Soft robotics最新文献_第5页

Origami-Enhanced Mechanical Properties for Worm-Like Robot. 蠕虫机器人的折纸增强机械特性

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-07-04 DOI: 10.1089/soro.2023.0246

Zuolin Liu, Zihan He, Xiao Hu, Zitao Sun, Qi Ge, Jian Xu, Hongbin Fang

{"title":"Origami-Enhanced Mechanical Properties for Worm-Like Robot.","authors":"Zuolin Liu, Zihan He, Xiao Hu, Zitao Sun, Qi Ge, Jian Xu, Hongbin Fang","doi":"10.1089/soro.2023.0246","DOIUrl":"10.1089/soro.2023.0246","url":null,"abstract":"In recent years, the exploration of worm-like robots has garnered much attention for their adaptability in confined environments. However, current designs face challenges in fully utilizing the mechanical properties of structures/materials to replicate the superior performance of real worms. In this article, we propose an approach to address this limitation based on the stacked Miura origami structure, achieving the seamless integration of structural design, mechanical properties, and robotic functionalities, that is, the mechanical properties originate from the geometric design of the origami structure and at the same time serve the locomotion capability of the robot. Three major advantages of our design are: the implementation of origami technology facilitates a more accessible and convenient fabrication process for segmented robotic skin with periodicity and flexibility, as well as robotic bristles with anchoring effect; the utilization of the Poisson's ratio effect for deformation amplification; and the incorporation of localized folding motion for continuous peristaltic locomotion. Utilizing the high geometric designability inherent in origami, our robot demonstrates customizable morphing and quantifiable mechanical properties. Based on the origami worm-like robot prototype, we experimentally verified the effectiveness of the proposed design in realizing the deformation amplification effect and localized folding motion. By comparing this to a conventional worm-like robot with discontinuous deformation, we highlight the merits of these mechanical properties in enhancing the robot's mobility. To sum up, this article showcases a bottom-up approach to robot development, including geometric design, mechanical characterization, and functionality realization, presenting a unique perspective for advancing the development of bioinspired soft robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"34-44"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141536296","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

AcousTac: Tactile Sensing with Acoustic Resonance for Electronics-Free Soft Skin. AcousTac：用于无电子软皮肤的声共振触觉传感技术。

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-08-02 DOI: 10.1089/soro.2023.0082

Monica S Li, Hannah S Stuart

{"title":"AcousTac: Tactile Sensing with Acoustic Resonance for Electronics-Free Soft Skin.","authors":"Monica S Li, Hannah S Stuart","doi":"10.1089/soro.2023.0082","DOIUrl":"10.1089/soro.2023.0082","url":null,"abstract":"Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones typically have a sampling rate of over 40 kHz. These accessible acoustic technologies are not yet widely adopted for the explicit purpose of giving robots a sense of touch. Some researchers have used sound to sense tactile information, both monitoring ambient soundscape and with embedded speakers and microphones to measure sounds within structures. However, these options commonly do not provide a direct measure of steady state force or require electronics integrated somewhere near the contact location. In this work, we present AcousTac, an acoustic tactile sensor for electronics-free, force-sensitive soft skin. Compliant silicone caps and plastic tubes compose the resonant chambers that emit pneumatic-driven sound measurable with a conventional off-board microphone. The resulting frequency changes depend on the external loads on the compliant endcaps. The compliant cap vibrates with the resonant pressure waves and is a nonidealized boundary condition, initially producing a nonmonotonic force response. We characterize two solutions-adding a distal hole and mass to the cap-resulting in monotonic and nonhysteretic force readings with this technology. We can tune each AcousTac taxel to specific force and frequency ranges, based on geometric parameters including tube length, and thus uniquely sense each taxel simultaneously in an array. We demonstrate AcousTac's functionality on two robotic systems: a 4-taxel array and a 3-taxel astrictive gripper. Simple to implement with off-the-shelf parts, AcousTac is a promising concept for force sensing on soft robotic surfaces, especially in situations where electronics near the contact are not suitable. Equipping robots with tactile sensing and soft skin provides them with a sense of touch and the ability to safely interact with their surroundings.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"109-123"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141877105","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

