. Compliant Grasping Control for a Tactile Self-Sensing Soft Gripper. Soft Robot 2024; 11:230-243. [PMID: 37768717 DOI: 10.1089/soro.2022.0221] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/29/2023] Open
Abstract
Soft grippers with good passive compliance can effectively adapt to the shape of a target object and have better safe grasping performance than rigid grippers. However, for soft or fragile objects, passive compliance is insufficient to prevent grippers from crushing the target. Thus, to complete nondestructive grasping tasks, precision force sensing and control are immensely important for soft grippers. In this article, we proposed an online learning self-tuning nonlinearity impedance controller for a tactile self-sensing two-finger soft gripper so that its grasping force can be controlled accurately. For the soft gripper, its grasping force is sensed by a liquid lens-based optical tactile sensing unit that contains a self-sensing fingertip and a liquid lens module and has many advantages of a rapid response time (about 0.04 s), stable output, good sensitivity (>0.4985 V/N), resolution (0.03 N), linearity (R2 > 0.96), and low cost (power consumption: 5 mW, preparation cost
Collapse
Affiliation(s)
- Hui Yang
- Dynamic Image Perception Lab, Institute of Semiconductors, Guangdong Academy of Sciences, Guangdong, China
- Biomechanics and Soft Robotics Lab, School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Jiaqi Liu
- Biomechanics and Soft Robotics Lab, School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Wenbo Liu
- Biomechanics and Soft Robotics Lab, School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Weirui Liu
- Department of Mechanical and Electrical Engineering, School of Mechanical Engineering and Automation, Liaoning Petrochemical University, Fushun, China
| | - Zilong Deng
- Department of Mechanical and Electrical Engineering, School of Mechanical Engineering and Automation, Liaoning Petrochemical University, Fushun, China
| | - Yunzhi Ling
- Dynamic Image Perception Lab, Institute of Semiconductors, Guangdong Academy of Sciences, Guangdong, China
| | - Changan Wang
- Dynamic Image Perception Lab, Institute of Semiconductors, Guangdong Academy of Sciences, Guangdong, China
| | - Meixia Wu
- Dynamic Image Perception Lab, Institute of Semiconductors, Guangdong Academy of Sciences, Guangdong, China
| | - Lihui Wang
- Dynamic Image Perception Lab, Institute of Semiconductors, Guangdong Academy of Sciences, Guangdong, China
| | - Li Wen
- Biomechanics and Soft Robotics Lab, School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| |
Collapse
|
6
|
Cheng W, Zhang W, Tao J, Zheng F, Chu B, Wang R, Fang C, Huai L, Tao P, Song C, Shang W, Fu B, Deng T. Octopus-like Microstructure of Graphene Oxide Generated through Laser-Microdroplet Interaction for Adhesive Coating. ACS NANO 2024; 18:7877-7889. [PMID: 38450636 DOI: 10.1021/acsnano.3c08635] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/08/2024]
Abstract
The octopus, as one of the most famous celebrities in bionics, has provided various inspirations for camouflage materials, soft-bodied robots, and flexible grabbers. The miniaturization of such structures will help the development of microrobots, microdelivery of drugs, and surface coating. With the lack of relevant effective preparation approaches, however, the generation of such octopus-like structures with a size of ∼1 μm or below is challenging. Here, we develop an approach based on laser-microdroplet interaction for generating an octopus-like structure with a size of ∼1 μm. The developed approach uses laser-microdroplet interaction to provide a large driving force of ∼107 Pa at a confined space (<1 μm), locally crumpling the precursor in the microdroplet. The locally crumpled particles possess both crumpled and uncrumpled structures that resemble an octopus's head and soft body. In the adhesion test, the octopus-like particles exhibit high adhesive properties in air, in water, and on a flexible substrate. In the electrochemical test, the octopus-like particles on flexible electrodes show good electrochemical and adhesive properties under hundreds of bending cycles. Benefiting from the combination of crumpled and uncrumpled morphologies, the created particles with octopus-like microstructure are demonstrated to possess comprehensive performance, exhibiting wide application potentials in the fields of microswimmers, surface coatings, and electrochemistry. Additionally, the method developed in this work has the advantages of concentrated energy in a confined space, displaying prospective potentials in micro- and nanoprocessing.
Collapse
Affiliation(s)
- Weizheng Cheng
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Wanli Zhang
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Jinran Tao
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Feiyu Zheng
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Ben Chu
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Ruitong Wang
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Cheng Fang
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Lei Huai
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Peng Tao
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Chengyi Song
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Wen Shang
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Benwei Fu
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Tao Deng
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| |
Collapse
|
7
|
Li J, Yin F, Tian Y. Biomimetic Structure and Surface for Grasping Tasks. Biomimetics (Basel) 2024; 9:144. [PMID: 38534829 DOI: 10.3390/biomimetics9030144] [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: 01/20/2024] [Revised: 02/19/2024] [Accepted: 02/20/2024] [Indexed: 03/28/2024] Open
Abstract
Under water, on land, or in the air, creatures use a variety of grasping methods to hunt, avoid predators, or carry food. Numerous studies have been conducted to construct a bionic surface for grasping tasks. This paper reviews the typical biomimetic structures and surfaces (wedge-shaped surface, suction cup surface and thorn claw surface) for grasping scenarios. Initially, progress in gecko-inspired wedge-shaped adhesive surfaces is reviewed, encompassing the underlying mechanisms that involve tuning the contact area and peeling behavior. The applications of grippers utilizing this adhesive technology are also discussed. Subsequently, the suction force mechanisms and applications of surfaces inspired by octopus and remora suction cups are outlined. Moreover, this paper introduces the applications of robots incorporating the principles of beetle-inspired and bird-inspired thorn claw structures. Lastly, inspired by remoras' adhesive discs, a composite biomimetic adhesive surface is proposed. It integrates features from wedge-shaped, suction cup, and claw thorn surfaces, potentially surpassing the adaptability of basic bioinspired surfaces. This surface construction method offers a potential avenue to enhance adhesion capabilities with superior adaptability to surface roughness and curvature.
Collapse
Affiliation(s)
- Jingyang Li
- State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
| | - Fujie Yin
- Xingjian College, Tsinghua University, Beijing 100084, China
| | - Yu Tian
- State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
| |
Collapse
|
8
|
Wu T, Liu Z, Wang B, Ma Z, Ma D, Deng X. A Versatile Topology-Optimized Compliant Actuator for Soft Robotic Gripper and Walking Robot. Soft Robot 2024; 11:157-170. [PMID: 37819714 DOI: 10.1089/soro.2022.0247] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/13/2023] Open
Abstract
The remarkable interaction capabilities of soft robots within various environments have captured substantial attention from researchers. In recent years, bionics has provided a rich inspiration for the design of soft robots. Nevertheless, predicting the locomotion of soft actuators and determining material layouts solely based on intuition or experience remain a formidable challenge. Previous actuators predominantly targeted separate applications, leading to elevated costs and diminished interchangeability. The objective of this article is to extract the common requirements of diverse application domains and develop a versatile compliant actuator. A mathematical model of the compliant mechanism is proposed under the framework of topology optimization, resulting in an optimal distribution of both structure and material. Through comparison with empirical and semioptimal designs, the results show that the proposed versatile actuator has the advantages of both stiffness and flexibility. We propose an associative design strategy for soft grippers and walking robots. The soft gripper can perfectly complete adaptive grasping of objects with varying sizes, shapes, and masses. The successful in-water gripping experiment underscores the robust cross-medium operational capabilities of the soft gripper. Notably, our experimental results show that the walking robot can move quickly for 5 cycles in 8.25 s and can guarantee the control accuracy of continuous motion. Moreover, the robot swiftly switches walking directions within a mere 0.45 s. The optimization and design strategy presented in this article can furnish novel insights for shaping the next generation of soft robots.
Collapse
Affiliation(s)
- Tingke Wu
- Department of Engineering Mechanics, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China
- State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China
- MOE Key Laboratory of Hydrodynamics, Shanghai Jiao Tong University, Shanghai, China
| | - Zhuyong Liu
- Department of Engineering Mechanics, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China
- State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China
- MOE Key Laboratory of Hydrodynamics, Shanghai Jiao Tong University, Shanghai, China
| | - Boyang Wang
- Department of Engineering Mechanics, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China
- State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China
- MOE Key Laboratory of Hydrodynamics, Shanghai Jiao Tong University, Shanghai, China
| | - Ziqi Ma
- Department of Engineering Mechanics, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China
- State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China
- MOE Key Laboratory of Hydrodynamics, Shanghai Jiao Tong University, Shanghai, China
| | - Daolin Ma
- Department of Engineering Mechanics, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China
- State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China
- MOE Key Laboratory of Hydrodynamics, Shanghai Jiao Tong University, Shanghai, China
| | - Xiaowei Deng
- Department of Engineering Mechanics, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China
| |
Collapse
|
9
|
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.
Collapse
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
| |
Collapse
|
10
|
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.
Collapse
Affiliation(s)
| | - Huijiang Wang
- Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom
| | | |
Collapse
|
11
|
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.
