Soft robotics最新文献_第2页

ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration. ZodiAq：一种受鞭毛启发的各向同性软水下无人机，用于安全的海洋探索。

Soft robotics Pub Date : 2025-05-12 DOI: 10.1089/soro.2024.0036

Anup Teejo Mathew, Daniel Feliu-Talegon, Yusuf Abdullahi Adamu, Ikhlas Ben Hmida, Costanza Armanini, Cesare Stefanini, Lakmal Seneviratne, Federico Renda

{"title":"ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration.","authors":"Anup Teejo Mathew, Daniel Feliu-Talegon, Yusuf Abdullahi Adamu, Ikhlas Ben Hmida, Costanza Armanini, Cesare Stefanini, Lakmal Seneviratne, Federico Renda","doi":"10.1089/soro.2024.0036","DOIUrl":"10.1089/soro.2024.0036","url":null,"abstract":"The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine life, call for the adoption of soft robotic approaches in marine exploration. To address this, we present a novel prototype, ZodiAq, a soft underwater drone inspired by prokaryotic bacterial flagella. ZodiAq's unique dodecahedral structure, equipped with 12 flagella-like arms, ensures design redundancy and compliance, ideal for navigating complex underwater terrains. The prototype features a central unit based on a Raspberry Pi, connected to a sensory system for inertial, depth, and vision detection, and an acoustic modem for communication. Combined with the implemented control law, it renders ZodiAq an intelligent system. This article details the design and fabrication process of ZodiAq, highlighting design choices and prototype capabilities. Based on the strain-based modeling of Cosserat rods, we have developed a digital twin of the prototype within a simulation toolbox to simplify analysis and control. To optimize its operation in dynamic aquatic conditions, a simplified model-based controller has been developed and implemented, facilitating intelligent and adaptive movement in the hydrodynamic environment. Extensive experimental demonstrations highlight the drone's potential, showcasing its design redundancy, embodied intelligence, crawling gait, and practical applications in diverse underwater settings. This research contributes significantly to the field of underwater soft robotics, offering a promising new avenue for safe, efficient, and environmentally conscious underwater exploration.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143026233","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 Sensorized Mechanically Self-Guided Suction Cup for Improved Adhesion in Complex Environments. 一种用于改善复杂环境中附着力的传感机械自导向吸盘。

Soft robotics Pub Date : 2025-04-09 DOI: 10.1089/soro.2024.0152

Feiyang Yuan, Lufeng Tian, Haoyuan Xu, Zhongqiang Fu, Wenjie Wu, Zhexin Xie, Bo Yuan, Tianmiao Wang, Xilun Ding, Li Wen

{"title":"A Sensorized Mechanically Self-Guided Suction Cup for Improved Adhesion in Complex Environments.","authors":"Feiyang Yuan, Lufeng Tian, Haoyuan Xu, Zhongqiang Fu, Wenjie Wu, Zhexin Xie, Bo Yuan, Tianmiao Wang, Xilun Ding, Li Wen","doi":"10.1089/soro.2024.0152","DOIUrl":"https://doi.org/10.1089/soro.2024.0152","url":null,"abstract":"Octopuses can effectively interact with environments using their agile suction cups, in which abundant neuroreceptors are embodied inside. Inspired by this, we proposed an electronics-integrated self-guided adhesive suction cup (E-SGAS) capable of environmental sensing and adaptively adhesion on diverse surfaces. E-SGAS features an inflatable adhesive membrane and an under-actuated design, enabling it to adapt to various angles and surface roughness under low preloads. A theoretical model is presented to predict self-guided adhesion outcomes. The integrated multilayer stretchable liquid metal sensory circuit (with a maximum deformation rate of 186%) in the adhesive membrane allows for detecting expansion, contact, suction, leakage, and surface roughness. E-SGAS can also process the sensory information to guide intelligent gripping in various complex environments. Experimental results demonstrate the ability of E-SGAS to autonomously grip under a preload force of 0.11 N, a maximum adhesion force of 57.9N, and a detachment force of only 0.34 N. It can adhere to surfaces up to 60-grit roughness and accommodate a surface with a relative angle of 90°. We also show that E-SGAS can capture flying objects or work in a confined space. The proposed adhesion and sensing strategies aim to enhance the performance and expand the application range of suction cup-like grippers. E-SGAS's results can provide design insights into creating stretchable electronics-integrated bioinspired adhesive systems that can interact with unconstructed environments.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143813227","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

