Soft Robotics最新文献_第10页

Kirigami-Inspired 3D Printable Soft Pneumatic Actuators with Multiple Deformation Modes for Soft Robotic Applications. Kirigami启发的3D可打印软气动执行器，具有多种变形模式，适用于软机器人应用。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 Epub Date: 2023-02-23 DOI: 10.1089/soro.2021.0199

Jin Guo, Zeyu Li, Jin-Huat Low, Qianqian Han, Chao-Yu Chen, Jun Liu, Zhuangjian Liu, Chen-Hua Yeow

{"title":"Kirigami-Inspired 3D Printable Soft Pneumatic Actuators with Multiple Deformation Modes for Soft Robotic Applications.","authors":"Jin Guo, Zeyu Li, Jin-Huat Low, Qianqian Han, Chao-Yu Chen, Jun Liu, Zhuangjian Liu, Chen-Hua Yeow","doi":"10.1089/soro.2021.0199","DOIUrl":"10.1089/soro.2021.0199","url":null,"abstract":"Soft robots have received much attention due to their impressive capabilities including high flexibility and inherent safety features for humans or unstructured environments compared with hard-bodied robots. Soft actuators are the crucial components of soft robotic systems. Soft robots require dexterous soft actuators to provide the desired deformation for different soft robotic applications. Most of the existing soft actuators have only one or two deformation modes. In this article, a new soft pneumatic actuator (SPA) is proposed taking inspiration from Kirigami. Kirigami-inspired cuts are applied to the actuator design, which enables the SPA to be equipped with multiple deformation modes. The proposed Kirigami-inspired soft pneumatic actuator (KiriSPA) is capable of producing bending motion, stretching motion, contraction motion, combined motion of bending and stretching, and combined motion of bending and contraction. The KiriSPA can be directly manufactured using 3D printers based on the fused deposition modeling technology. Finite element method is used to analyze and predict the deformation modes of the KiriSPA. We also investigated the step response, creep, hysteresis, actuation speed, stroke, workspace, stiffness, power density, and blocked force of the KiriSPA. Moreover, we demonstrated that KiriSPAs can be combined to expand the capabilities of various soft robotic systems including the soft robotic gripper for delicate object manipulation, the soft planar robotic manipulator for picking objects in the confined environment, the quadrupedal soft crawling robot, and the soft robot with the flipping locomotion.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"737-748"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9971923","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Electroactive Thermo-Pneumatic Soft Actuator with Self-Healing Features: A Critical Evaluation. 具有自愈功能的电活性热气动软执行器:一个关键的评估。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0170

Felipe Orozco, Diana Horvat, Matteo Miola, Ignacio Moreno-Villoslada, Francesco Picchioni, Ranjita K Bose

引用次数: 2

Power Autonomy and Agility Control of an Untethered Insect-Scale Soft Robot. 无系绳昆虫级软体机器人的动力自主与敏捷控制。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2021.0201

Zicong Miao, Jiaming Liang, Huimin Chen, Jiangfeng Lu, Xiang Sun, Ying Liu, Fei Tang, Min Zhang

{"title":"Power Autonomy and Agility Control of an Untethered Insect-Scale Soft Robot.","authors":"Zicong Miao, Jiaming Liang, Huimin Chen, Jiangfeng Lu, Xiang Sun, Ying Liu, Fei Tang, Min Zhang","doi":"10.1089/soro.2021.0201","DOIUrl":"https://doi.org/10.1089/soro.2021.0201","url":null,"abstract":"It is still challenging to achieve agility and trajectory control for untethered soft robots on an insect scale given their low mechanical impedance and compact structures. In this study, fast translational movements and swift turning motions are demonstrated on a power autonomous soft robot with a piezoelectric-thin-film-actuated body and electrostatic turning footpads. A high relative running speed of 2.5 body length per second compared with existing untethered robots is realized on a 24-mm-long untethered prototype integrated with power source, control, and wireless communication modules. An arc-shaped leg structure is adopted to self-regulate the frication forces on different footpads during turning by an inclination-induced redistribution of the payload gravity on legs and footpads. The trajectory maneuverability is demonstrated by navigating a 380 mg robot prototype with an 1810 mg payload to pass through a 58-cm-long S-shaped path with wireless control in 43.4 s. Due to the flexibility of the all-polymer body structure, the robustness of the untethered robot to large strain is demonstrated when compressed by 91 times the weight of the robot. A maximum travel distance of 58.6 m is achieved for the robot equipped with a 40 mA·h lithium battery, corresponding to the cost of transport of 261. This work provides a feasible solution to achieve high agility and advance the practicability of untethered soft robots on an insect scale.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"749-759"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10347887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Strong Reliable Electrostatic Actuation Based on Self-Clearing Using a Thin Conductive Layer. 基于薄导电层自清除的强可靠静电驱动。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 Epub Date: 2023-02-28 DOI: 10.1089/soro.2022.0132