Collapse
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
| |
Collapse
|
12
|
Xie Z, Yuan F, Liu J, Tian L, Chen B, Fu Z, Mao S, Jin T, Wang Y, He X, Wang G, Mo Y, Ding X, Zhang Y, Laschi C, Wen L. Octopus-inspired sensorized soft arm for environmental interaction. Sci Robot 2023; 8:eadh7852. [PMID: 38019929 DOI: 10.1126/scirobotics.adh7852] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/14/2023] [Accepted: 10/31/2023] [Indexed: 12/01/2023]
Abstract
Octopuses can whip their soft arms with a characteristic "bend propagation" motion to capture prey with sensitive suckers. This relatively simple strategy provides models for robotic grasping, controllable with a small number of inputs, and a highly deformable arm with sensing capabilities. Here, we implemented an electronics-integrated soft octopus arm (E-SOAM) capable of reaching, sensing, grasping, and interacting in a large domain. On the basis of the biological bend propagation of octopuses, E-SOAM uses a bending-elongation propagation model to move, reach, and grasp in a simple but efficient way. E-SOAM's distal part plays the role of a gripper and can process bending, suction, and temperature sensory information under highly deformed working states by integrating a stretchable, liquid-metal-based electronic circuit that can withstand uniaxial stretching of 710% and biaxial stretching of 270% to autonomously perform tasks in a confined environment. By combining this sensorized distal part with a soft arm, the E-SOAM can perform a reaching-grasping-withdrawing motion across a range up to 1.5 times its original arm length, similar to the biological counterpart. Through a wearable finger glove that produces suction sensations, a human can use just one finger to remotely and interactively control the robot's in-plane and out-of-plane reaching and grasping both in air and underwater. E-SOAM's results not only contribute to our understanding of the function of the motion of an octopus arm but also provide design insights into creating stretchable electronics-integrated bioinspired autonomous systems that can interact with humans and their environments.
Collapse
Affiliation(s)
- Zhexin Xie
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
- Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore
| | - Feiyang Yuan
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Jiaqi Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Lufeng Tian
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Bohan Chen
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Zhongqiang Fu
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Sizhe Mao
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Tongtong Jin
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Yun Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Xia He
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Gang Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Yanru Mo
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Xilun Ding
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Yihui Zhang
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
| | - Cecilia Laschi
- Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| |
Collapse
|
13
|
Li G, Wong TW, Shih B, Guo C, Wang L, Liu J, Wang T, Liu X, Yan J, Wu B, Yu F, Chen Y, Liang Y, Xue Y, Wang C, He S, Wen L, Tolley MT, Zhang AM, Laschi C, Li T. Bioinspired soft robots for deep-sea exploration. Nat Commun 2023; 14:7097. [PMID: 37925504 PMCID: PMC10625581 DOI: 10.1038/s41467-023-42882-3] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/13/2023] [Accepted: 10/24/2023] [Indexed: 11/06/2023] Open
Abstract
The deep ocean, Earth's untouched expanse, presents immense challenges for exploration due to its extreme pressure, temperature, and darkness. Unlike traditional marine robots that require specialized metallic vessels for protection, deep-sea species thrive without such cumbersome pressure-resistant designs. Their pressure-adaptive forms, unique propulsion methods, and advanced senses have inspired innovation in designing lightweight, compact soft machines. This perspective addresses challenges, recent strides, and design strategies for bioinspired deep-sea soft robots. Drawing from abyssal life, it explores the actuation, sensing, power, and pressure resilience of multifunctional deep-sea soft robots, offering game-changing solutions for profound exploration and operation in harsh conditions.
Collapse
Affiliation(s)
- Guorui Li
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China.
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China.
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China.
| | - Tuck-Whye Wong
- Center for X-Mechanics, Zhejiang University, Hangzhou, China
- Department of Biomedical Engineering and Health Sciences, Universiti Teknologi Malaysia, Skudai, Malaysia
| | - Benjamin Shih
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Chunyu Guo
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
| | - Luwen Wang
- School of Information and Electrical Engineering, Hangzhou City University, Hangzhou, China
| | - Jiaqi Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Tao Wang
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
| | - Xiaobo Liu
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
| | - Jiayao Yan
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, MA, USA
| | - Baosheng Wu
- School of Ecology and Environment, Northwestern Polytechnical University, Xi'an, China
| | - Fajun Yu
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
| | - Yunsai Chen
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
| | | | - Yaoting Xue
- Center for X-Mechanics, Zhejiang University, Hangzhou, China
| | - Chengjun Wang
- Center for X-Mechanics, Zhejiang University, Hangzhou, China
| | - Shunping He
- Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya, China
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Michael T Tolley
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, MA, USA
| | - A-Man Zhang
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
| | - Cecilia Laschi
- Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Tiefeng Li
- Center for X-Mechanics, Zhejiang University, Hangzhou, China.
| |
Collapse
|
14
|
Zhu J, Chen H, Chai Z, Ding H, Wu Z. A Dual-Modal Hybrid Gripper with Wide Tunable Contact Stiffness Range and High Compliance for Adaptive and Wide-Range Grasping Objects with Diverse Fragilities. Soft Robot 2023. [PMID: 37902782 DOI: 10.1089/soro.2023.0022] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/31/2023] Open
Abstract
The difficulties of traditional rigid/soft grippers in meeting the increasing performance expectations (e.g., high grasping adaptability and wide graspable objects range) of a single robotic gripper have given birth to numerous soft-rigid coupling grippers with promising performance. However, it is still hard for these hybrid grippers to adaptively grasp various objects with diverse fragilities intact, such as incense ash and orange, due to their limited contact stiffness adjustable range and compliance. To solve these challenging issues, herein, we propose a dual-modal hybrid gripper, whose fingers contain a detachable elastomer-coated flexible sheet that is restrained by a moving frame as a teardrop shape. The gripper's two modes switched by controlling the moving frame position can selectively highlight the low contact stiffness and excellent compliance of the teardrop-shaped flexible sheets and the high contact stiffness of the moving frames. Moreover, the contact stiffness of the teardrop-shaped sheets can be wide-range adjusted by online controlling the moving frame position and offline replacing the sheets with different thicknesses. The compliance of the teardrop-shaped sheets also proves to be excellent compared with an Ecoflex 10 fingertip with the same profile. Such a gripper with wide-range tunable contact stiffness and high compliance demonstrates excellent grasping adaptability (e.g., it can safely grasp several fragile strawberries with a maximum size difference of 18 mm, a strawberry with a left/right offset of 3 cm, and a strawberry in two different lying poses) and wide-range graspable objects (from 0.1 g super fragile cigarette ashes to 5.1 kg dumbbell).
Collapse
Affiliation(s)
- Jiaqi Zhu
- Soft Intelligence Laboratory, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Han Chen
- Soft Intelligence Laboratory, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhiping Chai
- Soft Intelligence Laboratory, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Han Ding
- Soft Intelligence Laboratory, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhigang Wu
- Soft Intelligence Laboratory, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| |
Collapse
|
15
|
Kohls ND, Balak R, Ruddy BP, Mazumdar YC. Soft Electromagnetic Motor and Soft Magnetic Sensors for Synchronous Rotary Motion. Soft Robot 2023; 10:912-922. [PMID: 36976757 DOI: 10.1089/soro.2022.0075] [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: 03/29/2023] Open
Abstract
To create fully-soft robots, fully-soft actuators are needed. Currently, soft rotary actuator topologies described in the literature exhibit low rotational speeds, which limit their applicability. In this work, we describe a novel, fully-soft synchronous rotary electromagnetic actuator and soft magnetic contact switch sensor concept. In this study, the actuator is constructed using gallium indium liquid metal conductors, compliant permanent magnetic composites, carbon black powders, and flexible polymers. The actuator also operates using low voltages (<20 V, ≤10 A), has a bandwidth of 10 Hz, a stall torque of 2.5-3 mN·m, and no-load speed of up to 4000 rpm. These values show that the actuator rotates at over two orders-of-magnitude higher speed with at least one order-of-magnitude higher output power than previously developed soft rotary actuators. This unique soft rotary motor is operated in a manner similar to traditional hard motors, but is also able to stretch and deform to enable new soft robot functions. To demonstrate fully-soft actuator application concepts, the motor is incorporated into a fully-soft air blower, fully-soft underwater propulsion system, fully-soft water pump, and squeeze-based sensor for a fully-soft fan. Hybrid hard and soft applications were also tested, including a geared robotic car, pneumatic actuator, and hydraulic pump. Overall, this work demonstrates how the fully-soft rotary electromagnetic actuator can bridge the gap between the capabilities of traditional hard motors and novel soft actuator concepts.
