Soft robotics最新文献_第9页

Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints. 通过三维打印多功能屈曲关节增强软机器人抓手、手和爬行机器人的多功能性和性能。

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-02-22 DOI: 10.1089/soro.2023.0111

Chih-Wen Ou Yang, Shao-Yi Yu, Che-Wei Chan, Chien-Yao Tseng, Jing-Fang Cai, Han-Pang Huang, Jia-Yang Juang

{"title":"Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints.","authors":"Chih-Wen Ou Yang, Shao-Yi Yu, Che-Wei Chan, Chien-Yao Tseng, Jing-Fang Cai, Han-Pang Huang, Jia-Yang Juang","doi":"10.1089/soro.2023.0111","DOIUrl":"10.1089/soro.2023.0111","url":null,"abstract":"Soft robotic grippers and hands offer adaptability, lightweight construction, and enhanced safety in human-robot interactions. In this study, we introduce vacuum-actuated soft robotic finger joints to overcome their limitations in stiffness, response, and load-carrying capability. Our design-optimized through parametric design and three-dimensional (3D) printing-achieves high stiffness using vacuum pressure and a buckling mechanism for large bending angles (>90°) and rapid response times (0.24 s). We develop a theoretical model and nonlinear finite-element simulations to validate the experimental results and provide valuable insights into the underlying mechanics and visualization of the deformation and stress field. We showcase versatile applications of the buckling joints: a three-finger gripper with a large lifting ratio (∼96), a five-finger robotic hand capable of replicating human gestures and adeptly grasping objects of various characteristics in static and dynamic scenarios, and a planar-crawling robot carrying loads 30 times its weight at 0.89 body length per second (BL/s). In addition, a jellyfish-inspired robot crawls in circular pipes at 0.47 BL/s. By enhancing soft robotic grippers' functionality and performance, our study expands their applications and paves the way for innovation through 3D-printed multifunctional buckling joints.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"741-754"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139934896","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

Fast-Swimming Soft Robotic Fish Actuated by Bionic Muscle. 由仿生肌肉驱动的快速游泳软体机器鱼

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-02-26 DOI: 10.1089/soro.2023.0163

Ruiqian Wang, Chuang Zhang, Yiwei Zhang, Lianchao Yang, Wenjun Tan, Hengshen Qin, Feifei Wang, Lianqing Liu

{"title":"Fast-Swimming Soft Robotic Fish Actuated by Bionic Muscle.","authors":"Ruiqian Wang, Chuang Zhang, Yiwei Zhang, Lianchao Yang, Wenjun Tan, Hengshen Qin, Feifei Wang, Lianqing Liu","doi":"10.1089/soro.2023.0163","DOIUrl":"10.1089/soro.2023.0163","url":null,"abstract":"Soft underwater swimming robots actuated by smart materials have unique advantages in exploring the ocean, such as low noise, high flexibility, and friendly environment interaction ability. However, most of them typically exhibit limited swimming speed and flexibility due to the inherent characteristics of soft actuation materials. The actuation method and structural design of soft robots are key elements to improve their motion performance. Inspired by the muscle actuation and swimming mechanism of natural fish, a fast-swimming soft robotic fish actuated by a bionic muscle actuator made of dielectric elastomer is presented. The results show that by controlling the two independent actuating units of a biomimetic actuator, the robotic fish can not only achieve continuous C-shaped body motion similar to natural fish but also have a large bending angle (maximum unidirectional angle is about 40°) and thrust force (peak thrust is about 14 mN). In addition, the coupling relationship between the swimming speed and actuating parameters of the robotic fish is established through experiments and theoretical analysis. By optimizing the control strategy, the robotic fish can demonstrate a fast swimming speed of 76 mm/s (0.76 body length/s), which is much faster than most of the reported soft robotic fish driven by nonbiological soft materials that swim in body and/or caudal fin propulsion mode. What's more, by applying programmed voltage excitation to the actuating units of the bionic muscle, the robotic fish can be steered along specific trajectories, such as continuous turning motions and an S-shaped routine. This study is beneficial for promoting the design and development of high-performance soft underwater robots, and the adopted biomimetic mechanisms, as well as actuating methods, can be extended to other various flexible devices and soft robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"845-856"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139975187","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