Graphene-Based Thermopneumatic Generator for On-Board Pressure Supply of Soft Robots. 基于石墨烯的热气发生器，用于为软体机器人提供板载压力。

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-09-27 DOI: 10.1089/soro.2023.0223

Armin Reimers, Jannik Rank, Erik Greve, Morten Möller, Sören Kaps, Jörg Bahr, Rainer Adelung, Fabian Schütt

{"title":"Graphene-Based Thermopneumatic Generator for On-Board Pressure Supply of Soft Robots.","authors":"Armin Reimers, Jannik Rank, Erik Greve, Morten Möller, Sören Kaps, Jörg Bahr, Rainer Adelung, Fabian Schütt","doi":"10.1089/soro.2023.0223","DOIUrl":"10.1089/soro.2023.0223","url":null,"abstract":"Various fields, including medical and human interaction robots, gain advantages from the development of bioinspired soft actuators. Many recently developed grippers are pneumatics that require external pressure supply systems, thereby limiting the autonomy of these robots. This necessitates the development of scalable and efficient on-board pressure generation systems. While conventional air compression systems are hard to miniaturize, thermopneumatic systems that joule heat a transducer material to generate pressure present a promising alternative. However, the transducer materials of previously reported thermopneumatic systems demonstrate high heat capacities and limited surface area resulting in long response times and low operation frequencies. This study presents a thermopneumatic pressure generator using aerographene, a highly porous (>99.99%) network of interconnected graphene microtubes, as lightweight and low heat capacity transducer material. An aerographene pressurizer module (AGPM) can pressurize a reservoir of 4.2 cm3 to ∼14 kPa in 50 ms. Periodic operation of the AGPM for 10 s at 0.66 Hz can further increase the pressure in the reservoir to ∼36 kPa. It is demonstrated that multiple AGPMs can be operated parallelly or in series for improved performance. For example, three parallelly operated AGPMs can generate pressure pulses of ∼21.5 kPa. Connecting AGPMs in series increase the maximum pressure achievable by the system. It is shown that three AGPMs working in series can pressurize the reservoir to ∼200 kPa in about 2.5 min. The AGPM's minimalistic design can be easily adapted to circuit boards, making the concept a promising fit for the on-board pressure supply of soft robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"124-134"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142335498","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

Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing. 流体多腔致动器和多轴本征力传感。

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-07-30 DOI: 10.1089/soro.2023.0242

Dionysios Malas, Guokai Zhang, Shuai Wang, Wei Huang, Lukas Lindenroth, Bingyu Yang, Wenfeng Xia, Hongbin Liu

{"title":"Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing.","authors":"Dionysios Malas, Guokai Zhang, Shuai Wang, Wei Huang, Lukas Lindenroth, Bingyu Yang, Wenfeng Xia, Hongbin Liu","doi":"10.1089/soro.2023.0242","DOIUrl":"10.1089/soro.2023.0242","url":null,"abstract":"Soft robots have morphological characteristics that make them preferred candidates, over their traditionally rigid counterparts, for executing physical interaction tasks with the environment. Therefore, equipping them with force sensing is essential for ensuring safety, enhancing their controllability, and adding autonomy. At the same time, it is necessary to preserve their inherent flexibility when integrating sensory units. Soft-fluidic actuators (SFAs) with hydraulic actuation address some of the challenges posed by the compressibility of pneumatic actuation while maintaining system compliance. This research further investigates the feasibility of utilizing the incompressible actuation fluid as the means of actuation and of multiaxial sensing. We have developed a hyperelastic model for the actuation pressure, acting as a baseline pressure. Any disparities from the baseline have been mapped to external forces, using the principle of pressure-based fluidic soft sensor. Computed tomography imaging has been used to examine inner deformation and validate the analytically derived actuation-pressure model. The induced stresses within the SFA are examined using COMSOL simulations, contributing to the development of a calibration algorithm, which accounts for geometric and cross-sectional nonlinearities and maps pressure variations with tip forces. Two force types (concentrated and distributed) acting on our SFA under different configurations are examined, using two experimental setups described as \"Point Load\" and \"Distributed Force.\" The force sensing algorithm achieves high accuracy with a maximum absolute error of 0.32N for forces with a magnitude of up to 6N.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"81-94"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141857518","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 Reconfigurable Soft Helical Actuator with Variable Stiffness Skeleton. 具有可变刚度骨架的可重构软螺旋致动器

