Soft Robotics最新文献_第2页

Shape-Adaptive Robotics: Programmable Morphing through SMA and SMP Integration. 形状自适应机器人：通过SMA和SMP集成的可编程变形。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-03-30 DOI: 10.1177/21695172261437932

Qianyi Chen,Ruochen Wu,Xinhai Zhou,Dingena Schott,Jovana Jovanova

{"title":"Shape-Adaptive Robotics: Programmable Morphing through SMA and SMP Integration.","authors":"Qianyi Chen,Ruochen Wu,Xinhai Zhou,Dingena Schott,Jovana Jovanova","doi":"10.1177/21695172261437932","DOIUrl":"https://doi.org/10.1177/21695172261437932","url":null,"abstract":"Shape memory alloys (SMAs) or shape memory polymers (SMPs) enable soft actuators to achieve advanced adaptabilities applied in soft robotics. However, actuators that combine multiple shape memory materials struggle to achieve complex deformation effects and stiffness variations with effective control strategies. To achieve controllable, shape adaptation, and programmed deforming behavior, this study proposes an integrated control strategy for an SMA-SMP based programmable morphing structure used as an actuator in soft robotics. To achieve precise control over programming deformations and stiffness variation, a multi-target thermal sensing method (MTTSM) was proposed, integrated into an interaction-driven control framework. Based on MTTSM, the coordinated actuation between the SMA springs and the SMP structure is realized, enabling standby of preheating, stepping with programmed deformations, and dynamic stiffness changes. In addition, to achieve dynamic monitoring of deformed states, the co-training-based monitoring system is developed for collaboration, enabling the use of multisensor fusion for position estimation in the absence of end-effectors that can directly measure the deformed structure of the flexible body. In conclusion, the proposed integration strategy of MTTSM and the cotraining monitoring system offers a control solution for integrating multiple shape memory materials into morphing structures as smart actuators applied to soft robotic applications.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"44 1","pages":"21695172261437932"},"PeriodicalIF":7.9,"publicationDate":"2026-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147536517","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

Compliance Model-Based Contact Force Control for Soft Continuum Robots. 基于柔度模型的软连续体机器人接触力控制。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-03-28 DOI: 10.1177/21695172261431194

Jialei Shi,Sara-Adela Abad,Jian S Dai,Helge Wurdemann

{"title":"Compliance Model-Based Contact Force Control for Soft Continuum Robots.","authors":"Jialei Shi,Sara-Adela Abad,Jian S Dai,Helge Wurdemann","doi":"10.1177/21695172261431194","DOIUrl":"https://doi.org/10.1177/21695172261431194","url":null,"abstract":"Soft robots are increasingly being explored and developed in various settings that demand safe and adaptable interactions between robots and their environments. In addition, soft robots exhibit passive compliant behavior and generate continuous deformations when engaging with the environment. This imposes challenges on achieving active, on-demand interaction force control, especially when feedback force-sensing devices are not available. Consequently, there is a need to explore new model-based force control paradigms for soft robots. In this article, we propose a (quasi-)static force control approach for soft robots based on compliance modeling, avoiding the necessity for feedback control loops or extensive training data collection. The proposed approach can deliver contact force control along three Cartesian axes when the robot is actuated into various configurations. The compliance matrix is derived from the robot configuration, which allows the calculation of desired deflection displacements needed to generate on-demand forces. The resulting force control is achieved by solving inverse kinematics problems based on these deflection displacements. The efficacy of our proposed controller is validated through experiments with both one- and two-segment pneumatic-driven soft continuum robots. The results demonstrate effective static force control performance, with mean control errors below 5% of the desired peak forces.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"16 1","pages":"21695172261431194"},"PeriodicalIF":7.9,"publicationDate":"2026-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147535682","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

A Soft, Insect-Inspired, Distributed Tactile Sensor Enables Effective Touch Perception. 一种柔软的、受昆虫启发的分布式触觉传感器使有效的触觉感知成为可能。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-03-18 DOI: 10.1177/21695172261425596

Parker McDonnell,Lingsheng Meng,Hari Krishna Hari Prasad,Alexander Hedrick,Eduardo Miscles,Samuel Gilinsky,Jean-Michel Mongeau,Kaushik Jayaram

