Soft robotics最新文献

Exo-Glove Poly III: Grasp Assistance by Modulating Thumb and Finger Motion Sequence with a Single Actuator.

Soft robotics Pub Date : 2025-03-13 DOI: 10.1089/soro.2024.0113

Kyu Bum Kim, Hyungmin Choi, Byungchul Kim, Brian Byunghyun Kang, Sangheui Cheon, Kyu-Jin Cho

{"title":"Exo-Glove Poly III: Grasp Assistance by Modulating Thumb and Finger Motion Sequence with a Single Actuator.","authors":"Kyu Bum Kim, Hyungmin Choi, Byungchul Kim, Brian Byunghyun Kang, Sangheui Cheon, Kyu-Jin Cho","doi":"10.1089/soro.2024.0113","DOIUrl":"https://doi.org/10.1089/soro.2024.0113","url":null,"abstract":"In daily living, people grasp an object through the steps of \"pre-shaping\" and \"enclosing,\" with the thumb playing a crucial role with its multiple degrees of freedom. When assisting individuals with hand impairments using soft wearable robots, it is important to simplify the robot by reducing the number of actuators and to provide different grasping strategies based on various objects being handled. In this article, we propose a tendon-driven soft wearable hand robot, Exo-Glove Poly III, that uses a single actuator for assisting two types of grasping strategies for people with hand impairment. To move the thumb and other fingers with a single actuator, we developed a slack-based sequential mechanism that allows movements to occur at different timings by varying the initial slack lengths of each tendon. Based on our observations of grasping strategies and the proposed novel actuation system, a slack-based sequential actuator (318 g, including electronic circuits) was designed and integrated with the glove (90 g) using a commercial armband to make the system portable. The robotic system was evaluated by a healthy subject, showing how the thumb moves by the tendon routings and how the mechanism works for each grasping strategy.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143627361","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Origami-Based Flexible Robotic Grippers via Hard-Soft Coupled Multimaterial 3D Printing.

Soft robotics Pub Date : 2025-03-11 DOI: 10.1089/soro.2024.0166

Wenbo Xue, Liuchao Jin, Bingcong Jian, Qi Ge

引用次数: 0

Combining and Decoupling Rigid and Soft Grippers to Enhance Robotic Manipulation. 结合并解耦刚性和软性机械手，增强机器人操纵能力

Soft robotics Pub Date : 2025-03-10 DOI: 10.1089/soro.2024.0062

Maya Keely, Yeunhee Kim, Shaunak A Mehta, Joshua Hoegerman, Robert Ramirez Sanchez, Emily Paul, Camryn Mills, Dylan P Losey, Michael D Bartlett

{"title":"Combining and Decoupling Rigid and Soft Grippers to Enhance Robotic Manipulation.","authors":"Maya Keely, Yeunhee Kim, Shaunak A Mehta, Joshua Hoegerman, Robert Ramirez Sanchez, Emily Paul, Camryn Mills, Dylan P Losey, Michael D Bartlett","doi":"10.1089/soro.2024.0062","DOIUrl":"https://doi.org/10.1089/soro.2024.0062","url":null,"abstract":"For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely rigid or purely soft grippers have fundamental limitations as follows: soft grippers struggle with irregular heavy objects, whereas rigid grippers often cannot grasp small numerous items. In this article, we therefore introduce RISOs, a mechanics and controls approach for unifying traditional RIgid end-effectors with a novel class of SOft adhesives. When grasping an object, RISOs can use either the rigid end-effector (pinching the item between nondeformable fingers) and/or the soft materials (attaching and releasing items with switchable adhesives). This enhances manipulation capabilities by combining and decoupling rigid and soft mechanisms. With RISOs, robots can perform grasps along a spectrum from fully rigid, to fully soft, to rigid-soft, enabling real-time object manipulation across a 1.5 million times range in weight (from 2 mg to 2.9 kg). To develop RISOs, we first model and characterize the soft switchable adhesives. We then mount sheets of these soft adhesives on the surfaces of rigid end-effectors and develop control strategies that make it easier for robot arms and human operators to utilize RISOs. The resulting RISO grippers were able to pick up, carry, and release a larger set of objects than existing grippers, and participants also preferred using RISO. Overall, our experimental and user study results suggest that RISOs provide an exceptional gripper range in both capacity and object diversity.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143589093","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Holistic Indirect Contact Identification Method for Soft Robot Proprioception.