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-08-14 DOI: 10.1089/soro.2024.0040

Pei Jiang, Teng Ma, Ji Luo, Yang Yang, Chao Yin, Yong Zhong

{"title":"A Reconfigurable Soft Helical Actuator with Variable Stiffness Skeleton.","authors":"Pei Jiang, Teng Ma, Ji Luo, Yang Yang, Chao Yin, Yong Zhong","doi":"10.1089/soro.2024.0040","DOIUrl":"10.1089/soro.2024.0040","url":null,"abstract":"Due to their exceptional adaptability, inherent compliance, and high flexibility, soft actuators have significant advantages over traditional rigid actuators in human-machine interaction and in grasping irregular or fragile objects. Most existing soft actuators are designed using preprogramming methods, which schedule complex motions into flexible structures by correctly designing deformation constraints. These constraints restrict undesired deformation, allowing the actuator to achieve the preprogrammed motion when stimulated. Therefore, these actuators can only achieve a certain type of motion, such as extension, bending, or twisting, since it is impossible to adjust the deformation constraints once they are embedded into the structures. In this study, we propose the use of variable stiffness materials, such as shape memory polymer (SMP), in the structural design of soft actuators to achieve variable stiffness constraints. A reconfigurable soft helical actuator with a variable stiffness skeleton is developed based on this concept. The skeleton, made of SMP, is encased at the bottom of a fiber-reinforced chamber. In its high-stiffness state, the SMP constrains the deformation toward the skeleton when the actuator is pressurized. This constraint is removed once the SMP skeleton is heated, endowing the actuator with the ability to switch between bending and helical motion in real-time. A theoretical model is proposed to predict the behavior of the actuator when driven by pressure, and experiments are conducted to verify the model's accuracy. In addition, the influence of different design parameters is investigated based on experimental results, providing reference guidelines for the design of the actuator.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"68-80"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141977596","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

Acknowledgment of Reviewers 2024. 审稿人致谢

Soft robotics Pub Date : 2025-02-01 DOI: 10.1089/soro.2024.11234.revack

引用次数: 0

Exo-Glove Shell: A Hybrid Rigid-Soft Wearable Robot for Thumb Opposition with an Under-Actuated Tendon-Driven System. Exo-手套外壳：用于拇指对抗的软硬混合型可穿戴机器人与欠驱动肌腱驱动系统

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-08-13 DOI: 10.1089/soro.2023.0089

