Soft robotics最新文献_第3页

Fluidic Oscillation-Based Pneumatic Actuation for Soft Locomotion and Grasping. 基于流体振荡的柔性运动与抓取气动驱动。

Soft robotics Pub Date : 2025-04-01 Epub Date: 2024-12-11 DOI: 10.1089/soro.2023.0073

Zhenchao Ling, Aihu Jia, Yunlong Fu, David T Branson, Zhibin Song, Jiayao Ma, Jian S Dai, Rongjie Kang

{"title":"Fluidic Oscillation-Based Pneumatic Actuation for Soft Locomotion and Grasping.","authors":"Zhenchao Ling, Aihu Jia, Yunlong Fu, David T Branson, Zhibin Song, Jiayao Ma, Jian S Dai, Rongjie Kang","doi":"10.1089/soro.2023.0073","DOIUrl":"10.1089/soro.2023.0073","url":null,"abstract":"Most pneumatic actuators used in robotics are controlled by valves that contain moving parts (e.g., spool or rotor) and electronics to change the direction or pressure of the air flow. Thus, the dynamic bandwidth and robustness of the system are limited by these elements. This article presents an oscillation-based pneumatic actuation method to remove the moving parts and electronics from the valve. The obtained bistable load-switched (LoS) oscillator utilizes two output attachment walls to generate the Coanda effect and internal flow field to control the pressure in different output channels. The bistable LoS oscillator is implemented on a soft fish and runner, achieving locomotion speed up to 1.68 and 1.97 BL/s (body length per second), respectively, which are faster than existing counterparts. Furthermore, a single-output LoS oscillator is demonstrated by slightly modifying the bistable one. It enables the development of a soft runner with higher load capacity, as well as a relief valve used for pressure regulation in soft robotic grippers. The presented actuation methods can be potentially extended to a variety of situations that require compact size, light weight, high dynamics, and robustness.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"290-301"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142809029","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

External Steering of Vine Robots via Magnetic Actuation. 通过磁力驱动实现藤蔓机器人的外部转向

Soft robotics Pub Date : 2025-04-01 Epub Date: 2024-09-17 DOI: 10.1089/soro.2023.0182

Nam Gyun Kim, Nikita J Greenidge, Joshua Davy, Shinwoo Park, James H Chandler, Jee-Hwan Ryu, Pietro Valdastri

{"title":"External Steering of Vine Robots via Magnetic Actuation.","authors":"Nam Gyun Kim, Nikita J Greenidge, Joshua Davy, Shinwoo Park, James H Chandler, Jee-Hwan Ryu, Pietro Valdastri","doi":"10.1089/soro.2023.0182","DOIUrl":"10.1089/soro.2023.0182","url":null,"abstract":"This article explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies, present unique shape adaptation capabilities that allow passive deformation around obstacles. However, without additional steering mechanisms, they lack the ability to actively select the desired direction of growth. The principles of magnetically steered growing robots are discussed, and experimental results showcase the effectiveness of the proposed magnetic actuation approach. We present a 25-mm-diameter vine robot with an integrated magnetic tip capsule, including 6 degrees of freedom (DOF) localization system and camera, and demonstrate a minimum bending radius of 3.85 cm with an internal pressure of 30 kPa. Furthermore, we evaluate the robot's ability to form tight curvature through complex navigation tasks, with magnetic actuation allowing for extended free-space navigation without buckling. The suspension of the magnetic tip was also validated using the 6 DOF localization system to ensure that the shear-free nature of vine robots was preserved. Additionally, by exploiting the magnetic wrench at the tip, we showcase preliminary results of vine retraction. The findings contribute to the development of controllable vine robots for endoluminal applications, providing high tip force and shear-free navigation.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"159-170"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12021788/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142305263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Computational Approach for Internal Tendon Routing Channels in a Tendon-Driven Continuum Joint. 一种肌腱驱动连续关节内肌腱路径通道的计算方法。

Soft robotics Pub Date : 2025-04-01 Epub Date: 2024-12-13 DOI: 10.1089/soro.2023.0029