{"title":"A Soft, Insect-Inspired, Distributed Tactile Sensor Enables Effective Touch Perception.","authors":"Parker McDonnell,Lingsheng Meng,Hari Krishna Hari Prasad,Alexander Hedrick,Eduardo Miscles,Samuel Gilinsky,Jean-Michel Mongeau,Kaushik Jayaram","doi":"10.1177/21695172261425596","DOIUrl":"https://doi.org/10.1177/21695172261425596","url":null,"abstract":"Insects navigate cluttered environments using slender, flexible antennae densely packed with mechanosensors, a lightweight, energy-efficient solution for tactile perception. We introduce CITRAS (Cockroach-Inspired Tactile Robotic Antenna Sensor), a miniature, compliant, multi-segment tactile probe aimed at enabling similarly capable close-range perception on insect-scale robots under stringent size, mass, and power constraints. CITRAS (total size: 73.7 × 15.6 mm × 2.11 mm; mass: 491 mg) features eight flexural hinge segments, each with high-resolution capacitive sensors embedded within a compliant multilayer laminate structure, that detect femtofarad-scale capacitance changes induced by hinge deflection. Through systematic mechanical and sensing characterization under both quasi-static and dynamic conditions, we demonstrate sub-degree angular precision (max error ≤ 0.8∘), accurate shape reconstruction, and consistent repeatable performance with minimal hysteresis in slow bending. Under rapid interactions, CITRAS exhibits low damping and rich dynamic responses that encode environmental features. We further validate the system in three core tactile tasks: estimating body-to-wall distance (error ≤ 8%), measuring object gap width (error ≤ 7%), and discriminating between smooth and rough surface textures via spatiotemporal tactile images. These results show that CITRAS delivers a compact, distributed, bioinspired tactile modality capable of reliable environment sensing, filling a critical gap in perception for insect-scale robots. Furthermore, the antenna consumes only 32 mW (excluding MCU), making it suitable for future full deployment onboard insect-scale robots and thus paves the way for autonomous navigation and interaction in confined, unstructured, or delicate environments at this scale.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"11 1","pages":"21695172261425596"},"PeriodicalIF":7.9,"publicationDate":"2026-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147478610","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

Tough, Flexible, Strong: Characterization of Soft-Soft Silicone Interfaces for Soft Robotics. 坚韧、柔韧、坚固：软机器人软软硅胶界面的表征。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-03-10 DOI: 10.1177/21695172261424021

Charlotte M Folinus,Kaitlyn P Becker

{"title":"Tough, Flexible, Strong: Characterization of Soft-Soft Silicone Interfaces for Soft Robotics.","authors":"Charlotte M Folinus,Kaitlyn P Becker","doi":"10.1177/21695172261424021","DOIUrl":"https://doi.org/10.1177/21695172261424021","url":null,"abstract":"The soft robotics field is moving toward increasingly complex and integrated systems, which will contain interfaces between soft components and other soft, compliant, and/or rigid components. Although many soft interfaces leverage adhesion, soft robot designers currently have limited information for selecting appropriate materials and fabrication techniques. Through experimental testing, this article characterizes how the substrate material and bonding process influence the performance of soft-soft silicone [i.e., polydimethylsiloxane-based interfaces], provides a framework for approaching this analysis, and contextualizes the data to provide initial insights into material selection for soft-soft interfaces by showing how the data could be used to guide design decisions. Specifically, this article characterizes five addition-curing silicone rubbers and five bonding processes, and it defines performance using quantitative metrics relating to desirable qualitative behaviors: toughness (adhesive fracture energy), flexibility (maximum localized strain during peeling), and strength (ratio of initial-to-average force and magnitude of initial peak peel force). Together, the substrate material and bonding method jointly determine the failure behavior of soft-soft silicone interfaces, influencing both the achievable performance (toughness, strength, flexibility) and characteristic failure modes (adhesive, cohesive, mixed-mode). Understanding characteristic failure modes can inform design strategies to mitigate interfacial failure, enabling higher-capability soft robots with improved operating loads and component lifetimes.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"29 1","pages":"21695172261424021"},"PeriodicalIF":7.9,"publicationDate":"2026-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147381328","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

Shape and Tactile Perceptions of Soft Fingers via Distributed Curvature Sensing for Intelligent Grippers. 基于分布式曲率感知的智能抓取手柔软手指的形状和触觉感知。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-01-23 DOI: 10.1177/21695172261417888