Guoyong Xie, Dongliang Fan, Huacen Wang, Renjie Zhu, Jianjun Mao, Hongqiang Wang

{"title":"Strong Reliable Electrostatic Actuation Based on Self-Clearing Using a Thin Conductive Layer.","authors":"Guoyong Xie, Dongliang Fan, Huacen Wang, Renjie Zhu, Jianjun Mao, Hongqiang Wang","doi":"10.1089/soro.2022.0132","DOIUrl":"10.1089/soro.2022.0132","url":null,"abstract":"Electrostatic adhesion, as a promising actuation technique for soft robotics, severely suffers from the failure caused by the unpredictable electrical breakdown. This study proposes a novel self-clearing mechanism for electrostatic actuators, particularly for electrostatic adhesion. By simply employing an enough thin conductive layer (e.g., <7 μm for copper), this method can spontaneously clear the conductor around the breakdown sites effectively once breakdowns onset and survive the actuator shortly after the electrical damage. Compared with previous self-clearing methods, which typically rely on new specific materials, this mechanism is easy to operate and compatible with various materials and fabrication processes. In our tests, it can improve the maximum available voltage by 260% and the maximum electrostatic adhesive force by 276%. In addition, the robustness and repeatability of the self-clearing mechanism are validated by surviving consecutive breakdowns and self-clearing of 173 times during 65 min. This method is also demonstrated to be capable of recovering the electrostatic pad from severe physical damages such as punctures, penetrations, and cuttings successfully and enabling stable and reliable operation of the electrostatic clutch, or gripping, for example, even after the short-circuit takes place for hundreds of times. Therefore, the proposed self-clearing method sheds new light on high performance and more extensive practical applications of electrostatic actuators in the future.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"797-807"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9966530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures. 大型水下连续体机器人结构的模块化变形格。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0117

Alfonso Parra Rubio, Dixia Fan, Benjamin Jenett, José Del Águila Ferrandis, Filippos Tourlomousis, Amira Abdel-Rahman, David Preiss, Michael Triantafyllou, Neil Gershenfeld

{"title":"Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures.","authors":"Alfonso Parra Rubio, Dixia Fan, Benjamin Jenett, José Del Águila Ferrandis, Filippos Tourlomousis, Amira Abdel-Rahman, David Preiss, Michael Triantafyllou, Neil Gershenfeld","doi":"10.1089/soro.2022.0117","DOIUrl":"https://doi.org/10.1089/soro.2022.0117","url":null,"abstract":"In this study, we present a method to construct meter-scale deformable structures for underwater robotic applications by discretely assembling mechanical metamaterials. We address the challenge of scaling up nature-like deformable structures while remaining structurally efficient by combining rigid and compliant facets to form custom unit cells that assemble into lattices. The unit cells generate controlled local anisotropies that architect the global deformation of the robotic structure. The resulting flexibility allows better unsteady flow control that enables highly efficient propulsion and optimized force profile manipulations. We demonstrate the utility of this approach in two models. The first is a morphing beam snake-like robot that can generate thrust at specific anguilliform swimming parameters. The second is a morphing surface hydrofoil that, when compared with a rigid wing at the same angles of attack (AoAs), can increase the lift coefficient up to 0.6. In addition, in lower AoAs, the <math><mi>L</mi><mo>∕</mo><mi>D</mi></math> ratio improves by 5 times, whereas in higher angles it improves by 1.25 times. The resulting hydrodynamic performance demonstrates the potential to achieve accessible, scalable, and simple to design and assemble morphing structures for more efficient and effective future ocean exploration and exploitation.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"724-736"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10442689/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10056979","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Modular Soft Robot with Origami Skin for Versatile Applications. 模块化软机器人与折纸皮肤的多功能应用。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0064

Tao Jin, Tianhong Wang, Quan Xiong, Yingzhong Tian, Long Li, Quan Zhang, Chen-Hua Yeow

