Soft robotics最新文献

Design, Modeling, and Validation of a Pneumatically Actuated Distal Segment for Endoscopy. 内窥镜气动驱动远端节段的设计、建模和验证。

IF 6.1

Soft robotics Pub Date : 2026-05-12 DOI: 10.1177/21695172261450426

Charlotte Deroubaix, Simon Den Haene, Ramzi Ben Hassen, Pascal Doguet, Alain Delchambre

{"title":"Design, Modeling, and Validation of a Pneumatically Actuated Distal Segment for Endoscopy.","authors":"Charlotte Deroubaix, Simon Den Haene, Ramzi Ben Hassen, Pascal Doguet, Alain Delchambre","doi":"10.1177/21695172261450426","DOIUrl":"https://doi.org/10.1177/21695172261450426","url":null,"abstract":"To reduce the risk of patient cross-contamination associated with reusable endoscopes, health care systems are increasingly turning to single-use devices. While this shift improves hygiene, it raises significant environmental and economic concerns due to increased medical waste and long-term costs. In response, this study proposes a semi-disposable pneumatic endoscope concept designed to support the transition toward greener endoscopy. It is composed of a reusable handle and a disposable, pneumatically actuated insertion tube. The study focuses on the design, modeling, and prototyping of the flexible part of the endoscopic tube to address challenges linked to soft actuation. A finite element model was developed to simulate the bending behavior of the flexible segment made of silicone. It allows the study of key geometrical parameters, such as pneumatic chamber diameter and wall thickness. A ring-based constraint system was implemented to address excessive radial expansion and associated bulging under pressure, which effectively minimized radial deformation without compromising bending capability. The design obtained through simulation integrates all essential functionalities of a clinical gastroscope (imaging, tool insertion, and insufflation/suction) within an outer diameter of 14 mm. It was experimentally validated using physical prototypes, confirming the ability to bend up to 180°, with deformation patterns closely matching simulation predictions. In addition, the prototype supports future integration of a variable stiffness mechanism using jamming-based techniques, further enhancing its potential for clinical use. This work thus proposes a viable path toward more sustainable and clinically relevant endoscopic solutions using pneumatic actuation.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"21695172261450426"},"PeriodicalIF":6.1,"publicationDate":"2026-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147877074","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

Three-Finger Borescope-Mounted IPMC Gripper. 三指内窥镜安装IPMC夹持器。

IF 6.1

Soft robotics Pub Date : 2026-05-07 DOI: 10.1177/21695172261441906

Wonjin Kim, Soohyun Lim, Sangryul Kim, Jonghyeok Lee, Sung-Hoon Ahn

{"title":"Three-Finger Borescope-Mounted IPMC Gripper.","authors":"Wonjin Kim, Soohyun Lim, Sangryul Kim, Jonghyeok Lee, Sung-Hoon Ahn","doi":"10.1177/21695172261441906","DOIUrl":"https://doi.org/10.1177/21695172261441906","url":null,"abstract":"Ionic polymer-metal composites (IPMCs) are prominent soft actuators for millimeter-scale robotics due to their large bending deformation and high force-to-weight ratio. This work introduces an integrated soft robotic system featuring a three-channel IPMC gripper attached to a borescope for micromanipulation. A laser ablation technique partitions a single IPMC into three independently actuated channels, simplifying wiring complexity and enabling stable grasping of objects with complex geometries. While the hardware provides effective manipulation, teleoperation in microscale environments presents a significant challenge, as operators struggle to reliably determine contact and grasp stability from 2D visual feedback alone. To address this, we introduce a vision-based operator assistance system. Using a YOLOv8 segmentation model, our system processes the borescope's video feed in real-time to identify the gripper fingers and target objects, providing clear visual cues for \"touched\" and \"grabbed\" states. This human-in-the-loop feedback enhances operator precision and consistency and, for the first time, enables a quantitative evaluation of the gripper's performance. Experimental results demonstrate reliable grasping of diverse objects (0.3-6 mm) and validate the system's ability to provide objective success metrics. This work contributes an integrated and intelligent micromanipulation system that augments human capabilities and establishes a framework for future autonomous control.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"21695172261441906"},"PeriodicalIF":6.1,"publicationDate":"2026-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147848146","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

Integrated Multicomponent Modeling and Optimal Design for Antagonistic Shape Memory Alloy Bending Joint. 抗逆性形状记忆合金弯曲接头集成多部件建模与优化设计。

