Soft robotics最新文献

{"title":"Design of a Lattice-Reinforced Shape Memory Alloy Actuator for Underwater Soft Robots.","authors":"Liao Li, Shijie Wang, Qi Zhang, Shuang Xu, Lixiao Huang, Yanyue Teng, Qi Wen, Yang Wang, Libo Gao, Lihong Wang, Qiqiang Hu, Junyang Li","doi":"10.1177/21695172251366120","DOIUrl":"https://doi.org/10.1177/21695172251366120","url":null,"abstract":"<p><p>Throughout the development of soft robots, shape memory alloy (SMA) actuators have received considerable attention due to their inherent advantages, such as high power-to-weight ratio, low driving voltage, and high response speed. This study presents a lattice-reinforced SMA actuator with improved response speed and increased deformation range. The SMA wires are used to drive the actuator to achieve bending, while the high elastic wire's elasticity is used to achieve recovery. The actuator is cast into a lattice structure with five connection nodes, named Lattice-N5. Lattice-N5's fast response properties are validated through finite element analysis and experiments. Compared with the actuator without lattice structure (nonlattice), lattice-N5's bending deformation increases by up to 390.59% and 204.4% under optimal (voltage of 20 V, duty ratio of 30%, and frequency of 4 Hz) and practical (voltage of 20 V, duty ratio of 20% and frequency of 1 Hz) conditions, respectively, while reaching a stable state more rapidly under a periodic actuation. Therefore, the lattice-reinforced actuator exhibits robust actuation capabilities and improved response frequencies and thus can be employed in a biomimetic jellyfish robot for underwater monitoring and detection by combining a flexible pressure sensor. Moreover, the jellyfish robot with Lattice-N5 actuators exhibits a speed improvement of 111% under the optimal condition (duty ratio of 20% and frequency of 4 Hz) and 55% under the practical condition (voltage of 20 V, duty ratio of 20% and frequency of 1 Hz) compared with the robot with the nonlattice. This study provides a simple and effective design scheme for improving the performance of SMA actuators and prompting the development of underwater soft robots.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":6.1,"publicationDate":"2025-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144984476","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}

{"title":"A Soft Growing Robotic Endoscope for Painless and Strain-Free Insertion.","authors":"Nam Gyun Kim, Shinwoo Park, Dongoh Seo, Sanghun Lee, Hyuk Yoon, Jaihwan Kim, Jee-Hwan Ryu","doi":"10.1177/21695172251369693","DOIUrl":"https://doi.org/10.1177/21695172251369693","url":null,"abstract":"<p><p>Numerous studies have attempted to develop medical devices using vine robots due to their potential for frictionless locomotion and adaptability in confined environments. However, for applications in colonoscopy, challenges such as high stiffness, limited steering capabilities, difficulties in integrating tethered sensors, and issues related to safe retraction have hindered their practical application. This article addresses these challenges and presents a comprehensive solution that simultaneously resolves these issues while preserving the intrinsic features of vine robots. We propose a novel soft robotic endoscope that leverages an optimized eversion mechanism to maintain low stiffness and ensure compliance with the natural curvature of the colon, minimizing bowel distension. To enable real-time imaging, we introduce a passive tethered camera stabilization system that secures the camera at the distal tip with minimal internal tension. Additionally, the device integrates active steering capabilities using fabric pneumatic artificial muscles, allowing for precise two-degree-of-freedom steering to navigate through complex pathways. A non-sealed, self-retractable mechanism ensures safe and reliable retraction by preventing buckling while maintaining the robot's compliance, even with an embedded tethered sensor inside the inner channel. Comprehensive characterization of key parameters, such as vine diameter and retraction channel geometry, further enhances the system's performance in endoscopic applications. The effectiveness of the proposed endoscope was validated through extensive testing in endoscopic phantom models and <i>in vivo</i> trials, demonstrating significant reductions in insertion forces and colon deformation compared with conventional endoscopes. In phantom studies, the device demonstrated an 80% reduction in mesentery extension compared with a conventional flexible endoscope. <i>In vivo</i>, the soft growing endoscope (SGE) reached the ileocecal valve within 2 min while maintaining real-time imaging, internal channel integrity, and buckling-free retraction. By overcoming key challenges in adapting vine robots for endoscopy, this SGE offers a minimally invasive, safer, and more effective solution for colonoscopy, enhancing patient comfort and procedural efficiency while reducing physical strain on physicians.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":6.1,"publicationDate":"2025-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144984423","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}

{"title":"Optimization-Driven Design of Monolithic Soft-Rigid Grippers.","authors":"Pierluigi Mansueto, Mihai Dragusanu, Anjum Saeed, Monica Malvezzi, Matteo Lapucci, Gionata Salvietti","doi":"10.1177/21695172251359016","DOIUrl":"https://doi.org/10.1177/21695172251359016","url":null,"abstract":"<p><p>Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated designs, requiring multiple prototypes before achieving a functional system. In this study, we propose a novel methodology to address these limitations by combining advanced rapid prototyping techniques and an efficient optimization strategy. First, we employ rapid prototyping methods typically used for rigid structures, leveraging their precision to fabricate compliant components with reduced manufacturing errors. Second, our optimization framework minimizes the need for extensive prototyping, significantly reducing the iterative design process. The methodology enables the identification of stiffness parameters that are more practical and achievable within current manufacturing capabilities. The proposed approach demonstrates a substantial improvement in the efficiency of prototype development while maintaining the desired performance characteristics. This work represents a step forward in bridging the sim-to-real gap in soft robotics, paving the way toward a faster and more reliable deployment of soft robotic systems.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":6.1,"publicationDate":"2025-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144839572","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}