{"title":"Modular Soft Robot with Origami Skin for Versatile Applications.","authors":"Tao Jin, Tianhong Wang, Quan Xiong, Yingzhong Tian, Long Li, Quan Zhang, Chen-Hua Yeow","doi":"10.1089/soro.2022.0064","DOIUrl":"https://doi.org/10.1089/soro.2022.0064","url":null,"abstract":"Recent advances in soft robotics demonstrate the requirement of modular actuation to enable the rapid replacement of actuators for maintenance and functionality extension. There remain challenges to designing soft actuators capable of different motions with a consistent appearance for simplifying fabrication and modular connection. Origami structures reshaping along with their unique creases became a powerful tool to provide compact constraint layers for soft pneumatic actuators. Inspired by Waterbomb and Kresling origami, this article presents three types of vacuum-driven soft actuators with a cubic shape and different origami skins, featuring contraction, bending, and twisting-contraction combined motions, respectively. In addition, these modular actuators with diversified motion patterns can be directly fabricated by molding silicone shell and constraint layers together. Actuators with different geometrical parameters are characterized to optimize the structure and maximize output properties after establishing a theoretical model to predict the deformation. Owing to the shape consistency, our actuators can be further modularized to achieve modular actuation via mortise and tenon-based structures, promoting the possibility and efficiency of module connection for versatile tasks. Eventually, several types of modular soft robots are created to achieve fragile object manipulation and locomotion in various environments to show their potential applications.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"785-796"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10347905","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Overtwisting and Coiling Highly Enhance Strain Generation of Twisted String Actuators. 超捻和盘绕极大地增强了扭弦执行器的应变产生。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2021.0079

Revanth Konda, David Bombara, Jun Zhang

{"title":"Overtwisting and Coiling Highly Enhance Strain Generation of Twisted String Actuators.","authors":"Revanth Konda, David Bombara, Jun Zhang","doi":"10.1089/soro.2021.0079","DOIUrl":"https://doi.org/10.1089/soro.2021.0079","url":null,"abstract":"Twisted string actuators (TSAs) have exhibited great promise in robotic applications by generating high translational force with low input torque. To further facilitate their robotic applications, it is strongly desirable but challenging to enhance their consistent strain generation while maintaining compliance. Existing studies predominantly considered overtwisting and coiling after the regular twisting stage to be undesirable-nonuniform and unpredictable knots, entanglements, and coils formed to create an unstable and failure-prone structure. Overtwisting would work well for TSAs when uniform coils can be consistently formed. In this study, we realize uniform and consistent coil formation in overtwisted TSAs, which greatly increases their strain. Furthermore, we investigate methods for enabling uniform coil formation upon overtwisting the strings in a TSA and present a procedure to systematically \"train\" the strings. To the authors' best knowledge, this is the first study to experimentally investigate overtwisting for TSAs with different stiffnesses and realize consistent uniform coil formation. Ultrahigh molecular-weight polyethylene strings form the stiff TSAs, whereas compliant TSAs are realized with stretchable and conductive supercoiled polymer strings. The strain, force, velocity, and torque of each overtwisted TSA were studied. Overtwisting and coiling resulted in ∼70% strain in stiff TSAs and ∼60% strain in compliant TSAs. This is more than twice the strain achieved through regular twisting. Finally, the overtwisted TSA was successfully demonstrated in a robotic bicep.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"760-769"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9967518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Rosalind Franklin Society Proudly Announces the 2022 Award Recipient for Soft Robotics. 罗莎琳德·富兰克林协会自豪地宣布了2022年软机器人奖获得者。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2023.29016.rfs2022

Rebecca Kramer-Bottiglio

引用次数: 0

A Skin-Like Soft Compression Sensor for Robotic Applications. 一种用于机器人的皮肤状软压缩传感器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0111

Masoumeh Hesam Mahmoudinezhad, Iain Anderson, Samuel Rosset

引用次数: 2

A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive Perching. 一种具有碰撞弹性和接触反应性的空中软体机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0010

Pham H Nguyen, Karishma Patnaik, Shatadal Mishra, Panagiotis Polygerinos, Wenlong Zhang

{"title":"A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive Perching.","authors":"Pham H Nguyen, Karishma Patnaik, Shatadal Mishra, Panagiotis Polygerinos, Wenlong Zhang","doi":"10.1089/soro.2022.0010","DOIUrl":"https://doi.org/10.1089/soro.2022.0010","url":null,"abstract":"Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch on objects of unknown shapes, sizes, and texture. Efforts to include compliance have introduced designs that incorporate external mechanical impact protection at the cost of reduced agility and flight time due to the added weight. In this work, we propose and develop a lightweight, inflatable, soft-bodied aerial robot (SoBAR) that can pneumatically vary its body stiffness to achieve intrinsic collision resilience. Unlike the conventional rigid aerial robots, SoBAR successfully demonstrates its ability to repeatedly endure and recover from collisions in various directions, not only limited to in-plane ones. Furthermore, we exploit its capabilities to demonstrate perching where the three-dimensional collision resilience helps in improving the perching success rates. We also augment SoBAR with a novel hybrid fabric-based bistable (HFB) grasper that can utilize impact energies to perform contact-reactive grasping through rapid shape conforming abilities. We exhaustively study and offer insights into the collision resilience, impact absorption, and manipulation capabilities of SoBAR with the HFB grasper. Finally, we compare the performance of conventional aerial robots with the SoBAR through collision characterizations, grasping identifications, and experimental validations of collision resilience and perching in various scenarios and on differently shaped objects.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"838-851"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9967498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0