Soft robotics最新文献_第4页

Adaptive and Robust Switchable Adhesion System: Bio-Inspired Synergistic Integration from Octopuses and Geckos. 自适应和健壮的可切换粘附系统：章鱼和壁虎的仿生协同集成。

Soft robotics Pub Date : 2025-02-21 DOI: 10.1089/soro.2024.0097

Zhiyuan Weng, Zhouyi Wang, Chi Xu, Qingsong Yuan, Bingcheng Wang, Wenxin Zhao, Yunlong Duan, Junshen Yao, Peiqing Zhang, Qianzhi Wang, Zhendong Dai

{"title":"Adaptive and Robust Switchable Adhesion System: Bio-Inspired Synergistic Integration from Octopuses and Geckos.","authors":"Zhiyuan Weng, Zhouyi Wang, Chi Xu, Qingsong Yuan, Bingcheng Wang, Wenxin Zhao, Yunlong Duan, Junshen Yao, Peiqing Zhang, Qianzhi Wang, Zhendong Dai","doi":"10.1089/soro.2024.0097","DOIUrl":"https://doi.org/10.1089/soro.2024.0097","url":null,"abstract":"Existing climbing robots achieve stable movements on limited surface types. However, adapting a single robot design to various surface shapes remains a substantial challenge. Based on the van der Waals (vdW) force-mediated adhesion mechanism of a gecko foot and negative pressure from octopus suckers, this study introduces a biomimetic integration strategy for designing and fabricating a pneumatically actuated switchable adhesion system (SAS). The SAS includes an adhesive material responsible for generating vdW forces and a suction cup with a membrane structure that enables a vacuum suction force. Owing to nonlinear superposition effects, this SAS exhibited a 56.4% higher adhesion force than the algebraic superposition of the vdW and vacuum suction forces. Moreover, the SAS offers a quick switch between adhesion and detachment through pneumatic modulation, achieving a synergistic balance between adaptability, robustness, and load-bearing efficiency. Equipped with this SAS, we developed a pneumo-electrically actuated quadruped-climbing robot that can climb planes with different tilt angles and surfaces with different curvatures.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143470402","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 Multi-Curvature Soft Gripper Based on Segmented Variable Stiffness Structure Inspired by Snake Scales. 基于蛇形鳞片的分段变刚度结构的多曲率软爪。

Soft robotics Pub Date : 2025-02-20 DOI: 10.1089/soro.2024.0043

Min Sun, Haonan Fu, Hongshuai Lei, Zhiwei Qiu, Jialei Zhang, Guang Zhang, Zheng Zhang, Jiquan Li, Shaofei Jiang

{"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":"https://doi.org/10.1089/soro.2024.0043","url":null,"abstract":"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.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-20","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}

引用次数: 0

An Untethered Soft Snail Robot Steers with a Single Motor. 一个无系绳软蜗牛机器人用一个马达操纵。

Soft robotics Pub Date : 2025-02-17 DOI: 10.1089/soro.2024.0107

Yichuan Wu, Lai Cao, Guobin Lu, Bei Peng, Qi Lu, Yi Song, Stanislav Gorb

{"title":"An Untethered Soft Snail Robot Steers with a Single Motor.","authors":"Yichuan Wu, Lai Cao, Guobin Lu, Bei Peng, Qi Lu, Yi Song, Stanislav Gorb","doi":"10.1089/soro.2024.0107","DOIUrl":"https://doi.org/10.1089/soro.2024.0107","url":null,"abstract":"Achieving strong adaptability and high-load capacity for small-scale soft robots remains a challenge in current robotics engineering. In this study, inspired by a snail movement, we developed a soft crawling robot capable of controllable locomotion and carrying a load of 204 g-7.7 times its own weight-using just one single motor for robot control. The robot measures 7.6 cm in length, 3 cm in width, and 2.5 cm in height, with a total weight of 26.5 g. The anisotropic friction mechanism on the robot's bottom, comprising a soft origami-based pad and asymmetrical sawtooth structure, enables its strong adhesion to stick to and simultaneously crawl (transitional adhesion) on many surfaces. This design allows the robot to move at speeds up to 3 mm/s and climb a slope of 35° inclinations, also making it suitable for various uneven terrains. Additionally, the robot has enhanced cross-environmental capabilities due to its ability to glide on the water. This research advances the development of relatively simple small-scale single-actuator robots, providing insights into their potential for flexible movement, high-load capacity, and potential swarming behavior.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143434678","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

Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment. 复杂环境下基于生物混合行为的半机械昆虫避障导航。

Soft robotics Pub Date : 2025-02-11 DOI: 10.1089/soro.2024.0082

Mochammad Ariyanto, Xiaofeng Zheng, Ryo Tanaka, Chowdhury Mohammad Masum Refat, Nima Hirota, Kotaro Yamamoto, Keisuke Morishima