{"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":"10.1089/soro.2024.0114","url":null,"abstract":"<p><p>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.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"455-464"},"PeriodicalIF":6.1,"publicationDate":"2025-08-01","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}

{"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":"10.1089/soro.2024.0082","url":null,"abstract":"<p><p>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.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"498-516"},"PeriodicalIF":6.1,"publicationDate":"2025-08-01","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}

{"title":"Small-Scale Soft Terrestrial Robot with Electrically Driven Multi-Modal Locomotion Capability.","authors":"Jian Yang, Junyu Zhou, Fan Xu, Hesheng Wang","doi":"10.1089/soro.2024.0108","DOIUrl":"10.1089/soro.2024.0108","url":null,"abstract":"<p><p>Small-scale soft robots, despite their potential for adaptability in unknown environments, often encounter performance constraints due to inherent limitations within soft actuators and compact bodies. To address this problem, we proposed a fast-moving soft robot driven by electroactive materials. The robot combines the advantages of dielectric elastomer actuators (DEAs) and shape memory alloy (SMA) spring actuators, enabling its high-performance multi-modal locomotion in a small and lightweight design. Theoretical models were constructed for both DEAs and SMA spring actuators to analyze the performance of the designed robot. The robot's design parameters were optimized based on these models to improve its running and jumping performance. The designed robot has a size of 40 × 45 × 25 mm and a weight of 3.5 g. The robot can achieve a running speed of 91 mm/s, ascend a 9° slope, and execute turning motions <i>via</i> an asymmetrical actuation of SMA spring actuators. The robot also demonstrates high-performance jumping motions with a maximum jumping height of 80 mm and the ability to jump over a 40 mm high obstacle. This work introduces a novel approach to designing small-scale soft terrestrial robots, enhancing their agility and mobility in obstacle-laden environments.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"387-398"},"PeriodicalIF":6.1,"publicationDate":"2025-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142934166","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}

{"title":"Reprogrammable Flexible Piezoelectric Actuator Arrays with a High Degree of Freedom for Shape Morphing and Locomotion.","authors":"Hong Ding, Dengfei Yang, Shuo Ding, Fangyi Ma","doi":"10.1089/soro.2024.0099","DOIUrl":"10.1089/soro.2024.0099","url":null,"abstract":"<p><p>The high degree of freedom (DoF) shape morphing widely exists in biology for mimicry, camouflage, and locomotion. Currently, a lot of bionic soft/flexible actuators and robots with shape-morphing functions have been developed to realize conformity, grasp, and movement. Among these solutions, two-dimensional responsive materials and structures that can shape morph into different three-dimensional configurations are valuable for creating reversible high DoF shape morphing. However, most existing methods are predetermined through the fabrication process and cannot reprogram their shape, facing limitations on multifunction. Besides, the achievable geometries are very limited due to the device's low integrated level of actuator elements. Here, we develop a polyvinylidene fluoride flexible piezoelectric actuator array based on a row/column addressing (RCA) scheme for reprogrammable high DoF shape morphing and locomotion. The specially designed row/column electrodes form a 6 × 6 array, which contains 36 actuator elements. By developing a high-voltage RCA control system, we can individually control all the elements in the array, leading to a highly reprogrammable array with various sophisticated high DoF shape morphing. We also demonstrate that the array is capable of propelling a robotic fish with various locomotions. This research provides a new method and approach for biomimetic robotics with better mimicry, aero/hydrodynamic efficiency, and maneuverability, as well as haptic display and object manipulation.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"436-444"},"PeriodicalIF":6.1,"publicationDate":"2025-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962574","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}

{"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":"10.1089/soro.2024.0031","url":null,"abstract":"<p><p>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.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"488-497"},"PeriodicalIF":6.1,"publicationDate":"2025-08-01","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}

{"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":"10.1089/soro.2024.0043","url":null,"abstract":"<p><p>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.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"399-409"},"PeriodicalIF":6.1,"publicationDate":"2025-08-01","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}

{"title":"FOCERS: An Ultrasensitive and Robust Soft Optical 3D Tactile Sensor.","authors":"Zhengwei Li, Long Cheng, Zeyu Liu, Jiachen Wei, Yifan Wang","doi":"10.1089/soro.2024.0053","DOIUrl":"10.1089/soro.2024.0053","url":null,"abstract":"<p><p>Soft optical sensors, characterized by excellent stability, strong anti-interference ability, and rapid response, are particularly suitable for exploring unknown environments. However, the low sensitivity and large size of optical tactile sensors have limited their widespread application. This study presents an ultrasensitive, highly linear, and highly robust three-dimensional (3D) tactile sensor based on a Foldable Optical Circuit Embedded in Rigid-Soft-coupled (FOCERS) structure. This sensor exhibits a high sensitivity of 1228.7 kPa^-1 under normal pressure of 5 kPa, a super high sensitivity of 7399.5 kPa^-1 under a sheer pressure of 1.5 kPa, and a fast response time of 5 ms. Under normal pressure conditions, the sensors exhibited high linearity performance across the entire sensing range, with linearity reaching up to 95.3%. The rigid-soft-coupled structure enhances the robustness and overload resistance of the sensor (withstanding 50 times the sensing range). Demonstrations show that the FOCERS structure can detect minute pressure variations (induced by sesame seeds) and withstand extreme pressures (such as being run over by a car). Furthermore, we designed a joystick based on FOCERS for force detection in human-machine interactions. This study provides a new structure for optical sensors to increase both sensitivity and robustness, and also provides a convenient way to fabricate 3D tactile sensors.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"445-454"},"PeriodicalIF":6.1,"publicationDate":"2025-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143766181","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}