Soft robotics Pub Date : 2025-02-24 DOI: 10.1089/soro.2024.0141

Shuoqi Wang, Keng-Yu Lin, Xiangru Xu, Michael Wehner

{"title":"A Holistic Indirect Contact Identification Method for Soft Robot Proprioception.","authors":"Shuoqi Wang, Keng-Yu Lin, Xiangru Xu, Michael Wehner","doi":"10.1089/soro.2024.0141","DOIUrl":"https://doi.org/10.1089/soro.2024.0141","url":null,"abstract":"Soft robots hold great promise but are notoriously difficult to control due to their compliance and back-drivability. In order to implement useful controllers, improved methods of perceiving robot pose (position and orientation of the entire robot body) in free and perturbed states are needed. In this work, we present a holistic approach to robot pose perception in free bending and with external contact, using multiple soft strain sensors on the robot (not collocated with the point of contact). By comparing the deviation of these sensors from their value in an unperturbed pose, we are able to perceive the mode and magnitude of deformation and thereby estimate the resulting perturbed pose of the soft actuator. We develop a sample 2 degree-of-freedom soft finger with two sensors, and we characterize sensor response to front, lateral, and twist deformation to perceive the mode and magnitude of external perturbation. We develop a data-driven model of free-bending deformation, we impose our perturbation perception method, and we demonstrate the ability to perceive perturbed pose on a single-finger and a two-finger gripper. Our holistic contact identification method provides a generalizable approach to perturbed pose perception needed for the control of soft robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143485110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive and Robust Switchable Adhesion System: Bio-Inspired Synergistic Integration from Octopuses and Geckos.

Soft robotics Pub Date : 2025-02-21 DOI: 10.1089/soro.2024.0097

Zhiyuan Weng, Zhouyi Wang, Chi Xu, Qingsong Yuan, Bingcheng Wang, Wenxin Zhao, Yunlong Duan, Junshen Yao, Peiqing Zhang, Qianzhi Wang, Zhendong Dai

{"title":"Adaptive and Robust Switchable Adhesion System: Bio-Inspired Synergistic Integration from Octopuses and Geckos.","authors":"Zhiyuan Weng, Zhouyi Wang, Chi Xu, Qingsong Yuan, Bingcheng Wang, Wenxin Zhao, Yunlong Duan, Junshen Yao, Peiqing Zhang, Qianzhi Wang, Zhendong Dai","doi":"10.1089/soro.2024.0097","DOIUrl":"https://doi.org/10.1089/soro.2024.0097","url":null,"abstract":"Existing climbing robots achieve stable movements on limited surface types. However, adapting a single robot design to various surface shapes remains a substantial challenge. Based on the van der Waals (vdW) force-mediated adhesion mechanism of a gecko foot and negative pressure from octopus suckers, this study introduces a biomimetic integration strategy for designing and fabricating a pneumatically actuated switchable adhesion system (SAS). The SAS includes an adhesive material responsible for generating vdW forces and a suction cup with a membrane structure that enables a vacuum suction force. Owing to nonlinear superposition effects, this SAS exhibited a 56.4% higher adhesion force than the algebraic superposition of the vdW and vacuum suction forces. Moreover, the SAS offers a quick switch between adhesion and detachment through pneumatic modulation, achieving a synergistic balance between adaptability, robustness, and load-bearing efficiency. Equipped with this SAS, we developed a pneumo-electrically actuated quadruped-climbing robot that can climb planes with different tilt angles and surfaces with different curvatures.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143470402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Multi-Curvature Soft Gripper Based on Segmented Variable Stiffness Structure Inspired by Snake Scales.

Soft robotics Pub Date : 2025-02-20 DOI: 10.1089/soro.2024.0043

Min Sun, Haonan Fu, Hongshuai Lei, Zhiwei Qiu, Jialei Zhang, Guang Zhang, Zheng Zhang, Jiquan Li, Shaofei Jiang