Collapse
Affiliation(s)
- Noah D Kohls
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
| | - Roman Balak
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
| | - Bryan P Ruddy
- Auckland Bioengineering Institute, University of Auckland, Auckland, New Zealand
| | - Yi Chen Mazumdar
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
| |
Collapse
|
16
|
Nguyen VP, Dhyan SB, Mai V, Han BS, Chow WT. Bioinspiration and Biomimetic Art in Robotic Grippers. MICROMACHINES 2023; 14:1772. [PMID: 37763934 PMCID: PMC10535325 DOI: 10.3390/mi14091772] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 09/07/2023] [Accepted: 09/09/2023] [Indexed: 09/29/2023]
Abstract
The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature's genius but also significantly enrich various domains through their versatility.
Collapse
Affiliation(s)
- Van Pho Nguyen
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Sunil Bohra Dhyan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Vu Mai
- Faculty of Engineering, Dong Nai Technology University, Bien Hoa City 76000, Vietnam;
| | - Boon Siew Han
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Wai Tuck Chow
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
| |
Collapse
|
17
|
Sui X, Lai M, Qi J, Yang Z, Zhao N, Zhao J, Cai H, Zhu Y. A Fluid-Driven Loop-Type Modular Soft Robot with Integrated Locomotion and Manipulation Capability. Biomimetics (Basel) 2023; 8:390. [PMID: 37754141 PMCID: PMC10526948 DOI: 10.3390/biomimetics8050390] [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: 06/28/2023] [Revised: 08/24/2023] [Accepted: 08/25/2023] [Indexed: 09/28/2023] Open
Abstract
In nature, some animals, such as snakes and octopuses, use their limited body structure to conduct various complicated tasks not only for locomotion but also for hunting. Their body segments seem to possess the intelligence to adapt to environments and tasks. Inspired by nature, a modular soft robot with integrated locomotion and manipulation abilities is presented in this paper. A soft modular robot is assembled using several homogeneous cubic pneumatic soft actuator units made of silicone rubber. Both a mathematical model and backpropagation neural network are established to describe the nonlinear deformation of the soft actuator unit. The locomotion process of the chain-type soft robot is analyzed to provide a general rhythmic control principle for modular soft robots. A vision sensor is adopted to control the locomotion and manipulation processes of the modular soft robot in a closed loop. The experimental results indicate that the modular soft robot put forward in this paper has both locomotion and manipulation abilities.
Collapse
Affiliation(s)
- Xin Sui
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.S.); (J.Q.); (Z.Y.); (N.Z.); (J.Z.); (H.C.)
| | - Mingzhu Lai
- School of Mathematics and Statistics, Hainan Normal University, Haikou 571158, China;
| | - Jian Qi
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.S.); (J.Q.); (Z.Y.); (N.Z.); (J.Z.); (H.C.)
| | - Zhiyuan Yang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.S.); (J.Q.); (Z.Y.); (N.Z.); (J.Z.); (H.C.)
| | - Ning Zhao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.S.); (J.Q.); (Z.Y.); (N.Z.); (J.Z.); (H.C.)
| | - Jie Zhao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.S.); (J.Q.); (Z.Y.); (N.Z.); (J.Z.); (H.C.)
| | - Hegao Cai
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.S.); (J.Q.); (Z.Y.); (N.Z.); (J.Z.); (H.C.)
| | - Yanhe Zhu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.S.); (J.Q.); (Z.Y.); (N.Z.); (J.Z.); (H.C.)
| |
Collapse
|
18
|
Won D, Bang J, Choi SH, Pyun KR, Jeong S, Lee Y, Ko SH. Transparent Electronics for Wearable Electronics Application. Chem Rev 2023; 123:9982-10078. [PMID: 37542724 PMCID: PMC10452793 DOI: 10.1021/acs.chemrev.3c00139] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/07/2023] [Indexed: 08/07/2023]
Abstract
Recent advancements in wearable electronics offer seamless integration with the human body for extracting various biophysical and biochemical information for real-time health monitoring, clinical diagnostics, and augmented reality. Enormous efforts have been dedicated to imparting stretchability/flexibility and softness to electronic devices through materials science and structural modifications that enable stable and comfortable integration of these devices with the curvilinear and soft human body. However, the optical properties of these devices are still in the early stages of consideration. By incorporating transparency, visual information from interfacing biological systems can be preserved and utilized for comprehensive clinical diagnosis with image analysis techniques. Additionally, transparency provides optical imperceptibility, alleviating reluctance to wear the device on exposed skin. This review discusses the recent advancement of transparent wearable electronics in a comprehensive way that includes materials, processing, devices, and applications. Materials for transparent wearable electronics are discussed regarding their characteristics, synthesis, and engineering strategies for property enhancements. We also examine bridging techniques for stable integration with the soft human body. Building blocks for wearable electronic systems, including sensors, energy devices, actuators, and displays, are discussed with their mechanisms and performances. Lastly, we summarize the potential applications and conclude with the remaining challenges and prospects.
Collapse
Affiliation(s)
- Daeyeon Won
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Junhyuk Bang
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Seok Hwan Choi
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Kyung Rok Pyun
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Seongmin Jeong
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Youngseok Lee
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Seung Hwan Ko
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
- Institute
of Engineering Research/Institute of Advanced Machinery and Design
(SNU-IAMD), Seoul National University, Seoul 08826, South Korea
| |
Collapse
|
19
|
Wang L, Lam J, Chen X, Li J, Zhang R, Su Y, Wang Z. Soft Robot Proprioception Using Unified Soft Body Encoding and Recurrent Neural Network. Soft Robot 2023; 10:825-837. [PMID: 37001175 DOI: 10.1089/soro.2021.0056] [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: 04/03/2023] Open
Abstract
Compared with rigid robots, soft robots are inherently compliant and have advantages in the tasks requiring flexibility and safety. But sensing the high dimensional body deformation of soft robots is a challenge. Encasing soft strain sensors into the internal body of soft robots is the most popular solution to address this challenge. But most of them usually suffer from problems like nonlinearity, hysteresis, and fabrication complexity. To endow the soft robots with body movement awareness, this work presents a bioinspired architecture by taking cues from human proprioception system. Differing from the popular usage of smart material-based sensors embedded in soft actuators, we created a synthetic analog to the human muscle system, using paralleled soft pneumatic chambers to serve as receptors for sensing body deformation. We proposed to build the system with redundant receptors and explored deep learning tools for generating the kinematic model. Based on the proposed methodology, we demonstrated the design of three degrees of freedom continuum joint and how its kinematic model was learned from the unified pressure information of the actuators and receptors. In addition, we investigated the response of the soft system to receptor failures and presented both hardware and software level solutions for achieving graceful degradation. This approach offers an alternative to enable soft robots with proprioception capability, which will be useful for closed-loop control and interaction with environment.
Collapse
Affiliation(s)
- Liangliang Wang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China
| | - James Lam
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China
| | - Xiaojiao Chen
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China
| | - Jing Li
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China
| | - Runzhi Zhang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China
| | - Yinyin Su
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Zheng Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| |
Collapse
|
20
|
Tang S, Tang K, Wu S, Xiao Y, Liu S, Yi J, Wang Z. Performance enhancement of the soft robotic segment for a trunk-like arm. Front Robot AI 2023; 10:1210217. [PMID: 37547621 PMCID: PMC10402897 DOI: 10.3389/frobt.2023.1210217] [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: 04/21/2023] [Accepted: 06/26/2023] [Indexed: 08/08/2023] Open
Abstract
Trunk-like continuum robots have wide applications in manipulation and locomotion. In particular, trunk-like soft arms exhibit high dexterity and adaptability very similar to the creatures of the natural world. However, owing to the continuum and soft bodies, their performance in payload and spatial movements is limited. In this paper, we investigate the influence of key design parameters on robotic performance. It is verified that a larger workspace, lateral stiffness, payload, and bending moment could be achieved with adjustments to soft materials' hardness, the height of module segments, and arrayed radius of actuators. Especially, a 55% increase in arrayed radius would enhance the lateral stiffness by 25% and a bending moment by 55%. An 80% increase in segment height would enlarge 112% of the elongation range and 70 % of the bending range. Around 200% and 150% increments in the segment's lateral stiffness and payload forces, respectively, could be obtained by tuning the hardness of soft materials. These relations enable the design customization of trunk-like soft arms, in which this tapering structure ensures stability via the stocky base for an impact reduction of 50% compared to that of the tip and ensures dexterity of the long tip for a relatively larger bending range of over 400% compared to that of the base. The complete methodology of the design concept, analytical models, simulation, and experiments is developed to offer comprehensive guidelines for trunk-like soft robotic design and enable high performance in robotic manipulation.
Collapse
Affiliation(s)
- Shaowu Tang
- Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China
- The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Kailuan Tang
- Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
| | - Shijian Wu
- The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Yin Xiao
- The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Sicong Liu
- The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Juan Yi
- Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China
- The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Zheng Wang
- The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| |
Collapse
|
21
|
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.
Collapse
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
| |
Collapse
|
22
|
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.