3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting. 三维打印折纸致动器，用于具有两栖运动和舌头狩猎功能的多动物启发软体机器人。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-02-08 DOI: 10.1089/soro.2023.0079

Yang Yang, Yuan Xie, Jia Liu, Yunquan Li, Feifei Chen

{"title":"3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting.","authors":"Yang Yang, Yuan Xie, Jia Liu, Yunquan Li, Feifei Chen","doi":"10.1089/soro.2023.0079","DOIUrl":"10.1089/soro.2023.0079","url":null,"abstract":"The field of soft robotics is rapidly evolving, and there is a growing interest in developing soft robots with bioinspired features for use in various applications. This research presented the design and development of 3D-printed origami actuators for a soft robot with amphibious locomotion and tongue hunting capabilities. Two different types of programmable origami actuators were designed and manufactured, namely Z-shaped and twist tower actuators. In addition, two actuator variations were developed based on the Z-shaped actuator, including the pelvic fin and the coiling/uncoiling types. The Z-shaped actuators were used for the rear legs to facilitate the locomotion of the water-like frogs. Meanwhile, the twisted tower actuators were used for the rotation joints in the forelegs and for locomotion on land. The pelvic fin actuator was developed to imitate the land locomotion of the mudskipper, and the coiling/uncoiling actuator was designed for tongue hunting motion. The origami actuators and soft robot prototype were tested through a series of experiments, which showed that the robot was capable of efficiently moving in water and on land and performing tongue hunting motions. Our results demonstrate the effectiveness of these actuators in producing the desired motions and provide insights into the potential of applying 3D-printed origami actuators in the development of soft robots with bioinspired features.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"650-669"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139708915","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

Safe Supervisory Control of Soft Robot Actuators. 软机器人执行器的安全监控。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-02-06 DOI: 10.1089/soro.2022.0131

Andrew P Sabelhaus, Zach J Patterson, Anthony T Wertz, Carmel Majidi

{"title":"Safe Supervisory Control of Soft Robot Actuators.","authors":"Andrew P Sabelhaus, Zach J Patterson, Anthony T Wertz, Carmel Majidi","doi":"10.1089/soro.2022.0131","DOIUrl":"10.1089/soro.2022.0131","url":null,"abstract":"Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article introduces a feedback strategy for safe soft actuator operation during control of a soft robot. To do so, a supervisory controller monitors actuator state and dynamically saturates control inputs to avoid conditions that could lead to physical damage. We prove that, under certain conditions, the supervisory controller is stable and verifiably safe. We then demonstrate completely onboard operation of the supervisory controller using a soft thermally actuated robot limb with embedded shape memory alloy actuators and sensing. Tests performed with the supervisor verify its theoretical properties and show stabilization of the robot limb's pose in free space. Finally, experiments show that our approach prevents overheating during contact, including environmental constraints and human touch, or when infeasible motions are commanded. This supervisory controller, and its ability to be executed with completely onboard sensing, has the potential to make soft robot actuators reliable enough for practical use.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"561-572"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139699196","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

Haptic Localization with a Soft Whisker from Moment Readings at the Base. 根据底部的力矩读数，使用软须进行触觉定位。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-01-09 DOI: 10.1089/soro.2023.0098

Mohammad Sheikh Sofla, Srikishan Vayakkattil, Marcello Calisti

{"title":"Haptic Localization with a Soft Whisker from Moment Readings at the Base.","authors":"Mohammad Sheikh Sofla, Srikishan Vayakkattil, Marcello Calisti","doi":"10.1089/soro.2023.0098","DOIUrl":"10.1089/soro.2023.0098","url":null,"abstract":"This article focuses on haptic localization of very lightweight and delicate objects while applying a contact force >5000 times lower than the weight of the object. A soft whisker integrated with a Force/Moment (F/M) sensor at the base, and a novel reconstruction algorithm have been proposed for this purpose. Initially, the mathematical relationships between the deformations of the whisker and the F/M sensor outputs were used to reconstruct the shape of the whisker and the position of the touched object. The Cosserat rod theory was used under the assumption that only one contact point occurs during the exploration, and friction effects are negligible. A new methodology we called moment only reading (MOR) has been tested, verified, and compared with previous methods that employed Force and Moment Readings (FMR). Experimental investigations revealed that the spatial position estimation error of the MOR method was confined within 13 mm, when the force applied ranged between 0.001 and 0.01 N. Moreover, the comparison with FMR demonstrated that MOR is capable of retrieving the position of objects even when the force readings drop below the force resolution of the sensor. Eventually, the MOR method has been applied to demonstrate the localization and grasping, with a soft gripper, of delicate crops like tomatoes and strawberries.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"539-549"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139405821","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