{"title":"A Multi-Curvature Soft Gripper Based on Segmented Variable Stiffness Structure Inspired by Snake Scales.","authors":"Min Sun, Haonan Fu, Hongshuai Lei, Zhiwei Qiu, Jialei Zhang, Guang Zhang, Zheng Zhang, Jiquan Li, Shaofei Jiang","doi":"10.1089/soro.2024.0043","DOIUrl":"https://doi.org/10.1089/soro.2024.0043","url":null,"abstract":"In atypical industrial settings, soft grippers needed to adjust to different object shapes. Existing grabbers typically accommodated only single-curvature, fixed-stiffness objects, restricting their stability and usability. This study presents a design for a finger featuring multi-curvature, incorporating a wedge actuator alongside two variable stiffness units (VSUs) inspired by snake scales. By adjusting the high stiffness and low stiffness states of the variable stiffness element, the local structural stiffness of the finger was changed, thereby granting the gripper capabilities in bending shape control and variable stiffness. A finite element model of the wedge actuator was developed, and the influence of several parameters, including top wall thickness, side wall thickness, transition layer thickness, and sidewall height on bending angle and tip output force was analyzed through an orthogonal experiment. Furthermore, the relationship between the longitudinal length of the wedge actuator and both the bending angle and the tip output force was studied. Via explicit dynamic analysis, the stiffness variation of the VSU under operational vacuum pressure was predicted and subsequently validated against experimental data, confirming the reliability of the model. The effectiveness of finger shape control and stiffness adjustment was evaluated through experiments. Ultimately, a two-finger gripper was constructed to carry out the grasping experiments. The results showed that the gripper is capable of generating various clamping curvatures, enabling it to conform closely to the objects it grips and significantly broaden its clamping range.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143461034","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Untethered Soft Snail Robot Steers with a Single Motor.

Soft robotics Pub Date : 2025-02-17 DOI: 10.1089/soro.2024.0107

Yichuan Wu, Lai Cao, Guobin Lu, Bei Peng, Qi Lu, Yi Song, Stanislav Gorb

{"title":"An Untethered Soft Snail Robot Steers with a Single Motor.","authors":"Yichuan Wu, Lai Cao, Guobin Lu, Bei Peng, Qi Lu, Yi Song, Stanislav Gorb","doi":"10.1089/soro.2024.0107","DOIUrl":"https://doi.org/10.1089/soro.2024.0107","url":null,"abstract":"Achieving strong adaptability and high-load capacity for small-scale soft robots remains a challenge in current robotics engineering. In this study, inspired by a snail movement, we developed a soft crawling robot capable of controllable locomotion and carrying a load of 204 g-7.7 times its own weight-using just one single motor for robot control. The robot measures 7.6 cm in length, 3 cm in width, and 2.5 cm in height, with a total weight of 26.5 g. The anisotropic friction mechanism on the robot's bottom, comprising a soft origami-based pad and asymmetrical sawtooth structure, enables its strong adhesion to stick to and simultaneously crawl (transitional adhesion) on many surfaces. This design allows the robot to move at speeds up to 3 mm/s and climb a slope of 35° inclinations, also making it suitable for various uneven terrains. Additionally, the robot has enhanced cross-environmental capabilities due to its ability to glide on the water. This research advances the development of relatively simple small-scale single-actuator robots, providing insights into their potential for flexible movement, high-load capacity, and potential swarming behavior.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143434678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment.

Soft robotics Pub Date : 2025-02-11 DOI: 10.1089/soro.2024.0082

Mochammad Ariyanto, Xiaofeng Zheng, Ryo Tanaka, Chowdhury Mohammad Masum Refat, Nima Hirota, Kotaro Yamamoto, Keisuke Morishima

{"title":"Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment.","authors":"Mochammad Ariyanto, Xiaofeng Zheng, Ryo Tanaka, Chowdhury Mohammad Masum Refat, Nima Hirota, Kotaro Yamamoto, Keisuke Morishima","doi":"10.1089/soro.2024.0082","DOIUrl":"https://doi.org/10.1089/soro.2024.0082","url":null,"abstract":"Autonomous navigation of cyborg insects in complex environments remains a challenging issue. Cyborg insects, which combine biological organisms with electronic components, offer a unique approach to tackle such challenges. This study presents a biohybrid behavior-based navigation (BIOBBN) system that enables cyborg cockroaches to navigate complex environments autonomously. Two navigation algorithms were developed: reach-avoid navigation for less complex environments and adaptive reach-avoid navigation for more challenging scenarios. This algorithm, especially the second one, leveraged the cockroaches' natural behaviors, such as wall-following and climbing, to navigate around and over obstacles. Experiments in simulated environments, including sand and rock-covered surfaces, demonstrate the effectiveness of the BIOBBN system in enabling cyborg cockroaches to navigate and reach target locations. The denser second scenario required more time due to increased obstacle avoidance and natural climbing behavior. Overall performance was promising, highlighting the potential of biohybrid navigation for autonomous cyborg insects in navigating complex environments.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143392792","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Hydraulically Amplified Rigidity-Adaptive Electrostatic Actuators with High Performance and Smooth Motion Control.