{"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":"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.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-11","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}

引用次数: 0

Hydraulically Amplified Rigidity-Adaptive Electrostatic Actuators with High Performance and Smooth Motion Control. 液压放大刚度-高性能平滑运动控制的自适应静电作动器。

Soft robotics Pub Date : 2025-02-10 DOI: 10.1089/soro.2024.0114

Hu Qilin, Li Yang, Mei Deqing, Luo Tao, Wang Yancheng

{"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":"https://doi.org/10.1089/soro.2024.0114","url":null,"abstract":"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.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-10","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}

引用次数: 0

Soft Robotic Heart Formed with a Myocardial Band for Cardiac Functions. 具有心肌带的软性机器人心脏。

Soft robotics Pub Date : 2025-02-05 DOI: 10.1089/soro.2024.0031

Daiki Ueda, Koichi Suzumori, Hiroyuki Nabae, Yuta Ishikawa, Teiji Oda

{"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":"https://doi.org/10.1089/soro.2024.0031","url":null,"abstract":"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.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-05","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}

引用次数: 0

Transformable Soft Gripper: Uniting Grasping and Suction for Amphibious Cross-Scale Objects Grasping. 可变形软抓手：将抓取和吸力结合起来，实现两栖跨尺度物体抓取。

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-10-02 DOI: 10.1089/soro.2023.0252

Tianle Pan, Jianshu Zhou, Zihao Zhang, Huayu Zhang, Jinfei Hu, Jiajun An, Yunhui Liu, Xin Ma

{"title":"Transformable Soft Gripper: Uniting Grasping and Suction for Amphibious Cross-Scale Objects Grasping.","authors":"Tianle Pan, Jianshu Zhou, Zihao Zhang, Huayu Zhang, Jinfei Hu, Jiajun An, Yunhui Liu, Xin Ma","doi":"10.1089/soro.2023.0252","DOIUrl":"10.1089/soro.2023.0252","url":null,"abstract":"Robotic grasping plays a pivotal role in real-world interactions for robots. Existing grippers often limit functionality to a single grasping mode-picking or suction. While picking handles smaller objects and suction adapts to larger ones, integrating these modes breaks scale boundaries, expanding the robot's potential in real applications. This article introduces grasping modes transformable soft gripper capable of achieving amphibious cross-scale objects grasping. Despite its compact and fully scalable design (20 mm in diameter prototype), it morphs into two configurations, gripping objects from 10% (2 mm) to over 1000% (200 mm) of its size, spanning a vast 100-fold range. To enhance its grasping efficacy, we derived theoretical analytical models for the two distinct grasping modes. Subsequently, we present a detailed illustration of the gripper's fabrication process. Experimental validation demonstrates the gripper's success in attaching or detaching everyday items and industrial products, achieving high success rates in both air and underwater scenarios. Amphibious grasping and card manipulation demonstrations underscore the practicality of this transformative soft robotics approach.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"145-155"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142368109","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

Jellyfish-Inspired Soft Robot Driven by Pneumatic Bistable Actuators. 由气动双稳态执行器驱动的水母式软体机器人

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-07-30 DOI: 10.1089/soro.2023.0212

Shenlong Wang, Zeng Qiao, Zhaoling Li, Yuchen Zhang, Ao Cheng, Bai Zhu, Xinlei Yue, Yunsai Chen, Tuck-Whye Wong, Guorui Li

{"title":"Jellyfish-Inspired Soft Robot Driven by Pneumatic Bistable Actuators.","authors":"Shenlong Wang, Zeng Qiao, Zhaoling Li, Yuchen Zhang, Ao Cheng, Bai Zhu, Xinlei Yue, Yunsai Chen, Tuck-Whye Wong, Guorui Li","doi":"10.1089/soro.2023.0212","DOIUrl":"10.1089/soro.2023.0212","url":null,"abstract":"Soft actuators offer numerous potential applications; however, challenges persist in achieving a high driving force and fast response speed. In this work, we present the design, fabrication, and analysis of a soft pneumatic bistable actuator (PBA) mimicking jellyfish subumbrellar muscle motion for waterjet propulsion. Drawing inspiration from the jellyfish jet propulsion and the characteristics of bistable structure, we develop an elastic band stretch prebending PBA with a simple structure, low inflation cost, exceptional driving performance, and stable driving force output. Through a bionic analysis of jellyfish body structure and motion, we integrate the PBA into a jellyfish-like prototype, enabling it to achieve jet propulsion. To enhance the swimming performance, we introduce a skin-like structure for connecting the soft actuator to the jellyfish-like soft robot prototype. This skin-like structure optimizes the fluid dynamics during jet propulsion, resulting in improved efficiency and maneuverability. Our study further analyzes the swimming performance of the jellyfish-like prototype, demonstrating a swimming speed of 3.8 cm/s (0.32 body length/s, BL/s) for the tethered prototype and 4.7 cm/s (0.38 BL/s) for the untethered prototype. Moreover, we showcase the jellyfish-like prototype's notable load-bearing capacity and fast-forward swimming performance compared to other driving methods for underwater biomimetic robots. This work provides valuable insights for the development of highly agile and fast responsive soft robots that imitate the subumbrellar muscle of jellyfish for efficient water-jet propulsion, utilizing skin-like structures to enhance swimming performance.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"1-12"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141857519","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