Collapse
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.)
| |
Collapse
|
23
|
Wang S, Yan P, Huang H, Zhang N, Li B. Inflatable Metamorphic Origami. RESEARCH (WASHINGTON, D.C.) 2023; 6:0133. [PMID: 37228636 PMCID: PMC10204744 DOI: 10.34133/research.0133] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/19/2022] [Accepted: 04/11/2023] [Indexed: 05/27/2023]
Abstract
This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation. The main body of the proposed metamorphic origami unit was designed as a soft inflatable metamorphic origami chamber with multiple sets of contiguous/collinear creases. In response to pneumatic pressure, the metamorphic motions are characterized by an initial unfolding around the first set of contiguous/collinear creases followed by another unfolding around the second set of contiguous/collinear creases. Furthermore, the effectiveness of the proposed approach was verified by constructing a radial deployable metamorphic origami for supporting the deployable planar solar array, a circumferential deployable metamorphic origami for supporting the deployable curved-surface antenna, a multi-fingered deployable metamorphic origami grasper for grasping large-sized objects, and a leaf-shaped deployable metamorphic origami grasper for capturing heavy objects. The proposed novel metamorphic origami is expected to serve as a foundation for designing lightweight, high-deploy/fold-ratio, low-energy-consumption space deployable systems.
Collapse
Affiliation(s)
- Sen Wang
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
| | - Peng Yan
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
| | - Hailin Huang
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,
Harbin Institute of Technology, Shenzhen 518052, P. R. China
| | - Ning Zhang
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
| | - Bing Li
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,
Harbin Institute of Technology, Shenzhen 518052, P. R. China
- State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin 150001, P.R. China
| |
Collapse
|
24
|
Ang BWK, Yeow CH, Lim JH. A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics. SENSORS (BASEL, SWITZERLAND) 2023; 23:3263. [PMID: 36991974 PMCID: PMC10051244 DOI: 10.3390/s23063263] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 01/27/2023] [Revised: 03/06/2023] [Accepted: 03/13/2023] [Indexed: 06/19/2023]
Abstract
In recent years, the advent of soft robotics has changed the landscape of wearable technologies. Soft robots are highly compliant and malleable, thus ensuring safe human-machine interactions. To date, a wide variety of actuation mechanisms have been studied and adopted into a multitude of soft wearables for use in clinical practice, such as assistive devices and rehabilitation modalities. Much research effort has been put into improving their technical performance and establishing the ideal indications for which rigid exoskeletons would play a limited role. However, despite having achieved many feats over the past decade, soft wearable technologies have not been extensively investigated from the perspective of user adoption. Most scholarly reviews of soft wearables have focused on the perspective of service providers such as developers, manufacturers, or clinicians, but few have scrutinized the factors affecting adoption and user experience. Hence, this would pose a good opportunity to gain insight into the current practice of soft robotics from a user's perspective. This review aims to provide a broad overview of the different types of soft wearables and identify the factors that hinder the adoption of soft robotics. In this paper, a systematic literature search using terms such as "soft", "robot", "wearable", and "exoskeleton" was conducted according to PRISMA guidelines to include peer-reviewed publications between 2012 and 2022. The soft robotics were classified according to their actuation mechanisms into motor-driven tendon cables, pneumatics, hydraulics, shape memory alloys, and polyvinyl chloride muscles, and their pros and cons were discussed. The identified factors affecting user adoption include design, availability of materials, durability, modeling and control, artificial intelligence augmentation, standardized evaluation criteria, public perception related to perceived utility, ease of use, and aesthetics. The critical areas for improvement and future research directions to increase adoption of soft wearables have also been highlighted.
Collapse
Affiliation(s)
- Benjamin Wee Keong Ang
- Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore; (B.W.K.A.); (C.-H.Y.)
| | - Chen-Hua Yeow
- Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore; (B.W.K.A.); (C.-H.Y.)
| | - Jeong Hoon Lim
- Department of Medicine, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore
- Division of Rehabilitation Medicine, University Medicine Cluster, National University Hospital, Singapore 119077, Singapore
| |
Collapse
|
25
|
Duan W, Yu Z, Cui W, Zhang Z, Zhang W, Tian Y. Bio-inspired switchable soft adhesion for the boost of adhesive surfaces and robotics applications: A brief review. Adv Colloid Interface Sci 2023; 313:102862. [PMID: 36848868 DOI: 10.1016/j.cis.2023.102862] [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: 10/24/2022] [Revised: 02/10/2023] [Accepted: 02/17/2023] [Indexed: 02/22/2023]
Abstract
In nature, millions of creatures, such as geckos, tree frogs, octopuses, etc., have evolved fantastic switchable adhesion capabilities to climb swiftly on vertical even inverted surfaces or hunt for prey easily, adapting to harsh and unpredictable environments. Notably, these fascinating adhesive behaviors depend on interfacial forces (friction, van der Waals force, capillary force, vacuum suction, etc.), which primarily originate from the interactions between the soft micro/nanostructures evolved in the natural creatures and objects. Over the past few decades, these biological switchable adhesives have inspired scientists to explore and engineer desirable artificial adhesives. In this review, we summarized the state-of-the-art research on the ultra-fast adhesive motion of three types of biological organisms (gecko, tree frog, and octopus). Firstly, the basic adhesion principles in the three representative organisms, including micro/nanostructures, interfacial forces, and fundamental adhesion models, are reviewed. Then, we discussed the adhesion mechanisms of the prominent organisms from the perspective of soft contacts between micro/nanostructures and the substrates. Later, the mechanics-guided design principles of artificial adhesive surfaces, as well as the smart adhesion strategies, are summarized. The applications of these bio-inspired switchable adhesives are demonstrated, including wearable electronic devices, soft grippers, and climbing robots. The challenges and opportunities in this fast-growing field are also discussed.
Collapse
Affiliation(s)
- Weiwang Duan
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
| | - Zhilin Yu
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
| | - Wenhui Cui
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
| | - Zengxin Zhang
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
| | - Wenling Zhang
- School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China.
| | - Yu Tian
- State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China.
| |
Collapse
|
26
|
Zhang D, Xu J, Liu X, Zhang Q, Cong Q, Chen T, Liu C. Advanced Bionic Attachment Equipment Inspired by the Attachment Performance of Aquatic Organisms: A Review. Biomimetics (Basel) 2023; 8:biomimetics8010085. [PMID: 36810416 PMCID: PMC9944885 DOI: 10.3390/biomimetics8010085] [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: 12/27/2022] [Revised: 02/11/2023] [Accepted: 02/13/2023] [Indexed: 02/19/2023] Open
Abstract
In nature, aquatic organisms have evolved various attachment systems, and their attachment ability has become a specific and mysterious survival skill for them. Therefore, it is significant to study and use their unique attachment surfaces and outstanding attachment characteristics for reference and develop new attachment equipment with excellent performance. Based on this, in this review, the unique non-smooth surface morphologies of their suction cups are classified and the key roles of these special surface morphologies in the attachment process are introduced in detail. The recent research on the attachment capacity of aquatic suction cups and other related attachment studies are described. Emphatically, the research progress of advanced bionic attachment equipment and technology in recent years, including attachment robots, flexible grasping manipulators, suction cup accessories, micro-suction cup patches, etc., is summarized. Finally, the existing problems and challenges in the field of biomimetic attachment are analyzed, and the focus and direction of biomimetic attachment research in the future are pointed out.
Collapse
Affiliation(s)
- Dexue Zhang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- Shandong Academy of Agricultural Machinery Sciences, Jinan 250100, China
| | - Jin Xu
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
| | - Xuefeng Liu
- Shandong Academy of Agricultural Machinery Sciences, Jinan 250100, China
- Institute of Modern Agriculture on Yellow River Delta, Shandong Academy of Agricultural Sciences, Dongying 257300, China
| | - Qifeng Zhang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- Shandong Academy of Agricultural Machinery Sciences, Jinan 250100, China
| | - Qian Cong
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
- Correspondence: (Q.C.); (T.C.)
| | - Tingkun Chen
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- Correspondence: (Q.C.); (T.C.)
| | - Chaozong Liu
- Institute of Orthopaedic & Musculoskeletal Science, University College London, London HA7 4LP, UK
| |
Collapse
|
27
|
Zhu J, Chai Z, Yong H, Xu Y, Guo C, Ding H, Wu Z. Bioinspired Multimodal Multipose Hybrid Fingers for Wide-Range Force, Compliant, and Stable Grasping. Soft Robot 2023; 10:30-39. [PMID: 35584255 DOI: 10.1089/soro.2021.0126] [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: 01/25/2023] Open
Abstract
The increasing demand for grasping diverse objects in unstructured environments poses severe challenges to the existing soft/rigid robotic fingers due to the issues in balancing force, compliance, and stability, and hence has given birth to several hybrid designs. These hybrid designs utilize the advantages of rigid and soft structures and show better performance, but they are still suffering from narrow output force range, limited compliance, and rarely reported stability. Owing to its rigid-soft coupling structure with flexible switched multiple poses, human finger, as an excellent hybrid design, shows wide-range output force, excellent compliance, and stability. Inspired by human finger, we propose a hybrid finger with multiple modes and poses, coupled by a soft actuator (SA) and a rigid actuator (RA) in parallel. The multiple actuation modes formed by a pneumatic-based rigid-soft collaborative strategy can selectively enable the RA's high force and SA's softness, whereas the multiple poses derived from the specially designed underactuated RA skeleton can be flexibly switched with tasks, thus achieving high compliance. Such hybrid fingers also proved to be highly stable under external stimuli or gravity. Furthermore, we modularize and configure these fingers into a series of grippers with excellent grasping performance, for example, wide graspable object range (diverse from 0.1 g potato chips to 27 kg dumbbells for a 420 g two-finger gripper), high compliance (tolerate objects with 94% gripper span size and 4 cm offset), and high stability. Our study highlights the potential of fusing rigid-soft technologies for robot development, and potentially impacts future bionics and high-performance robot development.
