Soft robotics最新文献_第10页

A Sensorized Soft Robotic Hand with Adhesive Fingertips for Multimode Grasping and Manipulation. 用于多模式抓取和操纵的带粘合剂指尖的传感软机器手

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-03-14 DOI: 10.1089/soro.2023.0099

Wookeun Park, Seongjin Park, Hail An, Minho Seong, Joonbum Bae, Hoon Eui Jeong

{"title":"A Sensorized Soft Robotic Hand with Adhesive Fingertips for Multimode Grasping and Manipulation.","authors":"Wookeun Park, Seongjin Park, Hail An, Minho Seong, Joonbum Bae, Hoon Eui Jeong","doi":"10.1089/soro.2023.0099","DOIUrl":"10.1089/soro.2023.0099","url":null,"abstract":"Soft robotic grippers excel at achieving conformal and reliable contact with objects without the need for complex control algorithms. However, they still lack in grasp and manipulation abilities compared with human hands. In this study, we present a sensorized multi-fingered soft gripper with bioinspired adhesive fingertips that can provide both fingertip-based adhesion grasping and finger-based form closure grasping modes. The gripper incorporates mushroom-like microstructures on its adhesive fingertips, enabling robust adhesion through uniform load shearing. A single fingertip exhibits a maximum load capacity of 4.18 N against a flat substrate. The soft fingers have multiple joints, and each joint can be independently actuated through pneumatic control. This enables diverse bending motions and stable grasping of various objects, with a maximum load capacity of 28.29 N for three fingers. In addition, the soft gripper is equipped with a kirigami-patterned stretchable sensor for motion monitoring and control. We demonstrate the effectiveness of our design by successfully grasping and manipulating a diverse range of objects with varying shapes, sizes, and curvatures. Moreover, we present the practical application of our sensorized soft gripper for remotely controlled cooking.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"698-708"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140133708","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

The Walking Control of a Crab Biorobot in Amphibious Environment. 螃蟹生物机器人在两栖环境中的行走控制

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-02-29 DOI: 10.1089/soro.2023.0033

Kazuki Kai, Huu Duoc Nguyen, Wei Yang Wan, Hirotaka Sato

引用次数: 0

Deformation Characteristics of Three-Dimensional Spiral Soft Actuator Driven by Water Hydraulics for Underwater Manipulator. 水液压驱动水下机械臂三维螺旋软作动器的变形特性

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-11-22 DOI: 10.1089/soro.2023.0085

Songlin Nie, Linfeng Huo, Hui Ji, Shuang Nie, Pengwang Gao, Hanyu Li

引用次数: 0

Programming Motion into Materials Using Electricity-Driven Liquid Crystal Elastomer Actuators. 利用电驱动液晶弹性体致动器将运动编程到材料中

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-01-23 DOI: 10.1089/soro.2023.0063

Lin Xu, Chen Zhu, Samuel Lamont, Xiang Zou, Yabing Yang, Si Chen, Jianning Ding, Franck J Vernerey

{"title":"Programming Motion into Materials Using Electricity-Driven Liquid Crystal Elastomer Actuators.","authors":"Lin Xu, Chen Zhu, Samuel Lamont, Xiang Zou, Yabing Yang, Si Chen, Jianning Ding, Franck J Vernerey","doi":"10.1089/soro.2023.0063","DOIUrl":"10.1089/soro.2023.0063","url":null,"abstract":"As thermally driven smart materials capable of large reversible deformations, liquid crystal elastomers (LCEs) have great potential for applications in bionic soft robots, artificial muscles, controllable actuators, and flexible sensors due to their ability to program controllable motion into materials. In this article, we introduce conductive LCE actuators using a liquid metal electrothermal layer and a polyethylene terephthalate substrate. Our LCE actuators can be stimulated at low currents from 2 to 4 A and produce a maximum work density of 9.4 <math><mstyle><mi>k</mi><mi>J</mi></mstyle><mo>∕</mo><msup><mrow><mstyle><mi>m</mi></mstyle></mrow><mrow><mn>3</mn></mrow></msup></math>. We illustrate the potential applications of this system by designing a palm-activated artificial muscle gripper, which can be used to grasp soft objects ranging from 5 to 55 mm in size, and even ring-shaped workpieces with precise external or internal support. Furthermore, inspired by the movement of fruit fly larvae, we designed a new soft robot capable of bioinspired crawling and turning by inducing anisotropic friction with an asymmetric design. Finally, we illustrate advanced motional control by designing an autonomously rotating wheel based on the asymmetric contraction of its spokes. To assist in the production of autonomously moving robots, we provide a thorough characterization of its motion dynamics.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"464-472"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139543923","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