Customizable Single-Layer Programmable Deformation Hydrogel Robots Based on One-Time Fabricating with Near-Infrared-Triggered Responsiveness. 基于近红外触发响应一次性制造的可定制单层可编程变形水凝胶机器人。

Soft robotics Pub Date : 2025-04-08 DOI: 10.1089/soro.2024.0079

Chenlong Tang, Hui Ma, Shiyu Wu, Hui Zhang, Wenquan Chen, Yang Zhou, Kun Wei, Xiaojian Li, Fuzhou Niu, Ping Liu, Yuping Duan, Guangli Liu, Tingting Luo, Runhuai Yang

{"title":"Customizable Single-Layer Programmable Deformation Hydrogel Robots Based on One-Time Fabricating with Near-Infrared-Triggered Responsiveness.","authors":"Chenlong Tang, Hui Ma, Shiyu Wu, Hui Zhang, Wenquan Chen, Yang Zhou, Kun Wei, Xiaojian Li, Fuzhou Niu, Ping Liu, Yuping Duan, Guangli Liu, Tingting Luo, Runhuai Yang","doi":"10.1089/soro.2024.0079","DOIUrl":"https://doi.org/10.1089/soro.2024.0079","url":null,"abstract":"Programmable deformation hydrogel robots have garnered significant attention in biomedical fields due to their ability to undergo large-scale reversible deformation. As clinical demand rises, there is a need for hydrogel robots that are easy to process and operate, and can undergo programmable deformation. Here, we propose a method to fabricate single-layer programmable deformation hydrogel robots in one step using a high-precision digital light processing 3D printing system. Two kinds of deformable elements with different structure distribution on the top and bottom sides are produced by using two kinds of focused light with varying intensities. By combining these deformable elements, we create four basic modules with different and fixed deformable shapes. The desired shape deformation in hydrogel robots can be achieved by programming the combination of these four basic modules. The hydrogel robots exhibit reversible repeat deformation under near-infrared light stimulation. We validate our approach by fabricating several scaffolds using combinations of the four basic modules, demonstrating the feasibility of programming deformation and the potential application of these scaffolds in pipeline movement. This research provides the feasibility for the simple programming deformation of hydrogel robots and offers a novel approach for fabricating programmable deformation hydrogel robots in biomedical fields.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143805275","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 Interconnected Soft Modular Robot with Locomotive Modules and Flexible Structures Actuated Through a Single Method. 机车模块和柔性结构的互联软模块机器人。

Soft robotics Pub Date : 2025-04-04 DOI: 10.1089/soro.2024.0009

Koki Tanaka, Matthew Spenko

{"title":"An Interconnected Soft Modular Robot with Locomotive Modules and Flexible Structures Actuated Through a Single Method.","authors":"Koki Tanaka, Matthew Spenko","doi":"10.1089/soro.2024.0009","DOIUrl":"https://doi.org/10.1089/soro.2024.0009","url":null,"abstract":"This article presents a unique soft robot comprised of highly compliant locomotive modules interconnected with jamming-capable flexible envelopes. The modules incorporate origami-inspired actuators and suction cups for robust omnidirectional locomotion, acting as collective elements that drive the system's movement and control. The flexible envelopes enable dynamic interactions with the environment through stiffness modulation via granular jamming. A unified pneumatic actuation system consolidates all robot functions, simplifying the mechanical architecture. The system's capabilities are demonstrated through shape formation, object grasping and transportation, obstacle navigation, and diverse terrain locomotion experiments, highlighting its adaptability and cooperative nature. Furthermore, a simulation-based design optimization approach using a genetic algorithm enhances the system's grasping performance by exploring the different module and envelope configurations. The interconnected soft robot system represents a unique fusion of highly compliant modules and bodies, advancing modular soft robotics for effective environmental interactions.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143782307","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

Harnessing Liquid Crystal Elastomers for Locomotion and Mechanical Intelligence in a Soft Robot. 液晶弹性体在软体机器人运动和机械智能中的应用。