IF 6.1

Soft robotics Pub Date : 2026-04-30 DOI: 10.1177/21695172261445905

Jianghua Chen, Jibiao Chen, Qingpeng Ding, Zechao Wang, Shing Shin Cheng

{"title":"Integrated Multicomponent Modeling and Optimal Design for Antagonistic Shape Memory Alloy Bending Joint.","authors":"Jianghua Chen, Jibiao Chen, Qingpeng Ding, Zechao Wang, Shing Shin Cheng","doi":"10.1177/21695172261445905","DOIUrl":"https://doi.org/10.1177/21695172261445905","url":null,"abstract":"Shape memory alloys (SMAs) are highly suitable for flexible and soft robots due to their lightweight nature, high power density, and miniaturization potential. However, the design of SMA-based continuum bending joints for robotic applications is often restricted by the inherent trade-offs in their mechanical characteristics. In this work, we present an integrated multicomponent framework that encompasses four submodels, including bending angle, load-deflection stiffness, distal twisting angle, and output force for antagonistic SMA wire bending joints. The framework unifies all submodels under a common temperature input set and systematically clarifies their coupled relationships, providing quantitative insight into their trade-offs. A model-based optimal design methodology is then developed for the SMA bending joint, balancing the different mechanical performance metrics to deliver an optimal joint design that satisfies the task requirements. Experiments on the SMA bending joint with optimal design parameters validate the accuracy of various submodels. Two additional nonoptimal prototypes were experimentally evaluated against the optimized design, validating the feasibility of the proposed optimal design methodology. The integrated multicomponent modeling framework and optimal design methodology address the intricate coupling effects inherent in antagonistic SMA wires, minimizing the need for iterative prototyping and facilitating the adoption of SMA wires in flexible and soft robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"21695172261445905"},"PeriodicalIF":6.1,"publicationDate":"2026-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147793588","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

MAT-DiSMech: A Discrete Differential Geometry-Based Computational Tool for Simulation of Rods, Shells, and Soft Robots. MAT-DiSMech：一种基于离散微分几何的杆、壳和软体机器人仿真计算工具。

IF 6.1

Soft robotics Pub Date : 2026-04-30 DOI: 10.1177/21695172261426875

Radha Lahoti, Mohammad Khalid Jawed

{"title":"MAT-DiSMech: A Discrete Differential Geometry-Based Computational Tool for Simulation of Rods, Shells, and Soft Robots.","authors":"Radha Lahoti, Mohammad Khalid Jawed","doi":"10.1177/21695172261426875","DOIUrl":"https://doi.org/10.1177/21695172261426875","url":null,"abstract":"Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate simulation tools is particularly challenging in soft robotics, largely due to the prevalence of geometrically nonlinear deformation. A variety of robot simulators tackle this challenge by using simplified modeling techniques-such as lumped mass models-which lead to physical inaccuracies in real-world applications. In contrast, high-fidelity simulation methods for soft structures, such as finite element analysis, offer increased accuracy but lead to higher computational costs. In light of this, we present a discrete differential geometry-based simulator that provides a balance between physical accuracy and computational efficiency. Building on an extensive body of research on rod and shell-based representations of soft robots, our tool provides a pathway to accurately model soft robots in a computationally tractable manner. Our open-source MATLAB-based framework is capable of simulating the deformations of rods, shells, and their combinations, primarily utilizing implicit integration techniques. The software design is modular for the user to customize the code-for example, add new external forces and impose boundary conditions-to suit their requirements. The implementations for prevalent forces encountered in robotics, including gravity, contact, kinetic and viscous damping, and hydrodynamic and aerodynamic drag, have been provided. We provide several illustrative examples that showcase the capabilities and validate the physical accuracy of the simulator. The open-source code is available at https://github.com/StructuresComp/dismech-matlab. We anticipate that the proposed simulator can serve as an effective digital twin tool, enhancing the Sim2Real pathway in soft robotics research.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"21695172261426875"},"PeriodicalIF":6.1,"publicationDate":"2026-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147793635","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

HyReach: Vision-Guided Hybrid Manipulator Reaching in Cluttered Unseen Environments. HyReach：在杂乱的看不见的环境中到达的视觉引导混合机械臂。

IF 6.1

Soft robotics Pub Date : 2026-04-27 DOI: 10.1177/21695172261439479

Shivani Kamtikar, Kendall Koe, Justin Wasserman, Samhita Marri, Benjamin Walt, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary

引用次数: 0

Biologically Constrained Insect Models Enable Realistic Simulations and Improve Biomechanical Predictions of Locomotion. 生物约束昆虫模型使现实的模拟和改善运动的生物力学预测。