Byungchul Kim, Hyungmin Choi, Kyubum Kim, Sejin Jeong, Kyu-Jin Cho

{"title":"Exo-Glove Shell: A Hybrid Rigid-Soft Wearable Robot for Thumb Opposition with an Under-Actuated Tendon-Driven System.","authors":"Byungchul Kim, Hyungmin Choi, Kyubum Kim, Sejin Jeong, Kyu-Jin Cho","doi":"10.1089/soro.2023.0089","DOIUrl":"10.1089/soro.2023.0089","url":null,"abstract":"Usability and functionality are important when designing hand-wearable robots; however, satisfying both indicators remains a challenging issue, even though researchers have made important progress with state-of-the-art robot components. Although hand-wearable robots require sufficient actuators and sensors considering their functionality, these components complicate the robot. Further, robot compliance should be carefully considered because it affects both indicators. For example, a robot's softness makes it compact (improving usability) but also induces inaccurate force transmission (impacting functionality). To address this issue, we present in this paper a tendon-driven, hybrid, hand-wearable robot, named Exo-Glove Shell. The proposed robot assists in three primitive motions (i.e., thumb opposition motion, which is known as one of the most important hand functions, and flexion/extension of the index/middle fingers) while employing only four actuators by using an under-actuation mechanism. The Exo-Glove Shell was designed by combining a soft robotic body with rigid tendon router modules. The use of soft garments enables the robot to be fitted well to users without customization or adjustment of the mechanisms; the metal routers facilitate accurate force transmission. User tests conducted with an individual with a spinal cord injury (SCI) found that the robot could sufficiently and reliably assist in three primitive motions through its four actuators. The research also determined that the robot can assist in various postures with sufficient stability. Based on the grasp stability index proposed in this paper, user stability-when assisted by the proposed robot-was found to be 4.75 times that of an SCI person who did not use the Exo-Glove Shell.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"22-33"},"PeriodicalIF":0.0,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141972454","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

Reprogrammable Flexible Piezoelectric Actuator Arrays with a High Degree of Freedom for Shape Morphing and Locomotion. 具有高度自由度的可编程柔性压电致动器阵列。

Soft robotics Pub Date : 2025-01-10 DOI: 10.1089/soro.2024.0099

Hong Ding, Dengfei Yang, Shuo Ding, Fangyi Ma

{"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":"https://doi.org/10.1089/soro.2024.0099","url":null,"abstract":"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.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-01-10","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}

引用次数: 0

Small-Scale Soft Terrestrial Robot with Electrically Driven Multi-Modal Locomotion Capability. 具有电驱动多模式运动能力的小型陆基软机器人。

Soft robotics Pub Date : 2025-01-06 DOI: 10.1089/soro.2024.0108

Jian Yang, Junyu Zhou, Fan Xu, Hesheng Wang

{"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":"https://doi.org/10.1089/soro.2024.0108","url":null,"abstract":"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 via 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.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-01-06","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}

引用次数: 0

Optimal Sensor Placement for Motion Tracking of Soft Wearables Using Bayesian Sampling. 基于贝叶斯采样的软性可穿戴设备运动跟踪传感器优化配置。

Soft robotics Pub Date : 2024-12-24 DOI: 10.1089/soro.2024.0044

DongWook Kim, Seunghoon Kang, Yong-Lae Park

{"title":"Optimal Sensor Placement for Motion Tracking of Soft Wearables Using Bayesian Sampling.","authors":"DongWook Kim, Seunghoon Kang, Yong-Lae Park","doi":"10.1089/soro.2024.0044","DOIUrl":"https://doi.org/10.1089/soro.2024.0044","url":null,"abstract":"Soft sensors integrated or attached to robots or human bodies enable rapid and accurate estimation of the physical states of the target systems, including position, orientation, and force. While the use of a number of sensors enhances precision and reliability in estimation, it may constrain the movement of the target system or make the entire system complex and bulky. This article proposes a rapid, efficient framework for determining where to place the sensors on the system given the limited number of available sensors. In particular, given <math><mi>m</mi></math> candidates in location for sensor placement, the algorithm recommends <math><mrow><mrow><msub><mi>m</mi><mn>0</mn></msub></mrow></mrow></math> locations that guarantee the maximal estimation performance, based on Bayesian sampling. The sampling and optimization method aims to maximize the log-likelihood in nonparametric regression between the measured values of the selected sensors and the target references. The proposed approach for the optimal sensor placement is validated through two scenarios: full-body motion sensing with a soft wearable sensor suit and fingertip position tracking with a motion-capture system. The proposed algorithm successfully determines the sensor locations close to the optimum within 20 min of learning for both cases.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142886606","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