Soft robotics Pub Date : 2025-02-10 DOI: 10.1089/soro.2024.0114

Hu Qilin, Li Yang, Mei Deqing, Luo Tao, Wang Yancheng

{"title":"Hydraulically Amplified Rigidity-Adaptive Electrostatic Actuators with High Performance and Smooth Motion Control.","authors":"Hu Qilin, Li Yang, Mei Deqing, Luo Tao, Wang Yancheng","doi":"10.1089/soro.2024.0114","DOIUrl":"https://doi.org/10.1089/soro.2024.0114","url":null,"abstract":"Hydraulically amplified self-healing electrostatic (HASEL) actuators are known for their muscle-like activation, rapid operation, and direct electrical control, making them highly versatile for use in soft robotics. While current methods for enhancing HASEL actuator performance largely emphasize material innovation, our approach offers an additional architectural strategy. In this study, we introduce a novel hydraulically amplified rigidity-adaptive electrostatic (HARIE) actuator designed to significantly enhance HASEL actuator performance while maintaining controllability by elucidating the underlying issues of the pull-in instability. Our experimental results indicate that the HARIE actuator achieves a significant improvement, with over a 200% increase in angular output and consistently strong torque compared with HASEL actuators with flexible electrodes. Notably, the maximum step of the HARIE actuator is 21.8°/kV, approximately one third of that of the HASEL actuator with rigid electrodes (62.3°/kV), suggesting smoother motion control. The HARIE actuator's effectiveness is further demonstrated in practical applications; it successfully grasps an orange weighing 15.2 g and a delicate dandelion. Additionally, the actuator's precise targeting capability is evidenced by its ability to manipulate a laser to induce heat accumulation, leading to the balloon's breakdown, thereby showcasing its high level of controllability. The rigidity-adaptive method mitigates the negative impacts of suboptimal materials and demonstrates the potential for significant enhancement when combined with superior materials.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143383710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","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 Heart Formed with a Myocardial Band for Cardiac Functions.

Soft robotics Pub Date : 2025-02-05 DOI: 10.1089/soro.2024.0031

Daiki Ueda, Koichi Suzumori, Hiroyuki Nabae, Yuta Ishikawa, Teiji Oda

{"title":"Soft Robotic Heart Formed with a Myocardial Band for Cardiac Functions.","authors":"Daiki Ueda, Koichi Suzumori, Hiroyuki Nabae, Yuta Ishikawa, Teiji Oda","doi":"10.1089/soro.2024.0031","DOIUrl":"https://doi.org/10.1089/soro.2024.0031","url":null,"abstract":"The myocardial contracting ratio is approximately 20%, whereas ejection fraction exceeds 60%. Understanding the structure and kinetic mechanisms of the heart that enable this high ejection fraction is crucial in both basic and clinical medicine. However, these mechanisms remain incompletely elucidated. The authors have developed a functional model based on the unique myocardial band theory, which posits that the ventricle is formed by a single myocardial band winding into a spiral. According to this theory, a muscle band, which incorporated thin McKibben artificial muscles embedded within a soft elastomer, was formed, and it was subsequently rolled to replicate the ventricle's structure. Thin McKibben muscles are well-suited for mimicking cardiac muscles due to their longitudinal contraction, radial expansion, and ability to operate in a curved position. In general, animal hearts exhibit approximately 20% myocardial contracting ratio, a 1.2-fold change in myocardial band thickness, and an ejection fraction in the range 50-70%. In comparison, soft robotic hearts demonstrated values of 17.3%, a 1.28-fold thickness change, and a 47.8% ejection fraction, respectively, which closely approximated those of real hearts. Water ejection experiments conducted using a soft robotic heart revealed that the maximum pressure during contraction reached 200 mmHg, generating a pressure-volume loop similar to that observed in the human heart. Thus, soft robotic hearts hold the potential for a wide range of clinical applications, including the elucidation of heart failure pathophysiology and the development of surgical treatments.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0