Jens Reinecke, Bastian Deutschmann, Alexander Dietrich, Simon R Eugster, Marco Hutter

{"title":"A Computational Approach for Internal Tendon Routing Channels in a Tendon-Driven Continuum Joint.","authors":"Jens Reinecke, Bastian Deutschmann, Alexander Dietrich, Simon R Eugster, Marco Hutter","doi":"10.1089/soro.2023.0029","DOIUrl":"10.1089/soro.2023.0029","url":null,"abstract":"Tendon-driven continuum soft robots are currently applied in research and are given a promising perspective for future applications. For the routing of the tendons from the actuator to the point where the loading is demanded, two routing possibilities exist in the literature: internal routing of the tendons with the help of structurally embedded Bowden sheaths and external tendon routing where the tendon is not in contact with the soft structure. The application of the latter is a clear disadvantage for applications due to the high risk of interference with the tendon, for example, causing the tendon to break. The first option on the other hand introduces high friction forces into the tendon transmission and affects the elastic characteristic of the continuum and therefore the desired workspace of the system. This article overcomes the aforementioned problems by integrating tendon routings within tendon channels eroded from the continuum structure by a model-based design method. The channels within the continuum structure are computed a priori such that the tendons do not interact with the continuum while moving through its workspace. Overall, a new model-based method for tendon channel design is introduced and a corresponding manufacturing process is established. A continuum joint module prototype is designed to enable roll-pitch-yaw motions with a large accessible workspace. The capabilities of the system are measured in experiments using an external camera for the range of motion. Moreover, walking experiments on the ANYmal robot from ETHZ are presented.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"280-289"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142820481","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

Pump-Free Pneumatic Actuator Driven by the Vapor Pressure at the Gas-Liquid Equilibrium of Aqua Ammonia. 利用水氨气液平衡时的蒸汽压力驱动的无泵气动执行器。

Soft robotics Pub Date : 2025-04-01 Epub Date: 2024-10-22 DOI: 10.1089/soro.2023.0067

Yang Qu, Yiming Zhang, Boyuan Huang, Cheng Chen, Huacen Wang, Sicong Liu, Hongqiang Wang

{"title":"Pump-Free Pneumatic Actuator Driven by the Vapor Pressure at the Gas-Liquid Equilibrium of Aqua Ammonia.","authors":"Yang Qu, Yiming Zhang, Boyuan Huang, Cheng Chen, Huacen Wang, Sicong Liu, Hongqiang Wang","doi":"10.1089/soro.2023.0067","DOIUrl":"10.1089/soro.2023.0067","url":null,"abstract":"Currently, pneumatic soft actuators are widely used due to their impressive adaptability, but they still face challenges for more extensive practical applications. One of the primary issues is the bulky and noisy air compressors required to generate air pressure. To circumvent this critical problem, this work proposes a new type of air pressure source, based on the vapor pressure at the gas-liquid equilibrium to replace conventional air pumps. Compared with the previous phase transition method, this approach gains advantages such as generating gas even at low temperatures (instead of boiling point), more controllable gas output, and higher force density (since both ammonia and water contribute to the gas pressure). This work built mathematical models to explain the mechanism of converting energy to output action force from electrical energy and found the aqua ammonia system is one of the optimal choices. Multiple prototypes were created to demonstrate the capability of this method, including a pouch actuator that pushed a load 20,555 times heavier than its dead weight. Finally, based on the soft actuator, an untethered crawling robot was implemented with onboard batteries, showing the potentially extensive applications of this methodology.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"171-182"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142484680","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

Nonlinear Dynamics Research of Ground Undulatory Fin Robot with Flexible Deformation and Frictional Contact. 具有柔性变形和摩擦接触的地面不规则翅片机器人的非线性动力学研究

Soft robotics Pub Date : 2025-04-01 Epub Date: 2024-10-03 DOI: 10.1089/soro.2023.0260

Yangbin Zeng, Qiao Hu, Liangjie Sun, Chuan Jiang, Tangjia Zhang, Shijie Li, Xindong Shi