IF 6.1

Soft robotics Pub Date : 2026-04-25 DOI: 10.1177/21695172261435551

Omer Yuval, Elad Ozeri, Avi Amir, Amir Ayali

{"title":"Biologically Constrained Insect Models Enable Realistic Simulations and Improve Biomechanical Predictions of Locomotion.","authors":"Omer Yuval, Elad Ozeri, Avi Amir, Amir Ayali","doi":"10.1177/21695172261435551","DOIUrl":"https://doi.org/10.1177/21695172261435551","url":null,"abstract":"Animal locomotion emerges from the complex interplay of morphology, neural control, and biomechanics, involving both active and passive elements. Insects have attracted much interest, and a rich ecosystem of computational models exists for insect locomotion. However, while active control mechanisms have been extensively studied, obtaining accurate and useful models remains challenging due to limited understanding of how detailed anatomical constraints and passive biomechanical properties shape movement. To address this, we developed anatomically accurate 3D models of the adult desert locust and mole cricket, two orthopteran insects that share a basic body plan but exhibit strikingly different morphologies linked to their habitats and specialized locomotor behaviors-jumping in locusts versus subterranean digging in mole crickets. We fine-tuned these models using precise morphometric measurements for each major body segment. Furthermore, we quantified passive joint dynamics through high-speed videography of anesthetized locust, revealing a two-phase return motion and history-dependent resting angles. By integrating these biologically grounded constraints into physical simulations, we significantly narrowed the parameter space, resulting in more realistic simulations. Our approach provides new tools for predicting biologically relevant, yet experimentally challenging variables, such as joint torques and contact forces, which contribute directly to the understanding of the underlying biological phenomena. Moreover, these improved simulations offer valuable insight for designing energy-efficient soft robotic systems.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"21695172261435551"},"PeriodicalIF":6.1,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147793293","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 Teleost-Inspired Multimodal Locomotion Soft Robot with High Bandwidth Artificial Muscles. 基于硬骨鱼的高带宽人工肌肉多模态运动软机器人。

IF 6.1

Soft robotics Pub Date : 2026-04-01 Epub Date: 2025-12-16 DOI: 10.1177/21695172251406493

Zhenyi Chai, Wei Gao, Jingwen Kong, Qiqiang Hu, Yiming Ouyang, Lei Zhang, Mengli Sui, Erbao Dong, Weihua Li, Hu Jin, Shiwu Zhang

{"title":"A Teleost-Inspired Multimodal Locomotion Soft Robot with High Bandwidth Artificial Muscles.","authors":"Zhenyi Chai, Wei Gao, Jingwen Kong, Qiqiang Hu, Yiming Ouyang, Lei Zhang, Mengli Sui, Erbao Dong, Weihua Li, Hu Jin, Shiwu Zhang","doi":"10.1177/21695172251406493","DOIUrl":"10.1177/21695172251406493","url":null,"abstract":"Muscles, with broad contraction response bandwidth from milliseconds to seconds, are symmetrically distributed on both sides of the fish's body. By employing these symmetrical muscles with different contraction response combinations, fish are capable of multimodal locomotion including crawling, jumping, rolling, escaping, and swimming. These locomotion modes, ranging from water to land, enable fish with simple body structure to have strong survival abilities. This work proposes a teleost-inspired multimodal locomotion soft robot, named TMSR, which is capable of multimodal locomotion in both underwater and terrestrial environments. The TMSR features a fish-like simple structure with two shape memory alloy (SMA) artificial muscles, each with different contraction response bandwidths, asymmetrically arranged along its central plane. A series of contraction response combinations using these two SMA artificial muscles were developed for the multimodal locomotion of TMSR. Through performance experiments and mechanical models, the driving characteristics of the SMA artificial muscles and the key factors influencing their contraction responses were explored. The TMSR exhibits excellent adaptability and adjustability across various terrains, achieving five different modes of locomotion similar to the movement behaviors of fish through a lightweight and simple biomimetic structural design, including the unique escape movement, which is uncommon in current soft locomotion robots. This design endows the TMSR with a lower mass-mode ratio and higher flexibility and multifunctionality compared with similar robots. This research contributes to broadening the application prospects of such robots in diverse environments.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"218-231"},"PeriodicalIF":6.1,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145859850","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

Multimodal Deformation in Tensegrity Manipulators: Preprogrammable Bend-Twist Modules for Dexterous Grasping Inspired by Elephant Trunks. 张拉整体机械手的多模态变形：受象鼻子启发的灵巧抓取的预编程弯曲-扭转模块。