Collapse
Affiliation(s)
- Jiaqi Zhu
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhiping Chai
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Haochen Yong
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Yi Xu
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Chuanfei Guo
- Department of Materials Science and Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Han Ding
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhigang Wu
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| |
Collapse
|
28
|
Yue Y, Wang Q, Ma Z, Wu Z, Zhang X, Li D, Shi Y, Su B. Neuron-Inspired Soft Robot Teams and Their Non-Contact Electric Signal Transmission Based on Electromagnetic Induction. Soft Robot 2023; 10:66-76. [PMID: 35483053 DOI: 10.1089/soro.2021.0034] [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: 12/13/2022] Open
Abstract
Transmission of electric signal among robots enables them to construct a team to behave beyond capabilities of the individuals. However, such a signal transmission is elusive so far for soft robots due to the employment of soft materials, rather than traditionally rigid electronic units. In this study, we demonstrate neuron-inspired soft robots (NISRs) with an electromagnetic induced signal transmission system. The prototype 15-cm-long NISRs can not only be moved driven by a manually moving magnet but also transmit signals to others in a noncontact type based on the electromagnetic induction through their tentacle units. Owing to the motion and special signal transmission mode, three NISRs can form diverse signal transport pathways to light up light emitting diodes in different positions. Furthermore, an alternative current (AC) signal can be generated when applying an interval loading/unloading compressive force with the velocity of 800 mm·min-1 on the head of NISR integrated a magnet and a coil (named it NISR-plus). Such an AC signal can be immediately sensed by neighboring NISRs, indicating the construction of a signal transmission network among the NISR team. Our results open perspectives to realize signal transmission of soft robots via wireless electromagnetic induction and favor the development of soft robot teams.
Collapse
Affiliation(s)
- Yamei Yue
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China
| | - Qi Wang
- State Key Laboratory of Advanced Electromagnetic Engineering and Technology, School of Electrical and Electronic Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China
| | - Zheng Ma
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China
| | - Zhenhua Wu
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China
| | - Xuan Zhang
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China.,ARC Hub for Computational Particle Technology, Department of Chemical Engineering, Monash University, Clayton, Victoria, Australia
| | - Dong Li
- State Key Laboratory of Advanced Electromagnetic Engineering and Technology, School of Electrical and Electronic Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China
| | - Yusheng Shi
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China
| | - Bin Su
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China
| |
Collapse
|
29
|
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.
Collapse
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
| |
Collapse
|
30
|
Sandoval JA, Ishida M, Jadhav S, Huen S, Tolley MT. Tuning the Morphology of Suction Discs to Enable Directional Adhesion for Locomotion in Wet Environments. Soft Robot 2022; 9:1083-1097. [PMID: 35285735 DOI: 10.1089/soro.2021.0096] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023] Open
Abstract
Reversible adhesion provides robotic systems with unique capabilities, including wall climbing and walking underwater, and yet the control of adhesion continues to pose a challenge. Directional adhesives have begun to address this limitation by providing adhesion when loaded in one direction and releasing easily when loaded in the opposite direction. However, previous work has focused on directional adhesives for dry environments. In this work, we sought to address this need for directional adhesives for use in a wet environment by tuning the morphology of suction discs to achieve anisotropic adhesion. We developed a suction disc that exhibited significant directional preference in attachment and detachment without requiring active control. The suction discs exhibited morphological computation-that is, they were programmed based on their geometry and material properties to detach under specific angles of loading. We investigated two design parameters-disc symmetry and slits within the disc margin-as mechanisms to yield anisotropic adhesion, and through experimental characterizations, we determined that an asymmetric suction disc most consistently provided directional adhesion. We performed a parametric sweep of material stiffness to optimize for directional adhesion and found that the material composition of the suction disc demonstrated the ability to override the effect of body asymmetry on achieving anisotropic adhesion. We modeled the stress distributions within the different suction disc symmetries using finite element analysis, yielding insights into the differences in contact pressures between the variants. We experimentally demonstrated the utility of the suction discs in a simulated walking gait using linear actuators as one potential application of the directional suction disc.
Collapse
Affiliation(s)
- Jessica A Sandoval
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Michael Ishida
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Saurabh Jadhav
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Sidney Huen
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Michael T Tolley
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| |
Collapse
|
31
|
Hwang GW, Lee HJ, Kim DW, Yang T, Pang C. Soft Microdenticles on Artificial Octopus Sucker Enable Extraordinary Adaptability and Wet Adhesion on Diverse Nonflat Surfaces. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2202978. [PMID: 35975453 PMCID: PMC9631055 DOI: 10.1002/advs.202202978] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/20/2022] [Revised: 06/24/2022] [Indexed: 06/15/2023]
Abstract
Bioinspired soft devices, which possess high adaptability to targeted objects, provide promising solutions for a variety of industrial and medical applications. However, achieving stable and switchable attachment to objects with curved, rough, and irregular surfaces remains difficult, particularly in dry and underwater environments. Here, a highly adaptive soft microstructured switchable adhesion device is presented, which is inspired by the geometric and material characteristics of the tiny denticles on the surface of an octopus sucker. The contact interface of the artificial octopus sucker (AOS) is imprinted with soft, microscale denticles that interact adaptably with highly rough or curved surfaces. Robust and controllable attachment of the AOS with soft microdenticles (AOS-sm) to dry and wet surfaces with diverse morphologies is achieved, allowing conformal attachment on curved and soft objects with high roughness. In addition, AOS-sms assembled with an octopus-arm-inspired soft actuator demonstrate reliable grasping and the transport of complex polyhedrons, rough objects, and soft, delicate, slippery biological samples.
Collapse
Affiliation(s)
- Gui Won Hwang
- School of Chemical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
| | - Heon Joon Lee
- School of Chemical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
| | - Da Wan Kim
- School of Chemical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
- School of Electronic and Electrical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
| | - Tae‐Heon Yang
- Department of Electronic EngineeringKorea National University of TransportationChungju‐siChungbuk27469Republic of Korea
| | - Changhyun Pang
- School of Chemical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
- Samsung Advanced Institute for Health Sciences and Technology (SAIHST)Sungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
| |
Collapse
|
32
|
Zhen R, Jiang L, Li H, Yang B. Modular Bioinspired Hand with Multijoint Rigid-Soft Finger Possessing Proprioception. Soft Robot 2022; 10:380-394. [PMID: 36318821 DOI: 10.1089/soro.2021.0197] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022] Open
Abstract
Soft robot hands have the advantage of remarkable adaptability for grasping. Especially for the soft and fragile objects, soft fingers had presented their much excellent potential compared with their rigid counterparts. However, less degree of freedom, lower force output, lack of proprioception, and poor controllability still limit the application. Inspired by the anatomical structure of the human hand and following the idea of combining soft joints, rigid skeletons and embedded soft curvature sensors, modular dexterous hands composed of multijoint fingers are proposed in this study. Each finger has three quasi-joints, in which metacarpophalangeal soft-joint can realize adduction/abduction and bending motions, and distal two interphalangeal soft-joints are actuated by one actuator. Similar to human hand, soft-joint so-called quasi-joint has a short length of constant curvature segment. The integrated Indium Gallium Alloy sensors with Kelvin Bridge for proprioception can accurately detect joint angles, while closed-loop control based on proprioception was accomplished. Kinematics and statics modeling method of the rigid-soft finger is proposed. To further verify the performance of this design, prototypes of three-fingered and five-fingered hands are developed. The multifingered hands had demonstrated their capability of adaptive grasp and dexterous manipulation, while the force output of the three-fingered hand is up to 31.82 N, and 32 grasp types had accomplished by the five-fingered hand.
Collapse
Affiliation(s)
- Ruichen Zhen
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Li Jiang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Hexin Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Bangchu Yang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| |
Collapse
|
33
|
Shan Y, Zhao Y, Pei C, Yu H, Liu P. A novel design of a passive variable stiffness soft robotic gripper. BIOINSPIRATION & BIOMIMETICS 2022; 17:066014. [PMID: 36174553 DOI: 10.1088/1748-3190/ac965a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/29/2022] [Accepted: 09/29/2022] [Indexed: 06/16/2023]
Abstract
Inspired by the twisting and hanging phenomenon of vines, this paper proposes and designs a passive variable stiffness soft robotic gripper to grasp an object in a simple and robust manner using the principle of jamming. This method has the characteristics of high reliability and good stability, which can achieve soft grasping and rigid load-bearing of the object. Firstly, according to two key issues, the design model of the gripper is proposed, the principle of the proposed gripper is analyzed, and the relationship between the stiffness of the gripper and the stiffness of the object is revealed. Secondly, the model of the robotic gripper is created using a conventional motor drive method, and the grasping process and deformation causes of the gripper are analyzed by using the principle of instability effect and large deformation principle. Finally, the experimental prototype is developed and the feasibility of the design principle and the grasping deformation process of the gripper are verified by gripping experiments.