Soft Crawling Microrobot Based on Flexible Optoelectronics Enabling Autonomous Phototaxis in Terrestrial and Aquatic Environments. 基于柔性光电子技术的软爬行微型机器人，可在陆地和水生环境中实现自主光轴定向。

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-08-12 DOI: 10.1089/soro.2023.0112

Jiahui Cheng, Ruiping Zhang, Haibo Li, Zhouheng Wang, Chen Lin, Peng Jin, Yunmeng Nie, Bingwei Lu, Yang Jiao, Yinji Ma, Xue Feng

{"title":"Soft Crawling Microrobot Based on Flexible Optoelectronics Enabling Autonomous Phototaxis in Terrestrial and Aquatic Environments.","authors":"Jiahui Cheng, Ruiping Zhang, Haibo Li, Zhouheng Wang, Chen Lin, Peng Jin, Yunmeng Nie, Bingwei Lu, Yang Jiao, Yinji Ma, Xue Feng","doi":"10.1089/soro.2023.0112","DOIUrl":"10.1089/soro.2023.0112","url":null,"abstract":"Many organisms move directly toward light for prey hunting or navigation, which is called phototaxis. Mimicking this behavior in robots is crucially important in the energy industry and environmental exploration. However, the phototaxis robots with rigid bodies and sensors still face challenges in adapting to unstructured environments, and the soft phototaxis robots often have high requirements for light sources with limited locomotion performance. Here, we report a 3.5 g soft microrobot that can perceive the azimuth angle of light sources and exhibit rapid phototaxis locomotion autonomously enabled by three-dimensional flexible optoelectronics and compliant shape memory alloy (SMA) actuators. The optoelectronics is assembled from a planar patterned flexible circuit with miniature photodetectors, introducing the self-occlusion to light, resulting in high sensing ability (error < 3.5°) compared with the planar counterpart. The actuator produces a straightening motion driven by an SMA wire and is then returned to a curled shape by a prestretched elastomer layer. The actuator exhibits rapid actuation within 0.1 s, a significant degree of deformation (curvature change of ∼87 m-1) and a blocking force of ∼0.4 N, which is 68 times its own weight. Finally, we demonstrated the robot is capable of autonomously crawling toward a moving light source in a hybrid aquatic-terrestrial environment without human intervention. We envision that our microrobot could be widely used in autonomous light tracking applications.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"45-55"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141918432","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 Variable Stiffness Bioinspired Swallowing Gripper Based on Particle Jamming. 基于粒子干扰的可变刚度生物启发吞咽抓手

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-07-26 DOI: 10.1089/soro.2023.0241

Mingge Li, Xiaoming Huang, Quan Liu, Zhongjun Yin

{"title":"A Variable Stiffness Bioinspired Swallowing Gripper Based on Particle Jamming.","authors":"Mingge Li, Xiaoming Huang, Quan Liu, Zhongjun Yin","doi":"10.1089/soro.2023.0241","DOIUrl":"10.1089/soro.2023.0241","url":null,"abstract":"As the chameleon tongue swallows the food, it wraps the entrapped meat around the food, ensuring that it is completely enclosed and preventing it from falling off. Inspired by swallow behavior, this article introduces the design, manufacture, modeling, and experimentation of a variable stiffness swallowing gripper (VSSG). The VSSG is comprised of an intimal membrane, an adventitial membrane, and an internal medium of particles and liquid water. This gripper integrates swallowing behavior with a particle jamming mechanism, exhibiting both soft and rigid state. In the soft state, it gently swallows objects by folding its intimal and adventitial membranes. In the rigid state, the bearing capacity is enhanced by promoting particle jamming phenomenon through pumping out liquid water. Therefore, the proposed gripper has the capability to mitigate the issue of extrusion force applied on the object, while simultaneously enhancing the load-bearing capacity of swallowing gripper. In this article, the swallowing principle of the VSSG is analyzed, the mathematical model of the holding force and extrusion force is deduced, and preliminary experiments are carried out to verify the actual gripping effect of the gripper. The experimental results demonstrate that the VSSG can successfully swallow objects of different shapes in the soft state, exhibiting excellent flexibility and adaptability. The carrying capacity of the gripper in the rigid state increased approximately twofold compared with its soft state. In addition, several swallowing grippers with different filling medium were comparatively studied, and the results show that the VSSG has a large load-bearing capability.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"56-67"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141768403","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