Light-Responsive Hydrogel Microcrawlers, Powered and Steered with Spatially Homogeneous Illumination. 用空间均匀照明驱动和引导的光响应水凝胶微型爬行器

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-03-06 DOI: 10.1089/soro.2023.0074

Jindrich Kropacek, Charlie Maslen, Paolo Gidoni, Petr Cigler, Frantisek Stepanek, Ivan Rehor

{"title":"Light-Responsive Hydrogel Microcrawlers, Powered and Steered with Spatially Homogeneous Illumination.","authors":"Jindrich Kropacek, Charlie Maslen, Paolo Gidoni, Petr Cigler, Frantisek Stepanek, Ivan Rehor","doi":"10.1089/soro.2023.0074","DOIUrl":"10.1089/soro.2023.0074","url":null,"abstract":"Sub-millimeter untethered locomoting robots hold promise to radically change multiple areas of human activity such as microfabrication/assembly or health care. To overcome the associated hurdles of such a degree of robot miniaturization, radically new approaches are being adopted, often relying on soft actuating polymeric materials. Here, we present light-driven, crawling microrobots that locomote by a single degree of freedom actuation of their light-responsive tail section. The direction of locomotion is dictated by the robot body design and independent of the spatial modulation of the light stimuli, allowing simultaneous multidirectional motion of multiple robots. Moreover, we present a method for steering such robots by reversibly deforming their front section, using ultraviolet (UV) light as a trigger. The deformation dictates the robot locomotion, performing right- or left-hand turning when the UV is turned on or off respectively. The robots' motion and navigation are not coupled to the position of the light sources, which enables simultaneous locomotion of multiple robots, steering of robots and brings about flexibility with the methods to deliver the light to the place of robot operation.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"531-538"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140051414","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 Dual-Modal Hybrid Gripper with Wide Tunable Contact Stiffness Range and High Compliance for Adaptive and Wide-Range Grasping Objects with Diverse Fragilities. 一种具有宽可调接触刚度范围和高柔顺性的双模混合夹具，适用于自适应和宽范围抓取具有不同脆性的物体。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-10-30 DOI: 10.1089/soro.2023.0022

Jiaqi Zhu, Han Chen, Zhiping Chai, Han Ding, Zhigang Wu

{"title":"A Dual-Modal Hybrid Gripper with Wide Tunable Contact Stiffness Range and High Compliance for Adaptive and Wide-Range Grasping Objects with Diverse Fragilities.","authors":"Jiaqi Zhu, Han Chen, Zhiping Chai, Han Ding, Zhigang Wu","doi":"10.1089/soro.2023.0022","DOIUrl":"10.1089/soro.2023.0022","url":null,"abstract":"The difficulties of traditional rigid/soft grippers in meeting the increasing performance expectations (e.g., high grasping adaptability and wide graspable objects range) of a single robotic gripper have given birth to numerous soft-rigid coupling grippers with promising performance. However, it is still hard for these hybrid grippers to adaptively grasp various objects with diverse fragilities intact, such as incense ash and orange, due to their limited contact stiffness adjustable range and compliance. To solve these challenging issues, herein, we propose a dual-modal hybrid gripper, whose fingers contain a detachable elastomer-coated flexible sheet that is restrained by a moving frame as a teardrop shape. The gripper's two modes switched by controlling the moving frame position can selectively highlight the low contact stiffness and excellent compliance of the teardrop-shaped flexible sheets and the high contact stiffness of the moving frames. Moreover, the contact stiffness of the teardrop-shaped sheets can be wide-range adjusted by online controlling the moving frame position and offline replacing the sheets with different thicknesses. The compliance of the teardrop-shaped sheets also proves to be excellent compared with an Ecoflex 10 fingertip with the same profile. Such a gripper with wide-range tunable contact stiffness and high compliance demonstrates excellent grasping adaptability (e.g., it can safely grasp several fragile strawberries with a maximum size difference of 18 mm, a strawberry with a left/right offset of 3 cm, and a strawberry in two different lying poses) and wide-range graspable objects (from 0.1 g super fragile cigarette ashes to 5.1 kg dumbbell).","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"371-381"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71416434","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