Collapse
Affiliation(s)
- Yu Shan
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
- School of Computing, Engineering and the Built Environment, Edinburgh Napier University, 10 Colinton Road, Edinburgh EH10 5DT, United Kingdom
| | - Yanzhi Zhao
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Changlei Pei
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Hongnian Yu
- School of Computing, Engineering and the Built Environment, Edinburgh Napier University, 10 Colinton Road, Edinburgh EH10 5DT, United Kingdom
- School of Electrical Engineering, Zhengzhou University, Zhengzhou, People's Republic of China
| | - Pengcheng Liu
- Department of Computer Science, University of York, Deramore Lane, York YO10 5GH, United Kingdom
| |
Collapse
|
34
|
Abstract
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception and motion planning. Here, we circumvent the need for feedback or precise planning by using an array of fluidically actuated slender hollow elastomeric filaments to actively entangle with objects that vary in geometric and topological complexity. The resulting stochastic interactions enable a unique soft and conformable grasping strategy across a range of target objects that vary in size, weight, and shape. We experimentally evaluate the grasping performance of our strategy and use a computational framework for the collective mechanics of flexible filaments in contact with complex objects to explain our findings. Overall, our study highlights how active collective entanglement of a filament array via an uncontrolled, spatially distributed scheme provides options for soft, adaptable grasping.
Collapse
|
35
|
Liu W, Duo Y, Liu J, Yuan F, Li L, Li L, Wang G, Chen B, Wang S, Yang H, Liu Y, Mo Y, Wang Y, Fang B, Sun F, Ding X, Zhang C, Wen L. Touchless interactive teaching of soft robots through flexible bimodal sensory interfaces. Nat Commun 2022; 13:5030. [PMID: 36028481 PMCID: PMC9412806 DOI: 10.1038/s41467-022-32702-5] [Citation(s) in RCA: 34] [Impact Index Per Article: 17.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2022] [Accepted: 08/12/2022] [Indexed: 11/09/2022] Open
Abstract
In this paper, we propose a multimodal flexible sensory interface for interactively teaching soft robots to perform skilled locomotion using bare human hands. First, we develop a flexible bimodal smart skin (FBSS) based on triboelectric nanogenerator and liquid metal sensing that can perform simultaneous tactile and touchless sensing and distinguish these two modes in real time. With the FBSS, soft robots can react on their own to tactile and touchless stimuli. We then propose a distance control method that enabled humans to teach soft robots movements via bare hand-eye coordination. The results showed that participants can effectively teach a self-reacting soft continuum manipulator complex motions in three-dimensional space through a "shifting sensors and teaching" method within just a few minutes. The soft manipulator can repeat the human-taught motions and replay them at different speeds. Finally, we demonstrate that humans can easily teach the soft manipulator to complete specific tasks such as completing a pen-and-paper maze, taking a throat swab, and crossing a barrier to grasp an object. We envision that this user-friendly, non-programmable teaching method based on flexible multimodal sensory interfaces could broadly expand the domains in which humans interact with and utilize soft robots.
Collapse
Affiliation(s)
- Wenbo Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Youning Duo
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Jiaqi Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Feiyang Yuan
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Lei Li
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Luchen Li
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Gang Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Bohan Chen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Siqi Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Hui Yang
- Institute of Semiconductors, Guangdong Academy of Sciences, Guangdong, 510075, China
| | - Yuchen Liu
- School of General Engineering, Beihang University, Beijing, 100191, China
| | - Yanru Mo
- School of General Engineering, Beihang University, Beijing, 100191, China
| | - Yun Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Bin Fang
- Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, China
| | - Fuchun Sun
- Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, China
| | - Xilun Ding
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Chi Zhang
- CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-Nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing, 101400, China.,School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China.
| |
Collapse
|
36
|
Liu Z, Xu L, Liang X, Liu J. Design of Under-Actuated Soft Adhesion Actuators for Climbing Robots. SENSORS (BASEL, SWITZERLAND) 2022; 22:5639. [PMID: 35957196 PMCID: PMC9371047 DOI: 10.3390/s22155639] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/07/2022] [Revised: 07/08/2022] [Accepted: 07/26/2022] [Indexed: 06/15/2023]
Abstract
Since climbing robots mainly rely on adhesion actuators to achieve adhesion, robust adhesion actuators have always been the challenge of climbing robot design. A novel under-actuated soft adhesion actuator (USAA) proposed in this paper for climbing robots can generate adhesion through robot's load applied to the actuator. The actuator is composed of a soft film/substrate structure with an annular groove on the substrate and a cavity on the soft film. To fabricate the actuator, we first study the influence of the geometric parameters of the USAA on the maximum adhesion of the actuator by analysis and experiments, and then combine these parameters and the boundary conditions of the static meniscus in the mold to design the mold. Moreover, we fabricate a climbing robot equipped with USAAs and evaluate its performance on horizontal and inclined surfaces with a wide range of characteristics. The USAA can generate strong and controllable adhesion to various smooth and semi-smooth surfaces. Furthermore, the fabricated robot performs well on various surfaces under a certain load (at least 500 g) and speed (369 mm/min) through experiments. It's adaptability to a variety of surfaces enables a wide range of applications and pushes the boundaries of soft adhesion actuators.
Collapse
Affiliation(s)
- Zhipeng Liu
- Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China;
- University of Science and Technology of China, Hefei 230026, China;
| | - Linsen Xu
- College of Mechanical and Electrical Engineering, Hohai University, Nanjing 210098, China
- Suzhou Research Institute, Hohai University, Nanjing 210098, China
| | - Xingcan Liang
- University of Science and Technology of China, Hefei 230026, China;
| | - Jinfu Liu
- Changzhou Vocationnal Institute of Industry Technology, Changzhou 213018, China;
| |
Collapse
|
37
|
Palecek AM, Schoenfuss HL, Blob RW. Sucker Shapes, Skeletons and Bioinspiration: How Hard and Soft Tissue Morphology Generates Adhesive Performance in Waterfall Climbing Goby Fishes. Integr Comp Biol 2022; 62:934-944. [PMID: 35767861 DOI: 10.1093/icb/icac094] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/25/2022] [Revised: 06/12/2022] [Accepted: 06/27/2022] [Indexed: 11/14/2022] Open
Abstract
Many teleost fishes, such as gobies, have fused their paired pelvic fins into an adhesive disc. Gobies can use their pelvic suckers to generate passive adhesive forces (as in engineered suction cups) and different species exhibit a range of adhesive performance, with some even able to climb waterfalls. Previous studies have documented that, in the Hawaiian Islands, species capable of climbing higher waterfalls produce the highest passive pull-off forces, and species found at higher elevation sites are likely to have more rounded suction discs than those found in the lowest stream segments. Morphology of the pelvic girdle also varies between species, with more robust skeletons in taxa with superior passive adhesion. To investigate what factors impact the passive adhesive performance of waterfall climbing gobies, we tested biomimetic suction cups designed with a range of shapes and embedded bioinspired "skeletons" based on micro-CT scans of goby pelvic girdles. We found that while the presence of an internal skeleton may provide some support against failure, the performance of suction cups may be more strongly affected by their external shape. Nonetheless, factors besides external shape and skeletal morphology may still have a stronger influence on sucker tenacity. Our results suggest that the relationship between suction disc morphology and adhesive performance may be influenced by a variety of physical factors, and live animal performance likely is further complicated by muscle activation and climbing behavior. These results have implications for the evolution of suction disc shape in adhesive fishes and for improving the design of biomimetic suction cups.
Collapse
Affiliation(s)
- A M Palecek
- Department of Biological Sciences, Clemson University, Clemson, SC 29634, USA
| | - H L Schoenfuss
- Aquatic Toxicology Laboratory, Saint Cloud State University, Saint Cloud, MN 56301, USA
| | - R W Blob
- Department of Biological Sciences, Clemson University, Clemson, SC 29634, USA
| |
Collapse
|
38
|
Exceptional soft-tissue preservation of Jurassic Vampyronassa rhodanica provides new insights on the evolution and palaeoecology of vampyroteuthids. Sci Rep 2022; 12:8292. [PMID: 35739131 PMCID: PMC9225997 DOI: 10.1038/s41598-022-12269-3] [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: 02/02/2022] [Accepted: 04/26/2022] [Indexed: 11/27/2022] Open
Abstract
Although soft tissues of coleoid cephalopods record key evolutionary adaptations, they are rarely preserved in the fossil record. This prevents meaningful comparative analyses between extant and fossil forms, as well as the development of a relative timescale for morphological innovations. However, unique 3-D soft tissue preservation of Vampyronassa rhodanica (Vampyromorpha) from the Jurassic Lagerstätte of La Voulte-sur-Rhône (Ardèche, France) provides unparalleled opportunities for the observation of these tissues in the oldest likely relative of extant Vampyroteuthis infernalis. Synchrotron X-ray microtomography and reconstruction of V. rhodanica allowed, for the first time, a high-resolution re-examination of external and internal morphology, and comparison with other fossil and extant species, including V. infernalis. The new data obtained demonstrate that some key V. infernalis characters, such as its unique type of sucker attachment, were already present in Jurassic taxa. Nonetheless, compared with the extant form, which is considered to be an opportunistic detritivore and zooplanktivore, many characters in V. rhodanica indicate a pelagic predatory lifestyle. The contrast in trophic niches between the two taxa is consistent with the hypothesis that these forms diversified in continental shelf environments prior to the appearance of adaptations in the Oligocene leading to their modern deep-sea mode of life.