Soft robotics Pub Date : 2025-04-02 DOI: 10.1089/soro.2024.0137

Lance P Hyatt, Philip R Buskohl, Ryan L Harne, Jared J Butler

{"title":"Harnessing Liquid Crystal Elastomers for Locomotion and Mechanical Intelligence in a Soft Robot.","authors":"Lance P Hyatt, Philip R Buskohl, Ryan L Harne, Jared J Butler","doi":"10.1089/soro.2024.0137","DOIUrl":"https://doi.org/10.1089/soro.2024.0137","url":null,"abstract":"Recently, there has been an increased interest in endowing intelligent behaviors and features in soft robotic systems. As a prerequisite for intelligence, a system must integrate sensing, information processing, and the ability to act in response to external stimuli. This work presents a soft robotic crawler that demonstrates locomotion using electroactive liquid crystal elastomers (LCEs). By integrating independent components such as a photo-responsive LCE switch into a conductive electromechanical processing network based on sequential logic, the robot can sense optical indicators and process this information to change direction autonomously. This study expands the design of the individual mechanical material subsystems and experimentally showcases the autonomous operation of the soft robot. The embedded bistable mechanism stores the present operational state of the robot and enforces directional locomotion by controlling the position of a mechanical hard stop that interfaces with the legs. The robot exemplifies the advanced potential of soft intelligent material systems for complex autonomous behavior, leveraging the unique properties of LCEs and a mechanical-electrical network for information processing without the need for traditional electronic controllers.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143766182","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

FOCERS: An Ultrasensitive and Robust Soft Optical 3D Tactile Sensor. FOCERS：一种超灵敏、鲁棒的软光学3D触觉传感器。

Soft robotics Pub Date : 2025-04-02 DOI: 10.1089/soro.2024.0053

Zhengwei Li, Long Cheng, Zeyu Liu, Jiachen Wei, Yifan Wang

{"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":"https://doi.org/10.1089/soro.2024.0053","url":null,"abstract":"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.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-02","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}

引用次数: 0

Unsupervised Sim-to-Real Adaptation of Soft Robot Proprioception Using a Dual Cross-Modal Autoencoder. 基于双跨模态自编码器的软机器人本体感觉的无监督模拟到真实适应。

Soft robotics Pub Date : 2025-04-01 Epub Date: 2025-01-06 DOI: 10.1089/soro.2024.0025

Chaeree Park, Hyunkyu Park, Jung Kim

{"title":"Unsupervised Sim-to-Real Adaptation of Soft Robot Proprioception Using a Dual Cross-Modal Autoencoder.","authors":"Chaeree Park, Hyunkyu Park, Jung Kim","doi":"10.1089/soro.2024.0025","DOIUrl":"10.1089/soro.2024.0025","url":null,"abstract":"Data-driven calibration methods have shown promising results for accurate proprioception in soft robotics. This process can be greatly benefited by adopting numerical simulation for computational efficiency. However, the gap between the simulated and real domains limits the accurate, generalized application of the approach. Herein, we propose an unsupervised domain adaptation framework as a data-efficient, generalized alignment of these heterogeneous sensor domains. A dual cross-modal autoencoder was designed to match the sensor domains at a feature level without any extensive labeling process, facilitating the computationally efficient transferability to various tasks. Moreover, our framework integrates domain adaptation with anomaly detection, which endows robots with the capability for external collision detection. As a proof-of-concept, the methodology was adopted for the famous soft robot design, a multigait soft robot, and two fundamental perception tasks for autonomous robot operation, involving high-fidelity shape estimation and collision detection. The resulting perception demonstrates the digital-twinned calibration process in both the simulated and real domains. The proposed design outperforms the existing prevalent benchmarks for both perception tasks. This unsupervised framework envisions a new approach to imparting embodied intelligence to soft robotic systems via blending simulation.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"213-227"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142934208","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

Improved Assistive Profile Tracking of Exosuit by Considering Adaptive Stiffness Model and Body Movement. 通过考虑自适应刚度模型和身体运动，改进防弹衣的辅助轮廓跟踪。

Soft robotics Pub Date : 2025-04-01 Epub Date: 2024-09-30 DOI: 10.1089/soro.2023.0028

Jihun Kim, Kimoon Nam, Seungtae Yang, Junyoung Moon, Jaeha Yang, Jaewook Ryu, Giuk Lee

{"title":"Improved Assistive Profile Tracking of Exosuit by Considering Adaptive Stiffness Model and Body Movement.","authors":"Jihun Kim, Kimoon Nam, Seungtae Yang, Junyoung Moon, Jaeha Yang, Jaewook Ryu, Giuk Lee","doi":"10.1089/soro.2023.0028","DOIUrl":"10.1089/soro.2023.0028","url":null,"abstract":"Wearable robots have been developed to assist the physical performance of humans. Specifically, exosuits have attracted attention due to their lightweight and soft nature, which facilitate user movement. Although several types of force controllers have been used in exosuits, it is challenging to control the assistive force due to the material's softness. In this study, we propose three methods to improve the performance of the basic controller using an admittance-based force controller. In method A, the cable was controlled according to the user's thigh motion to eliminate delays in generating the assistive force and improve the control accuracy. In method B, the stiffness feedforward model of the human exosuit was divided into two independent models based on the assistance phase for compensating the nonlinear stiffness more accurately. In method C, the real-time optimization method for the stiffness feedforward model with an adaptive moment estimation method optimizer was proposed. To validate these methods' effectiveness, we designed three new controllers, gradually combined the proposed methods with the basic controller, and compared their performances. We found that controller III, combining all three methods with the basic controller, showed the best performance. By applying controller III in the same exosuit, the root-mean-square error of the assistive force decreased from 39.84 N to 13.72 N, reducing the error by 65.56% compared with the basic controller. Moreover, the time delay for force generation in the gait cycle percentage decreased from 9.99% to 3.41%, reducing the delay by 65.87% compared with the basic controller.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"200-212"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142335499","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