Multi-Degree-of-Freedom Force Sensor Incorporated into Soft Robotic Gripper for Improved Grasping Stability. 将多自由度力传感器纳入软体机器人抓手以提高抓取稳定性

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-04-01 DOI: 10.1089/soro.2023.0068

Heeju Mun, David Santiago Diaz Cortes, Jung-Hwan Youn, Ki-Uk Kyung

{"title":"Multi-Degree-of-Freedom Force Sensor Incorporated into Soft Robotic Gripper for Improved Grasping Stability.","authors":"Heeju Mun, David Santiago Diaz Cortes, Jung-Hwan Youn, Ki-Uk Kyung","doi":"10.1089/soro.2023.0068","DOIUrl":"10.1089/soro.2023.0068","url":null,"abstract":"In recent years, soft robotic grippers have emerged as a promising solution for versatile and safe manipulation of objects in various fields. However, precise force control is critical, especially when handling delicate or fragile objects, to avoid excessive grip force application or to prevent object slippage. Herein, we propose a novel three-degree-of-freedom force sensor incorporated within a soft robotic gripper to realize stable grasping with force feedback. The proposed optical sensor employs lightweight and compact optical fibers, thereby allowing for cost-effective fabrication, and a robust sensing system that is immune to electromagnetic fields. By innervating the soft gripper with optical fibers, a durable system is achieved with the fibers functioning as a strengthening layer, thereby eliminating the need for embedding an external stiffening structure for efficient bending actuation. The innovative contact-based light loss sensing mechanism allows for a robust and stable sensing mechanism with low drift (<0.1% over 9000 cycles) that can be applied to soft pneumatic bending grippers. We used the developed sensor-incorporated soft gripper to grasp various objects, including magnetic materials, and achieved slip detection along with grip force feedback without any signal interference. Overall, this study proposes a robust measuring multi-degree-of-freedom force sensor that can be incorporated into grippers for improved grasping stability.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"628-638"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140338398","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

Biomimetic Closed-Loop Control of a Novel Soft Gastric Simulator Toward Emulating Antral Contraction Waves. 新型软胃模拟器的仿生闭环控制，以模拟前胃收缩波

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-01-22 DOI: 10.1089/soro.2023.0097

Shahab Kazemi, Ryman Hashem, Martin Stommel, Leo K Cheng, Weiliang Xu

{"title":"Biomimetic Closed-Loop Control of a Novel Soft Gastric Simulator Toward Emulating Antral Contraction Waves.","authors":"Shahab Kazemi, Ryman Hashem, Martin Stommel, Leo K Cheng, Weiliang Xu","doi":"10.1089/soro.2023.0097","DOIUrl":"10.1089/soro.2023.0097","url":null,"abstract":"Soft gastric simulators are in vitro biomimetic modules that can reproduce the antral contraction waves (ACWs). Along with providing information concerning stomach contents, stomach simulators enable experts to evaluate the digestion process of foods and drugs. Traditionally, open-loop control approaches were implemented on stomach simulators to produce ACWs. Constructing a closed-loop control system is essential to improve the simulator's ability to imitate ACWs in additional scenarios and avoid constant tuning. Closed-loop control can enhance stomach simulators in accuracy, responding to various food and drug contents, timing, and unknown disturbances. In this article, a new generation of anatomically realistic soft pneumatic gastric simulators is designed and fabricated. The presented simulator represents the antrum, the lower portion of the stomach where ACWs occur. It is equipped with a real-time feedback system to implement diverse closed-loop controllers on demand. All the details of the physical design, fabrication, and assembly process are discussed. Also, the measures taken for the mechatronics design and sensory system are highlighted in this article. Through several implementation algorithms and techniques, three closed-loop controllers, including model-based and model-free schemes are designed and successfully applied on the presented simulator to imitate ACWs. All the experimental outcomes are carefully analyzed and compared against the biological counterparts. It is demonstrated that the presented simulator can serve as a reliable tool and method to scrutinize digestion and promote novel technologies around the human stomach and the digestion process. This research methodology can also be utilized to develop other biomimetic and bioinspired applications.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"684-697"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139521844","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