IF 6.1

Soft robotics Pub Date : 2026-04-01 Epub Date: 2025-12-24 DOI: 10.1177/21695172251406752

Yanghui Chen, Jiafu Liu, Jiahui Luo, Xiaoming Xu, Jianping Jiang, Jianfeng Lu

{"title":"Multimodal Deformation in Tensegrity Manipulators: Preprogrammable Bend-Twist Modules for Dexterous Grasping Inspired by Elephant Trunks.","authors":"Yanghui Chen, Jiafu Liu, Jiahui Luo, Xiaoming Xu, Jianping Jiang, Jianfeng Lu","doi":"10.1177/21695172251406752","DOIUrl":"10.1177/21695172251406752","url":null,"abstract":"Tensegrity-based continuum manipulators (TCMs) are rigid-flexible coupling mechanisms that show great promise for applications in unstructured environments by actively or passively conforming to objects. However, the coupling effects of TCMs require significant effort in resolving the actuation redundancy for performing dexterous manipulation tasks. Inspired by the functions of the elephant trunk, this article proposes a modular TCM composed of preprogrammable bend-twist modules (PBTMs) that employ enhanced segmented actuation. This actuation strategy effectively decouples adjacent segments and separates curvature and directional control, simplifying both mechanical integration and control implementation. By designing a preprogramming template attached to the end module, various twisting motions can be achieved in situ, achieving the multimodal deformation of the PBTM. In this setup, the manipulator is capable of bending or twisting in various planes, enabling the manipulator to better conform with objects of varying shape and pose. Then, we derived a dynamic model in terms of natural coordinates with clustered cable (CTC) elements to predict the configuration of the manipulator. Based on the numerical results, we analyze the effect of the CTCs' rest length on the cable slack phenomenon during the bending motion, as well as the in situ preprogrammed twist motion of the manipulator. Finally, we fabricated a manipulator prototype consisting of two PBTMs and showcased its versatile multimodal deformation in experimental scenarios for object wrapping and obstacle avoidance. The experimental results demonstrate that our proposed modular TCM provides a feasible paradigm, which reduces the control complexity of the continuum manipulator system.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"324-335"},"PeriodicalIF":6.1,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145866913","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

Pop-Up Catcher: A Flat-Foldable Gripper Using Multistate Passive Actuation. 弹出式捕手：使用多状态被动驱动的可折叠抓手。

IF 6.1

Soft robotics Pub Date : 2026-04-01 Epub Date: 2026-03-25 DOI: 10.1177/21695172261426628

Sung-Jin Lee, JaeHyung Jang, Jee-Hwan Ryu, Dae-Young Lee

引用次数: 0

A Collaborative Flipping Continuum Wall-Climbing Robot with Integrated Drive and Function. 一种驱动与功能集成的协同翻转连续爬壁机器人。

IF 6.1

Soft robotics Pub Date : 2026-04-01 Epub Date: 2026-02-04 DOI: 10.1177/21695172251400148

Yehui Shen, Shining Yan, Haiyang Du, Wenwei Wang, Lin Qiu, Peiyu Liao, Hongbin Zang

{"title":"A Collaborative Flipping Continuum Wall-Climbing Robot with Integrated Drive and Function.","authors":"Yehui Shen, Shining Yan, Haiyang Du, Wenwei Wang, Lin Qiu, Peiyu Liao, Hongbin Zang","doi":"10.1177/21695172251400148","DOIUrl":"10.1177/21695172251400148","url":null,"abstract":"Although the mobility of climbing robots has made significant progress, especially the flipping climbing robots which possess strong adaptability to unstructured environments, their movement in complex unstructured constrained environments remains a challenge. This work proposes a flipping continuous wall-climbing robot, which maintains the capabilities of wall climbing, turning, obstacle overcoming, and transitioning between different planes. It can continuously move across unstructured wall surfaces, traverse narrow gaps, and crawl on walls in constrained spaces. The robot is composed of a trunk formed by three segments of continuous joint groups and magnetic adhesion modules at both ends, utilizing an untethered design. We conducted an analysis of the robot's kinematic model and workspace. Experimental results demonstrate that the robot is equipped with multiple basic locomotion abilities, allowing it to execute 360° transitions between surfaces, navigate through apertures measuring 15 cm in diameter (0.37 body length), and move along the side walls of confined spaces that are 11 cm wide (0.27 body length). Additionally, the robot is capable of variable-radius flipping locomotion, supporting an effective payload of 520 g on the wall surface, and facilitating coordinated movement among multiple robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"190-207"},"PeriodicalIF":6.1,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146120917","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