{"title":"Nonlinear Dynamics Research of Ground Undulatory Fin Robot with Flexible Deformation and Frictional Contact.","authors":"Yangbin Zeng, Qiao Hu, Liangjie Sun, Chuan Jiang, Tangjia Zhang, Shijie Li, Xindong Shi","doi":"10.1089/soro.2023.0260","DOIUrl":"10.1089/soro.2023.0260","url":null,"abstract":"The unique rigid-flex connection between the fin-rays and fin-surface in a bionic undulatory fin robot endows the fin-surface with both active flexibility and load-bearing capacity, enabling this robot to perform amphibious motions in underwater, terrestrial, and even marshy environments. However, investigations into dynamic modeling problems for the undulatory fin robot, considering the impact of nonlinear deformation and frictional contact on ground locomotion performance, are scarce. Given this, based on the absolute nodal coordinate formulation (ANCF), this paper presents an efficient and accurate nonlinear dynamic model for this robot to elucidate the fin's flexible deformation and motion law. This model considers material, geometric, and boundary nonlinearities, utilizing ANCF thin plate elements and reference nodes to individually describe the fin-surface and fin-rays of the undulatory fin. Then, by using the master-slave technique, a frictional contact formulation for the fin and the ground is proposed. Furthermore, we conduct in-depth research and analysis on the formation and undulatory motion of the undulatory fin, encompassing its static deformation, static contact deformation, and frictional contact motion, and successfully obtain its responses under various conditions. Research indicates that during fin-surface motion, longitudinal sliding or a tendency for sliding at the contact points results in the undulatory fin moving in a crawling gait. The proposed theoretical model correctly captures the fin's complex nonlinear deformations and frictional characteristics and reveals its ground locomotion mechanism, whose effectiveness and superiority are validated through numerical examples and experiments.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"253-267"},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142368133","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

Design, Modeling, and Control of a Soft Abdominal Compression Robot for Respiratory Assistance. 呼吸辅助软性腹部压迫机器人的设计、建模与控制。

Soft robotics Pub Date : 2025-03-27 DOI: 10.1089/soro.2024.0088

Shaoke Yuan, Sipeng Zhou, Yuxuan Wang, Mingming Hou, Yanqiong Fei

{"title":"Design, Modeling, and Control of a Soft Abdominal Compression Robot for Respiratory Assistance.","authors":"Shaoke Yuan, Sipeng Zhou, Yuxuan Wang, Mingming Hou, Yanqiong Fei","doi":"10.1089/soro.2024.0088","DOIUrl":"https://doi.org/10.1089/soro.2024.0088","url":null,"abstract":"Respiratory assistance is commonly used to treat respiratory system diseases or support postoperative recovery, playing a crucial role in patient rehabilitation. However, existing respiratory assistance devices rely on rigid systems, which may pose risks to the human body. To address this, we propose a novel soft abdominal compression robot for respiratory assistance (SACR-RA), which offers personalized and adaptive support. This novel ability is achieved by dynamically adjusting the pressure applied to the abdomen in real-time on the basis of the user's respiratory characteristics. First, we developed a pressure-deformation model for soft pneumatic actuators and confirmed its accuracy through experiments. Next, we developed a human respiratory model that links respiratory assistance levels to lung conditions, enabling flexible adjustment of control strategies on the basis of the user's condition. Accordingly, we designed respiratory pattern control and respiratory intensity control strategies to ensure adaptable support for the user's respiratory needs. Finally, we validated the effectiveness of SACR-RA through respiratory flow and electromyography experiments. The results demonstrated that SACR-RA significantly improves the exchange of air between the user and the environment and reduces the burden on respiratory muscles.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143733595","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

Exo-Glove Poly III: Grasp Assistance by Modulating Thumb and Finger Motion Sequence with a Single Actuator. 外手套Poly III：通过调制拇指和手指运动序列与单个致动器抓取辅助。

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. 基于软硬耦合多材料3D打印的折纸柔性机械手。

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. 软机器人本体感觉的整体间接接触识别方法。

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