Collapse
|
39
|
A novel soft-rigid wheeled crawling robot with high payload and passing capability. ROBOTICA 2022. [DOI: 10.1017/s0263574722000686] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
Abstract
Soft crawling robots have been significantly studied in recent decades. However, moving in amphibious environment, high payload capability, and passing through complex ground have always been challenges for soft crawling robots. For these problems, this article presents an amphibious soft-rigid wheeled crawling robot (SRWCR) consists of a soft-rigid body actuated by two soft pneumatic actuators (SPAs), four wheels, and four annular soft bladders (ASBs) as brakes. By programming the actuation sequences of the two SPAs and four ASBs, SRWCR can achieve two basic modes of locomotion: linear motion and turning. Based on the energy conservation law, we have developed analytical models to interpret the static actuation performance of SPA, including linear and bending deformations. Furthermore, with the help of fast response and waterproof of SPA and ASB, SRWCR can achieve a linear speed of 14.97 mm/s, a turning speed of 5.63°/s, and an underwater locomotion speed of 13 mm/s, which demonstrates the excellent locomotion performance of SRWCR in amphibious environment. In addition, SRWCR can also achieve multiple impressive functions, including carrying a payload of 2 kg at the moving speed of 11.18 mm/s, passing through various complex ground such as the grass ground and sand ground, and so on, obstacle navigation in confined space. Compared with the existing soft crawling robots, with the help of the soft-rigid body and wheeled structure, SRWCR has the best payload and passing capability, which indicates the potential advantage of SRWCR in the design of functional robots.
Collapse
|
40
|
Abstract
This paper is based on the “Fast Pneumatic Mesh Driver” (FPN) used to couple a silicone rubber soft body with a rigid skeleton. A rigid-flexible coupling soft-body human-like finger design scheme is proposed to solve the problem of low load on the soft-body gripping hand. The second-order Yeoh model is used to establish the statics model of the soft humanoid finger, and the ABAQUS simulation analysis software is used for correction and comparison to verify the feasibility of the soft humanoid finger bending. The thickness of the driver cavity and the confining strain layer were determined by finite element simulation. The mold casting process is used to complete the preparation of human-like fingers and design a pneumatic control system for experiments combined with 3D printing technology. The experimental results show that the proposed rigid-flexible coupling soft body imitating the human finger structure can realize the corresponding actions, such as the multi-joint bending and side swinging, of human fingers. Compared with the traditional pure soft-body finger, the fingertip output force is significantly improved. The optimal design and simulation analysis of the human gripper and the feasibility of the application have practical guiding significance.
Collapse
|
41
|
Design and locomotion analysis of modular soft robot. ROBOTICA 2022. [DOI: 10.1017/s0263574722000728] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
Abstract
In the paper, a novel modular soft robot that can crawl and turn is presented. The modular soft robot is composed of multiple drive modules connected in series, including one head module, one tail module and three body modules. Each module is actuated by the air chamber. Due to the nonlinear performance of the air chamber, the strain energy function of the air chamber is established. The relationship between the displacement of the air chamber expansion wall and the inflation pressure is obtained, and the manufacturing parameters of the air chamber are determined. By dividing the body of the robot into a series of continuous flexible models, the driving force and the friction force of the robot in locomotion are analyzed. An inflation and deflation control method is presented to complete the locomotion. According to the experiment, the crawling speed of the robot can reach 15.53 mm/s (0.03 body length per second). The turning speed of the robot can reach 1.273 °/s. The robot can crawl and turn on the rough blanket surface effectively. The robot can explore and move in a complex and changeable environment.
Collapse
|
42
|
Wu M, Zheng X, Liu R, Hou N, Afridi WH, Afridi RH, Guo X, Wu J, Wang C, Xie G. Glowing Sucker Octopus (Stauroteuthis syrtensis)-Inspired Soft Robotic Gripper for Underwater Self-Adaptive Grasping and Sensing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2104382. [PMID: 35388640 PMCID: PMC9189663 DOI: 10.1002/advs.202104382] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/02/2021] [Revised: 02/07/2022] [Indexed: 05/21/2023]
Abstract
A soft gripper inspired by the glowing sucker octopus (Stauroteuthis syrtensis)' highly evolved grasping capability enabled by the umbrella-shaped dorsal and ventral membrane between each arm is presented here, comprising of a 3D-printed linkage mechanism used to actuate a modular mold silicone-casting soft suction disc to deform. The soft gripper grasp can lift objects using the suction generated by the pump in the soft disc. Moreover, the protruded funnel-shaped end of the deformed suctorial mouth can adapt to smooth and rough surfaces. Furthermore, when the gripper contacts the submerged target objects in a turbid environment, local suctorial mouth arrays on the suction disc are locked, causing the variable flow inside them, which can be detected as a tactile perception signal to the target objects instead of visual perception. Aided by the 3D-printed linkage mechanism, the soft gripper can grasp objects of different shapes and dimensions, including flat objects, objects beyond the grasping range, irregular objects, scattered objects, and a moving turtle. The results report the soft gripper's versatility and demonstrate the vast application potentials of self-adaptive grasping and sensing in various environments, including but are not limited to underwater, which is always a key challenge of grasping technology.
Collapse
Affiliation(s)
- Mingxin Wu
- State Key Laboratory for Turbulence and Complex SystemsCollege of EngineeringIntelligent Biomimetic Design LabPeking UniversityBeijing100871P. R. China
| | - Xingwen Zheng
- State Key Laboratory for Turbulence and Complex SystemsCollege of EngineeringIntelligent Biomimetic Design LabPeking UniversityBeijing100871P. R. China
- Advanced Production Engineering, Engineering and Technology Institute GroningenFaculty of Science and EngineeringUniversity of GroningenGroningen9747AGThe Netherlands
| | - Ruosi Liu
- State Key Laboratory for Turbulence and Complex SystemsCollege of EngineeringIntelligent Biomimetic Design LabPeking UniversityBeijing100871P. R. China
| | - Ningzhe Hou
- Department of BioengineeringImperial College LondonSouth KensingtonLondonSW7 2AZUK
| | - Waqar Hussain Afridi
- State Key Laboratory for Turbulence and Complex SystemsCollege of EngineeringIntelligent Biomimetic Design LabPeking UniversityBeijing100871P. R. China
| | - Rahdar Hussain Afridi
- State Key Laboratory for Turbulence and Complex SystemsCollege of EngineeringIntelligent Biomimetic Design LabPeking UniversityBeijing100871P. R. China
| | - Xin Guo
- State Key Laboratory for Turbulence and Complex SystemsCollege of EngineeringIntelligent Biomimetic Design LabPeking UniversityBeijing100871P. R. China
| | - Jianing Wu
- School of Aeronautics and AstronauticsSun Yat‐Sen UniversityGuangzhou510006P. R. China
| | - Chen Wang
- State Key Laboratory for Turbulence and Complex SystemsCollege of EngineeringIntelligent Biomimetic Design LabPeking UniversityBeijing100871P. R. China
| | - Guangming Xie
- State Key Laboratory for Turbulence and Complex SystemsCollege of EngineeringIntelligent Biomimetic Design LabPeking UniversityBeijing100871P. R. China
- Peng Cheng LaboratoryShenzhen518055China
- Institute of Ocean ResearchPeking UniversityBeijing100871China
- Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou)Guangzhou511458P. R. China
| |
Collapse
|
43
|
Deformation Modeling and Simulation of a Novel Bionic Software Robotics Gripping Terminal Driven by Negative Pressure Based on Classical Differential Algorithm. COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE 2022; 2022:2207906. [PMID: 35571716 PMCID: PMC9106473 DOI: 10.1155/2022/2207906] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/12/2022] [Revised: 03/22/2022] [Accepted: 04/11/2022] [Indexed: 11/17/2022]
Abstract
A general pneumatic soft gripper is proposed in this paper. Combined with the torque balance theory, the mathematical theoretical model of bending deformation of soft gripper is established based on Yeoh constitutive model and classical differential geometry. Assuming that the pressure in each inner cavity is evenly distributed, the input gas is in an ideal state, which is approximately treated as an isothermal condition, and all orifices experience blocked flow. In addition, compared with the mechanical work of gas, the energy related to gas flow and heat transfer is negligible. The nonlinear mechanical properties of silicone rubber are studied. It is regarded as isotropic and incompressible material, which is characterized by strain energy per unit volume. The material constant coefficients C10 and C20 are determined through the uniaxial tensile test, and the software gripper is simulated on the ABAQUS platform. The bending deformation models of grippers with three different force-bearing cavity structures are analyzed and compared, and the software clamping structure with the bending deformation most in line with the application conditions is selected. The limit input air pressure of the gripper and the situation of enveloping the clamping target object are analyzed. Through the bending deformation experiment, the maximum deformation angle is 72.4°. The relative error between the simulation analysis data and the prediction results of the mathematical model is no more than 3.5%, which verifies the effectiveness of the simulation and the correctness of the mathematical theoretical model of bending deformation. The soft manipulator proposed in this paper has good adaptability to grasping objects of different shapes and sizes. The minimum diameter of the target object that can be clamped is 0.1 mm. It can clamp the object weighing up to 1 kg. It has compact size, light weight, high ductility, and flexibility.