Houping Wu,Chao Tang,Yulian Peng,Yufeng Wang,Xinxin Chang,Yingao Xu,Hongbo Wang

{"title":"Shape and Tactile Perceptions of Soft Fingers via Distributed Curvature Sensing for Intelligent Grippers.","authors":"Houping Wu,Chao Tang,Yulian Peng,Yufeng Wang,Xinxin Chang,Yingao Xu,Hongbo Wang","doi":"10.1177/21695172261417888","DOIUrl":"https://doi.org/10.1177/21695172261417888","url":null,"abstract":"Human fingers are one of the most remarkable organs for handling complex tasks or manipulating unknown objects, not only due to its dexterous and powerful movement capabilities but also its rich kinematic sense at joints and tactile sensing at skins. Shape and tactile sensing are crucial for soft pneumatic fingers to achieve embodied intelligence. Reliable tactile sensing of soft pneumatic-driven robots is particularly challenging due to its large deformation and adaptability. Here, we propose a distributed local curvature sensing-based solution for simultaneous shape and tactile perceptions in real-time. Utilizing 4 seamlessly integrated bidirectional bending curvature sensing units, real-time shape curve, contact location, and contact force can be obtained. Experimental results indicate a maximum shape reconstruction error of 0.3 mm (when the reconstruction length is 90 mm) and a force estimation error of 0.02 N (RMSE, range 0-0.4 N). Moreover, a two-finger gripper was developed; shape and tactile sensing during grasping of diverse objects (varies in weight, size, stiffness) and force-controlled grasping are achieved. Utilizing the shape-sensing and contact-event detection capabilities, dimension of the grasped objects can be recognized in real-time. This work provides an effective, highly robust, easy-to-implement, and transformative perception solution for soft bionic fingers and beyond.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"88 1","pages":"21695172261417888"},"PeriodicalIF":7.9,"publicationDate":"2026-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146021744","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

Double-Layer Self-Locking Origami Based on Opposite Folding Motion. 基于对折运动的双层自锁折纸。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-12-01 DOI: 10.1177/21695172251401337

Jae-Kyeong Kim,Se Hyeok Ahn,Sun-Pill Jung,Jemoon Kim,Deuk-Gyeom Hwang,Haseon Kim,Seung-Won Kim,Dae-Young Lee,Jinkyu Yang,Kyu-Jin Cho

引用次数: 0

Flexible Segmented Assemblable Fiber Optic Sensor for Human Multi-Joint Monitoring. 用于人体多关节监测的柔性分段可组装光纤传感器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-12-01 DOI: 10.1177/21695172251400478

Yuxin Peng,Liang Zhong,Xi Zhu,Xian Song,Keshuai Yang,Jianfeng Li,Zhihao Zhou,Zhichuan Tang

{"title":"Flexible Segmented Assemblable Fiber Optic Sensor for Human Multi-Joint Monitoring.","authors":"Yuxin Peng,Liang Zhong,Xi Zhu,Xian Song,Keshuai Yang,Jianfeng Li,Zhihao Zhou,Zhichuan Tang","doi":"10.1177/21695172251400478","DOIUrl":"https://doi.org/10.1177/21695172251400478","url":null,"abstract":"Human joint motion monitoring is essential for disease diagnosis, rehabilitation, health management, and enhancing human-computer interaction experiences. This work presents the development and validation of a flexible segmented assemblable fiber optic sensor (FSAFOS) specifically designed for human multi-joint monitoring. The FSAFOS is composed of miniature LEDs, segmented polymethyl methacrylate optical fibers, and photoconductive chips encapsulated in a flexible cladding, allowing it to accurately sense joint bending angles while maintaining high flexibility and comfort. The modularity of the FSAFOS enables rapid customization and assembly through magnetic connectors, adapting to various joint configurations and sizes. Experimental results demonstrate that the sensor exhibits good stability, low hysteresis (<5%), and high linearity (R2 = 0.996) in measuring bending angles. In validation experiments, the FSAFOS accurately measured finger joint and spinal bending angles with errors less than 1.85° compared to ground truth. The FSAFOS represents a significant advancement in the field of biomechanical monitoring, offering potential applications in personalized posture monitoring and human-machine interfaces. The study protocol was approved by the Medical Ethics Committee from the Department of Psychology and Behavioral Sciences, Zhejiang University, China (reference number: [2022]098).","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"34 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145664269","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

Feline Tongue-Inspired Filiform Microstructure Improving Grasp Performance of Soft Robotic Hands. 猫舌形丝状微结构改善柔性机械手抓取性能。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-12-01 DOI: 10.1177/21695172251401339

