Untethered Soft Robots with Bioinspired Bone-and-Flesh Constructs for Fast Deterministic Actuation

2019 20th International Conference on Solid-State Sensors, Actuators and Microsystems & Eurosensors XXXIII (TRANSDUCERS & EUROSENSORS XXXIII) Pub Date : 2019-06-23 DOI:10.1109/TRANSDUCERS.2019.8808680

Renxiao Xu, Fanping Sui, Gaurav Jalan, Pinghsun Lee, Liangjie Ren, M. Sanghadasa, Liwei Lin

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引用次数: 1

Abstract

We present a new class of soft robots inspired by the bone-and-flesh construct in human body for fast, deterministic actuation. Two distinctive advancements have been achieved: (1) untethered robots with external magnetic power, boasting high normalized power density of ~2*10-2/s (40-6,000,000× higher than most reports); (2) ultrafast and deterministic-shape actuation in ~0.1 seconds (100x faster than the state-of-the-art). Inspired by the natural human architecture, our soft robots with different elastomer ("flesh") structures and magnet ("bone") placements can complete various tasks quickly and precisely (e.g., planar contraction, out-of-plane gesture transitions, breaking lock-in states, and manipulating small objects). We envision that our design and operation principles can be potentially extended to even more complex applications.

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无系绳软机器人与生物启发的骨和肉结构的快速确定性驱动

我们提出了一种新型的软体机器人，灵感来自于人体的骨和肉结构，用于快速，确定的驱动。取得了两项显著进展:(1)具有外磁动力的无系机器人，具有高归一化功率密度~2*10-2/s(比大多数报道高40-6,000,000倍);(2)在0.1秒内实现超快速和确定形状的驱动(比目前最先进的速度快100倍)。受自然人类建筑的启发，我们的软体机器人具有不同的弹性体(“肉”)结构和磁铁(“骨头”)位置，可以快速准确地完成各种任务(例如，平面收缩，平面外手势转换，打破锁定状态，操纵小物体)。我们设想我们的设计和操作原则可以潜在地扩展到更复杂的应用程序中。

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来源期刊

2019 20th International Conference on Solid-State Sensors, Actuators and Microsystems & Eurosensors XXXIII (TRANSDUCERS & EUROSENSORS XXXIII)

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