Collapse
|
44
|
Wu Q, Wu Y, Yang X, Zhang B, Wang J, Chepinskiy SA, Zhilenkov AA. Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus. Front Robot AI 2022; 9:815435. [PMID: 35516788 PMCID: PMC9065362 DOI: 10.3389/frobt.2022.815435] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/15/2021] [Accepted: 03/24/2022] [Indexed: 11/13/2022] Open
Abstract
The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus's tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus's tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.
Collapse
Affiliation(s)
- Qiuxuan Wu
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, China
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, Saint Petersburg, Russia
| | - Yan Wu
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, China
| | - Xiaochen Yang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, China
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China
| | - Botao Zhang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, China
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China
| | - Jian Wang
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China
- Faculty of Control Systems and Robotics, ITMO University, Saint Petersburg, Russia
| | - Sergey A Chepinskiy
- Faculty of Control Systems and Robotics, ITMO University, Saint Petersburg, Russia
| | - Anton A Zhilenkov
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, Saint Petersburg, Russia
| |
Collapse
|
45
|
Janghorban A, Dehghani R. Design and Motion Analysis of a Bio-Inspired Soft Robotic Finger Based on Multi-Sectional Soft Reinforced Actuator. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01579-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
|
46
|
Liu CH, Chen LJ, Chi JC, Wu JY. Topology Optimization Design and Experiment of a Soft Pneumatic Bending Actuator for Grasping Applications. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3142910] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
|
47
|
Xu H, Yang F, Zhang Y, Jiang X, Wen L. A Biomimetic Suction Cup With a V-Notch Structure Inspired by the Net-Winged Midge Larvae. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3146936] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|
48
|
Wang Y, Sun G, He Y, Zhou K, Zhu L. Octopus-inspired sucker to absorb soft tissues: stiffness gradient and acetabular protuberance improve the adsorption effect. BIOINSPIRATION & BIOMIMETICS 2022; 17:036005. [PMID: 35235920 DOI: 10.1088/1748-3190/ac59c6] [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: 10/22/2021] [Accepted: 03/02/2022] [Indexed: 06/14/2023]
Abstract
Rigid suckers commonly used in surgical procedures often cause absorption damage, while their soft counterparts are difficult to handle due to their weak anchoring. Alternatively, the octopus sucker is both soft and has strong suction power. Further observation revealed that its structure is self-sealing and that the tissues are layered in hardness. Inspired by said structure and the characteristics of associated materials, a bionic soft sucker with stiffness gradient and acetabular roof structure was proposed, made of silicone with varying hardness including structures such as acetabular roof and circle muscles. The automatic tensile force measurement system was used to experimentally analyze the adsorption performance of the suckers to the soft curved contact surface. Both dry and wet conditions were tested, along with practical tests on organisms. The bionic sucker adsorption force was increased by 25.1% and 34.6% on the cylindrical surface, and 45.2% and 7.3% on the spherical surface for dry and wet conditions, respectively. During the experiment, the bionic suckers did not cause notable suction damage to the contact surfaces. Thus, this type of bionic sucker shows good application prospects in the field of surgery.
Collapse
Affiliation(s)
- Yi Wang
- Beijing Engineering Research Center of Optoelectronic Information and Instruments, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
- Bionic and Intelligent Equipment Lab, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
| | - Guangkai Sun
- Beijing Engineering Research Center of Optoelectronic Information and Instruments, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
- Bionic and Intelligent Equipment Lab, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
| | - Yanlin He
- Beijing Engineering Research Center of Optoelectronic Information and Instruments, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
- Bionic and Intelligent Equipment Lab, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
| | - Kangpeng Zhou
- Beijing Engineering Research Center of Optoelectronic Information and Instruments, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
- Bionic and Intelligent Equipment Lab, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
| | - Lianqing Zhu
- Beijing Engineering Research Center of Optoelectronic Information and Instruments, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
- Bionic and Intelligent Equipment Lab, Beijing Information Science and Technology University, Beijing 100192, People's Republic of China
| |
Collapse
|
49
|
Chen C, Sun J, Wang L, Chen G, Xu M, Ni J, Ramli R, Su S, Chu C. Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure. MATERIALS 2022; 15:ma15041358. [PMID: 35207917 PMCID: PMC8876985 DOI: 10.3390/ma15041358] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/07/2022] [Revised: 02/07/2022] [Accepted: 02/11/2022] [Indexed: 11/16/2022]
Abstract
This paper presents a rigid-flexible composite of bionic hand structure design scheme solution for solving the problem of low load on the soft gripping hand. The bionic hand was designed based on the Fast Pneumatic Network (FPN) approach, which can produce a soft finger bending drive mechanism. A soft finger bending driver was developed and assembled into a human-like soft gripping hand which includes a thumb for omnidirectional movement and four modular soft fingers. An experimental comparison of silicone rubber materials with different properties was conducted to determine suitable materials. The combination of 3D printing technology and mold pouring technology was adopted to complete the prototype preparation of the bionic hand. Based on the second-order Yeoh model, a soft bionic finger mathematical model was established, and ABAQUS simulation analysis software was used for correction to verify the feasibility of the soft finger bending. We adopted a pneumatic control scheme based on a motor micro-pump and developed a human–computer interface through LabView. A comparative experiment was carried out on the bending performance of the finger, and the experimental data were analyzed to verify the accuracy of the mathematical model and simulation. In this study, the control system was designed, and the human-like finger gesture and grasping experiments were carried out.
Collapse
Affiliation(s)
- Chang Chen
- School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; (L.W.); (G.C.); (M.X.); (J.N.); (S.S.); (C.C.)
- Correspondence: (C.C.); (J.S.); Tel.: +86-0571-86919050 (C.C.); +86-17326068840 (J.S.)
| | - Jiteng Sun
- School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; (L.W.); (G.C.); (M.X.); (J.N.); (S.S.); (C.C.)
- Correspondence: (C.C.); (J.S.); Tel.: +86-0571-86919050 (C.C.); +86-17326068840 (J.S.)
| | - Long Wang
- School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; (L.W.); (G.C.); (M.X.); (J.N.); (S.S.); (C.C.)
| | - Guojin Chen
- School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; (L.W.); (G.C.); (M.X.); (J.N.); (S.S.); (C.C.)
| | - Ming Xu
- School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; (L.W.); (G.C.); (M.X.); (J.N.); (S.S.); (C.C.)
| | - Jing Ni
- School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; (L.W.); (G.C.); (M.X.); (J.N.); (S.S.); (C.C.)
| | - Rizauddin Ramli
- Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, University Kebangsaan Malaysia, Bangi 43600, Malaysia;
| | - Shaohui Su
- School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; (L.W.); (G.C.); (M.X.); (J.N.); (S.S.); (C.C.)
| | - Changyong Chu
- School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; (L.W.); (G.C.); (M.X.); (J.N.); (S.S.); (C.C.)
| |
Collapse
|
50
|
Influence of the Dynamic Effects and Grasping Location on the Performance of an Adaptive Vacuum Gripper. ACTUATORS 2022. [DOI: 10.3390/act11020055] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
A rigid in-plane matrix of suction cups is widely used in robotic end-effectors to grasp objects with flat surfaces. However, this grasping strategy fails with objects having different geometry e.g., spherical and cylindrical. Articulated rigid grippers equipped with suction cups are an underinvestigated solution to extend the ability of vacuum grippers to grasp heavy objects with various shapes. This paper extends previous work by the authors in the development of a novel underactuated vacuum gripper named Polypus by analyzing the impact of dynamic effects and grasping location on the vacuum force required during a manipulation cycle. An articulated gripper with suction cups, such as Polypus, can grasp objects by adhering to two adjacent faces, resulting in a decrease of the required suction action. Moreover, in the case of irregular objects, many possible grasping locations exist. The model explained in this work contributes to the choice of the most convenient grasping location that ensures the minimum vacuum force required to manipulate the object. Results obtained from an extensive set of simulations are included to support the validity of the proposed analytical approach.
Collapse
|