Soft Robotics最新文献_第6页

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

A Multipole Magnetoactive Elastomer for Vibration-Driven Locomotion. 用于振动驱动运动的多极磁主动弹性体。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0106

Marius Reiche, Tatiana I Becker, Gennady V Stepanov, Klaus Zimmermann

{"title":"A Multipole Magnetoactive Elastomer for Vibration-Driven Locomotion.","authors":"Marius Reiche, Tatiana I Becker, Gennady V Stepanov, Klaus Zimmermann","doi":"10.1089/soro.2022.0106","DOIUrl":"https://doi.org/10.1089/soro.2022.0106","url":null,"abstract":"Smart materials such as magnetoactive elastomers (MAEs) combine elastic and magnetic properties that can be significantly changed in response to a magnetic field and therefore offer enormous potential for applications in both scientific research and engineering. When such an elastomer contains microsized hard magnetic particles, it can become an elastic magnet once magnetized in a strong magnetic field. This article studies a multipole MAE with the aim of utilizing it as an actuation element of vibration-driven locomotion robots. The elastomer beam has three magnetic poles overall with the same poles at the ends and possesses silicone bristles protruding from its underside. The quasi-static bending of the multipole elastomer in a uniform magnetic field is investigated experimentally. The theoretical model exploits the magnetic torque to describe the field-induced bending shapes. The unidirectional locomotion of the elastomeric bristle-bot is realized in two prototype designs using magnetic actuation of either an external or an integrated source of an alternating magnetic field. The motion principle is based on cyclic interplay of asymmetric friction and inertia forces caused by field-induced bending vibrations of the elastomer. The locomotion behavior of both prototypes shows a strong resonant dependency of the advancing speed on the frequency of applied magnetic actuation.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"770-784"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10347909","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

Modeling, Analysis, and Computational Design of Muscle-driven Soft Robots. 肌肉驱动软机器人的建模、分析和计算设计。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 Epub Date: 2023-03-10 DOI: 10.1089/soro.2022.0122

Manjia Su, Yihong Zhang, Hongkai Chen, Yisheng Guan, Chaoqun Xiang

{"title":"Modeling, Analysis, and Computational Design of Muscle-driven Soft Robots.","authors":"Manjia Su, Yihong Zhang, Hongkai Chen, Yisheng Guan, Chaoqun Xiang","doi":"10.1089/soro.2022.0122","DOIUrl":"10.1089/soro.2022.0122","url":null,"abstract":"Muscle driving is a critical actuation mode of soft or flexible robots and plays a key role in the motion of most animals. Although the system development of soft robots has been extensively investigated, the general kinematic modeling of soft bodies and the design methods used for muscle-driven soft robots (MDSRs) are inadequate. With a focus on homogeneous MDSRs, this article presents a framework for kinematic modeling and computational design. Based on continuum mechanics theory, the mechanical characteristics of soft bodies were first described using a deformation gradient tensor and energy density function. The discretized deformation was then depicted using a triangular meshing tool according to the piecewise linear hypothesis. Deformation models of MDSRs caused by external driving points or internal muscle units were established by the constitutive modeling of hyperelastic materials. The computational design of the MDSR was then addressed based on kinematic models and deformation analysis. Algorithms were proposed to infer the design parameters from the target deformation and to determine the optimal muscles. Several MDSRs were developed, and experiments were conducted to verify the effectiveness of the presented models and design algorithms. The computational and experimental results were compared and evaluated using a quantitative index. The presented framework of deformation modeling and computational design of MDSRs can facilitate the design of soft robots with complex deformations, such as humanoid faces.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"808-824"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9959950","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 Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs. 形状记忆合金弹簧驱动柔性脊柱的壁虎仿生机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0080

Jiahui Qiu, Aihong Ji, Kongjun Zhu, Qinfei Han, Wei Wang, Qian Qi, Guangming Chen

{"title":"A Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs.","authors":"Jiahui Qiu, Aihong Ji, Kongjun Zhu, Qinfei Han, Wei Wang, Qian Qi, Guangming Chen","doi":"10.1089/soro.2022.0080","DOIUrl":"https://doi.org/10.1089/soro.2022.0080","url":null,"abstract":"The majority of sprawling-posture quadrupedal vertebrates, such as geckos and lizards, adopt a cyclical lateral swing pattern of their trunk that is coordinated with limb movements to provide extraordinary flexibility and mobility. Inspired by the gecko's locomotory gait and posture, a gecko-like robot with a flexible spine driven by shape memory alloy (SMA) springs was proposed in this work. The static parameters of the SMA spring were experimentally measured, and the flexible spine driven by SMA springs can be deflected bidirectionally. A kinematic model of the spine mechanism was established, and the mathematical relationship between the thermodynamic behavior of the SMA springs and spinal deflection was systematically analyzed. When a gecko trots with a lateral swing pattern of its trunk, the body and the spine show a standing wave shape and a single-peak C-type curve, respectively. The lateral spine deflection and trotting gait were combined in a collaborative model of a flexible spine and limbs to describe in detail the specific relationships between leg joint variables and spine deflection angle. Planar motion tests of a prototype robot were also conducted by using four high-speed cameras to record the trajectory of each point of the body, which verified the proposed model. From the acquired results, it was demonstrated that, compared with a rigid body, a robot with a flexible spine has a longer stride length, higher speed, and a greatly reduced turning radius.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"713-723"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10442688/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10410957","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: 1

Biological Robots: Perspectives on an Emerging Interdisciplinary Field. 生物机器人:一个新兴的跨学科领域的观点。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0142

Douglas Blackiston, Sam Kriegman, Josh Bongard, Michael Levin

{"title":"Biological Robots: Perspectives on an Emerging Interdisciplinary Field.","authors":"Douglas Blackiston, Sam Kriegman, Josh Bongard, Michael Levin","doi":"10.1089/soro.2022.0142","DOIUrl":"https://doi.org/10.1089/soro.2022.0142","url":null,"abstract":"Advances in science and engineering often reveal the limitations of classical approaches initially used to understand, predict, and control phenomena. With progress, conceptual categories must often be re-evaluated to better track recently discovered invariants across disciplines. It is essential to refine frameworks and resolve conflicting boundaries between disciplines such that they better facilitate, not restrict, experimental approaches and capabilities. In this essay, we address specific questions and critiques which have arisen in response to our research program, which lies at the intersection of developmental biology, computer science, and robotics. In the context of biological machines and robots, we explore changes across concepts and previously distinct fields that are driven by recent advances in materials, information, and life sciences. Herein, each author provides their own perspective on the subject, framed by their own disciplinary training. We argue that as with computation, certain aspects of developmental biology and robotics are not tied to specific materials; rather, the consilience of these fields can help to shed light on issues of multiscale control, self-assembly, and relationships between form and function. We hope new fields can emerge as boundaries arising from technological limitations are overcome, furthering practical applications from regenerative medicine to useful synthetic living machines.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"674-686"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10442684/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10055874","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: 6