Worm-Inspired, Untethered, Soft Crawling Robots for Pipe Inspections. 受蠕虫启发的无系绳软爬行机器人用于管道检查。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-07-17 DOI: 10.1089/soro.2023.0076

Yunwei Zhao, Haoran Huang, Weizhe Yuan, Xiaomin Liu, C Chase Cao

{"title":"Worm-Inspired, Untethered, Soft Crawling Robots for Pipe Inspections.","authors":"Yunwei Zhao, Haoran Huang, Weizhe Yuan, Xiaomin Liu, C Chase Cao","doi":"10.1089/soro.2023.0076","DOIUrl":"10.1089/soro.2023.0076","url":null,"abstract":"The increasing demand for inspection, upkeep, and repair of pipeline and tunnel infrastructures has catalyzed research into the creation of robots with superior flexibility, adaptability, and load-bearing capacities. This study introduces an autonomous soft robot designed for navigating both straight and curved pipelines of 90 mm diameter. The soft robot is enabled by an elongation pneumatic actuator (EPA) as its body and multiple radial expansion pneumatic actuators (REPAs) as its feet to provide adhesion and support on the pipe walls. It achieves a horizontal movement speed of 1.27 mm/s and ascends vertically at 0.39 mm/s. An integrated control mechanism, merging both pneumatic and electrical systems is employed to facilitate unrestrained movement. A novel control tactic has been formulated to ensure synchronized coordination between the robot's body deformation and leg anchoring, ensuring stable movement. This soft robot demonstrates remarkable mobility metrics, boasting an anchoring strength of over 100 N, a propelling force of 43.8 N when moving vertically, and a pulling strength of 31.4 N during navigation in curved pipelines. It can carry a camera to capture the internal view of the pipe and remove obstacles autonomously. The unconstrained and autonomous movement of the untethered soft robot presents new opportunities for various applications at different scales.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"639-649"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141636265","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 Polymer-Actuated Compliant Microgripper with Adaptive Vibration-Controlled Grasp and Release. 软质聚合物驱动的顺应式微抓手，具有自适应振动控制的抓取和释放功能。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-04-01 DOI: 10.1089/soro.2023.0027

Jung-Hwan Youn, Je-Sung Koh, Ki-Uk Kyung

{"title":"Soft Polymer-Actuated Compliant Microgripper with Adaptive Vibration-Controlled Grasp and Release.","authors":"Jung-Hwan Youn, Je-Sung Koh, Ki-Uk Kyung","doi":"10.1089/soro.2023.0027","DOIUrl":"10.1089/soro.2023.0027","url":null,"abstract":"Microgrippers that incorporate soft actuators are appropriate for micromanipulation or microsurgery owing to their ability to grasp objects without causing damage. However, developing a microgripper with a large gripping range that can produce a large force with high speed remains challenging in soft actuation mechanisms. Herein, we introduce a compliant microgripper driven by a soft dielectric elastomer actuator (DEA) called a spiral flexure cone DEA (SFCDEA). The submillimeter-scale SFCDEA exhibited a controllable linear displacement over a high bandwidth and the capability of lifting 100.9 g, which was 670 times higher than its mass. Subsequently, we developed a compliant microgripper based on the SFCDEA using smart composite microstructure technology to fabricate three-dimensional gripper linkages. We demonstrated that the microgripper was able to grasp various millimeter-scale objects with different shapes, sizes, and weights without a complex feedback control owing to its compliance. We proved the versatility of our gripper in robotic manipulation by demonstrating adaptive grasping and releasing of small objects using vibrations owing to its high bandwidth.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"585-595"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140338399","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

MorphGI: A Self-Propelling Soft Robotic Endoscope Through Morphing Shape. MorphGI：变形自推进软机器人内窥镜

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-03-14 DOI: 10.1089/soro.2023.0096

Julius E Bernth, Guokai Zhang, Dionysios Malas, George Abrahams, Bu Hayee, Hongbin Liu

引用次数: 0