Online Hydraulic Stiffness Modulation of a Soft Robotic Fish Tail for Improved Thrust and Efficiency. 软体机器人鱼尾的在线液压刚度调节，以提高推力和效率。

Soft robotics Pub Date : 2025-04-01 Epub Date: 2024-10-28 DOI: 10.1089/soro.2024.0030

Nana Obayashi, Kai Junge, Parth Singh, Josie Hughes

{"title":"Online Hydraulic Stiffness Modulation of a Soft Robotic Fish Tail for Improved Thrust and Efficiency.","authors":"Nana Obayashi, Kai Junge, Parth Singh, Josie Hughes","doi":"10.1089/soro.2024.0030","DOIUrl":"10.1089/soro.2024.0030","url":null,"abstract":"This paper explores online stiffness modulation within a single tail stroke for swimming soft robots. Despite advances in stiffening mechanisms, little attention has been given to dynamically adjusting stiffness in real-time, presenting a challenge in developing mechanisms with the requisite bandwidth to match tail actuation. Achieving an optimal balance between thrust and efficiency in swimming soft robots remains elusive, and the paper addresses this challenge by proposing a novel mechanism for independent stiffness control, leveraging fluid-driven stiffening within a patterned pouch. Inspired by fluidic-driven actuation, this approach exhibits high bandwidth and facilitates significant stiffness changes. We perform experiments to demonstrate how this mechanism enhances both thrust and swimming efficiency. The tail actuation and fluid-driven stiffening can be optimized for a specific combination of thrust and efficiency, tailored to the desired maneuver type. The paper further explores the complex interaction between the soft body and surrounding fluid and provides fluid dynamics insights gained from the vortices created during actuation. Through frequency modulation and online stiffening, the study extends the Pareto front of achievable thrust generation and swimming efficiency.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"242-252"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142515635","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

Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable Three-Dimensional Deformations for Dexterous Soft Robotics Applications. 可重构、可变形的软气动执行器，具有可调节的三维变形，适用于灵巧型软机器人应用。

Soft robotics Pub Date : 2025-04-01 Epub Date: 2024-09-17 DOI: 10.1089/soro.2023.0072

Dickson Chiu Yu Wong, Mingtan Li, Shijie Kang, Lifan Luo, Hongyu Yu

{"title":"Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable Three-Dimensional Deformations for Dexterous Soft Robotics Applications.","authors":"Dickson Chiu Yu Wong, Mingtan Li, Shijie Kang, Lifan Luo, Hongyu Yu","doi":"10.1089/soro.2023.0072","DOIUrl":"10.1089/soro.2023.0072","url":null,"abstract":"Numerous soft actuators based on pneumatic network (PneuNet) design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is that their action is predetermined during the fabrication process, thereby restricting the ability to modify or alter their function during operation. To address this shortcoming, in this article the design of a Reconfigurable, Transformable Soft Pneumatic Actuator (RT-SPA) is proposed. The working principle of the RT-SPA is analogous to the conventional PneuNet. The key distinction between the two lies in the ability of the RT-SPA to undergo controlled transformations, allowing for more versatile bending and twisting motions in various directions. Furthermore, the unique reconfigurable design of the RT-SPA enables the selection of actuation units with different sizes to achieve a diverse range of three-dimensional deformations. This versatility enhances the RT-SPA's potential for adaptation to a multitude of tasks and environments, setting it apart from traditional PneuNet. The article begins with a detailed description of the design and fabrication of the RT-SPA. Following this, a series of experiments are conducted to evaluate the performance of the RT-SPA. Finally, the abilities of the RT-SPA for locomotion, gripping, and object manipulation are demonstrated to illustrate the versatility of the RT-SPA across different aspects.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"228-241"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142305264","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