Bionic Snail Robot Enhanced by Poroelastic Foams Crawls Using Direct and Retrograde Waves. 由多孔弹性泡沫增强的仿生蜗牛机器人利用直向波和逆向波爬行

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-12-28 DOI: 10.1089/soro.2023.0077

Qinjie Ji, Aiguo Song

{"title":"Bionic Snail Robot Enhanced by Poroelastic Foams Crawls Using Direct and Retrograde Waves.","authors":"Qinjie Ji, Aiguo Song","doi":"10.1089/soro.2023.0077","DOIUrl":"10.1089/soro.2023.0077","url":null,"abstract":"Snails employ a distinctive crawling mechanism in which the pedal waves travel along the foot and interact with the mucus to promote efficient movement on various substrates. Inspired by the concavities on the pedal wave, we develop a new bionic snail robot that introduces transverse patterns in a longitudinal wave to periodically change the friction. The poroelastic foam serves as flexible constraint and fills the robot's internal cavity. It contributes to the bending action, and maintains the thinness and softness of the robot. Then, the model of the robot's single segment is built utilizing the Euler-Bernoulli beam theory. The model aligns well with the experimental data, thereby confirming the effectiveness of soft constraints. The evaluation of pedal wave is conducted, which further guides the optimization of the control sequence. The experiments demonstrated the robot performing retrograde wave locomotion on dry substrates. Notably, shear-thickening fluids were found to be suitable for this particular crawling pattern compared with other mucus simulants, resulting in direct wave locomotion with a 49% increase in speed and a 33% reduction in energy usage. The load capacity of the soft snail robot was also enhanced, enabling it to carry loads up to 2.84 times its own weight. The use of mucus in crawling also brings valuable insights for the enhancement of other biomimetic robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"453-463"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139050028","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

Teleoperation of an Anthropomorphic Robot Hand with a Metamorphic Palm and Tunable-Stiffness Soft Fingers. 具有变形手掌和可调刚度软手指的拟人机器人手的远程操作。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-02-21 DOI: 10.1089/soro.2023.0062

Bohan Chen, Ziming Chen, Xingyu Chen, Sizhe Mao, Fei Pan, Lei Li, Wenbo Liu, Huasong Min, Xilun Ding, Bin Fang, Fuchun Sun, Li Wen

引用次数: 0

Untethered Soft Pneumatic Actuators with Embedded Multiple Sensing Capabilities. 具有嵌入式多重传感功能的无创软气动执行器。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-11-10 DOI: 10.1089/soro.2023.0048

Xingmiao Fang, Kun Wei, Runhuai Yang

引用次数: 0

Educational Soft Underwater Robot with an Electromagnetic Actuation. 带电磁驱动装置的软体水下教育机器人。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-01-08 DOI: 10.1089/soro.2021.0181

Robert Hennig, Alex Beaudette, Holly M Golecki, Conor J Walsh

{"title":"Educational Soft Underwater Robot with an Electromagnetic Actuation.","authors":"Robert Hennig, Alex Beaudette, Holly M Golecki, Conor J Walsh","doi":"10.1089/soro.2021.0181","DOIUrl":"10.1089/soro.2021.0181","url":null,"abstract":"As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or replicating 3d swarm behavior. To make this research area accessible for education we developed Educational Soft Underwater Robot with Electromagnetic Actuation (ESURMA), a humanoid soft underwater robot. We achieved advances in simplicity, modularity, and performance by implementing electromagnetic actuation into the caudal fin. An electromagnet, including electronics, is placed in a waterproof housing, and permanent magnets are embedded in a soft silicone cast tail. The force from their magnetic interaction results in a bending movement of the tail. The magnetic actuation is simple to implement and requires no mechanical connection between the actuated component and the electrically controlled coil. This enables robust waterproofing and makes the device fully modular. Thanks to the direct and immediate transmission of force, experimental flapping frequencies of 14 Hz were achieved, an order of magnitude higher compared to pneumatically actuated tails. The completely silent actuation of the caudal fin enables a maximum swimming speed of 14.3 cm/s. With its humanoid shape, modular composition, and cost efficiency ESURMA represents an attractive platform for education and demonstrates an alternative method of actuating soft structures.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"444-452"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139405820","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