Wenbiao Wang,Yan Lin,Jinyuan Xu,Pinxi Chen,Guanjun Bao

{"title":"Feline Tongue-Inspired Filiform Microstructure Improving Grasp Performance of Soft Robotic Hands.","authors":"Wenbiao Wang,Yan Lin,Jinyuan Xu,Pinxi Chen,Guanjun Bao","doi":"10.1177/21695172251401339","DOIUrl":"https://doi.org/10.1177/21695172251401339","url":null,"abstract":"Soft robot hands perform adaptive grasping stability by flexibly conforming to target geometries without damaging the target. While most improvements focus on macro-scale structural optimization, surface microstructures will also play a crucial role in grasp performance. Inspired by the filiform papillae (FP) on feline tongues, which are barbed structures characterized by high density and moderate deformability that facilitate secure contacting, a feline tongue-inspired filiform microstructure (FTFM) is proposed and integrated into soft robotic fingertips to achieve high grasping ability. By analyzing the morphology and spatial arrangement of FPs, we designed two layout strategies: arc-shaped and cross-shaped arrays. Finite element simulations in Abaqus revealed that the arc arrangement stores 20-25% more elastic strain energy and exhibits more uniform stress distribution, indicating superior elastic adaptability. Grasping experiments under dry contact conditions further validated the effectiveness of FTFM. Compared to conventional smooth-surfaced soft robotic hand (SRH), the developed FTFM-enhanced fingertips improved grasping force by 20-35% as the surface roughness of the object decreased. These results demonstrate that FTFM significantly improves contact friction and adaptive conformity by increasing the number of effective contact points and local deformation. This study provides a novel and scalable strategy for enhancing the performance of soft robotic grippers through bioinspired microstructure design.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"11 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145663914","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

Soft Robotic Snake Locomotion on Curved Surfaces. 柔性机器蛇在曲面上的运动。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-11-24 DOI: 10.1177/21695172251395478

Dimuthu D K Arachchige,Dulanjana M Perera,Umer Huzaifa,Iyad Kanj,Isuru S Godage

{"title":"Soft Robotic Snake Locomotion on Curved Surfaces.","authors":"Dimuthu D K Arachchige,Dulanjana M Perera,Umer Huzaifa,Iyad Kanj,Isuru S Godage","doi":"10.1177/21695172251395478","DOIUrl":"https://doi.org/10.1177/21695172251395478","url":null,"abstract":"Snakes possess an extraordinary ability to traverse diverse terrains, thanks to their continuous bending and distributed surface contacts. While robotic snakes have replicated some of these locomotion capabilities, most existing designs rely on a rigid, articulated approach. However, the discrete nature of rigid-bodied construction poses challenges in maintaining a uniform distributed force, particularly when traversing curved surfaces. This article explores the locomotion potential of soft robotic snakes (SRSs) made primarily from soft, elastic materials, focusing on their ability to navigate curved surfaces. We introduce a novel locomotion gait specifically tailored for curved terrain, with parameterized movements to accommodate varying degrees of steepness. Recognizing the critical role of surface grip in locomotion on curved surfaces, we also present a mathematical model to adjust the gripping force exerted by distributed contacts, enhancing stability. Extensive experiments with our SRS prototype validate the effectiveness, viability, and robustness of the proposed locomotion strategies. Our findings pave the way for SRS applications in challenging environments such as cylindrical ducts, pipelines, and confined spaces, where traditional robotic systems may face limitations.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"38 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145599921","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

A 2.6-g Untethered Microrobot with Maneuverable Crawling and High Jumping Performance. 2.6 g无系绳微型机器人，具有机动爬行和高跳跃性能。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-11-18 DOI: 10.1177/21695172251394586

Lai Cao,Guobin Lu,Zhengyuan Wang,Bei Peng,Jianing Wu,Stanislav Gorb,Yichuan Wu

{"title":"A 2.6-g Untethered Microrobot with Maneuverable Crawling and High Jumping Performance.","authors":"Lai Cao,Guobin Lu,Zhengyuan Wang,Bei Peng,Jianing Wu,Stanislav Gorb,Yichuan Wu","doi":"10.1177/21695172251394586","DOIUrl":"https://doi.org/10.1177/21695172251394586","url":null,"abstract":"Microrobots with multimodal locomotion offer distinct advantages in adapting to complex environments. However, achieving both untethered and controllable crawling and jumping within a centimeter-scale platform remains a significant challenge. Here, we report a fully untethered microrobot inspired by the jumping mechanism of click beetles. The robot measures 3.3 cm in height, weighs 2.6 g, and combines piezoelectric-driven differential actuation for directional crawling with a compact, electrically triggered catapult mechanism for high-performance jumping. The jumping mechanism, based on a heated fuse release, enables the robot to leap up to 29 times its body height (95 cm), while the isolated catapult design achieves a record-setting jump height of 230 times the body length, outperforming previously reported untethered systems. Under wireless control, the robot demonstrates smooth crawling-jumping-crawling transitions to overcome obstacles in unconstructed terrain. This research advances the design of centimeter-scale microrobots and highlights the potential of integrated multimodal locomotion in untethered microrobots.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"157 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145545051","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