Soft robotics最新文献_第9页

Light-Responsive Hydrogel Microcrawlers, Powered and Steered with Spatially Homogeneous Illumination. 用空间均匀照明驱动和引导的光响应水凝胶微型爬行器

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-03-06 DOI: 10.1089/soro.2023.0074

Jindrich Kropacek, Charlie Maslen, Paolo Gidoni, Petr Cigler, Frantisek Stepanek, Ivan Rehor

{"title":"Light-Responsive Hydrogel Microcrawlers, Powered and Steered with Spatially Homogeneous Illumination.","authors":"Jindrich Kropacek, Charlie Maslen, Paolo Gidoni, Petr Cigler, Frantisek Stepanek, Ivan Rehor","doi":"10.1089/soro.2023.0074","DOIUrl":"10.1089/soro.2023.0074","url":null,"abstract":"Sub-millimeter untethered locomoting robots hold promise to radically change multiple areas of human activity such as microfabrication/assembly or health care. To overcome the associated hurdles of such a degree of robot miniaturization, radically new approaches are being adopted, often relying on soft actuating polymeric materials. Here, we present light-driven, crawling microrobots that locomote by a single degree of freedom actuation of their light-responsive tail section. The direction of locomotion is dictated by the robot body design and independent of the spatial modulation of the light stimuli, allowing simultaneous multidirectional motion of multiple robots. Moreover, we present a method for steering such robots by reversibly deforming their front section, using ultraviolet (UV) light as a trigger. The deformation dictates the robot locomotion, performing right- or left-hand turning when the UV is turned on or off respectively. The robots' motion and navigation are not coupled to the position of the light sources, which enables simultaneous locomotion of multiple robots, steering of robots and brings about flexibility with the methods to deliver the light to the place of robot operation.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"531-538"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140051414","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 Dual-Modal Hybrid Gripper with Wide Tunable Contact Stiffness Range and High Compliance for Adaptive and Wide-Range Grasping Objects with Diverse Fragilities. 一种具有宽可调接触刚度范围和高柔顺性的双模混合夹具，适用于自适应和宽范围抓取具有不同脆性的物体。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-10-30 DOI: 10.1089/soro.2023.0022

Jiaqi Zhu, Han Chen, Zhiping Chai, Han Ding, Zhigang Wu

{"title":"A Dual-Modal Hybrid Gripper with Wide Tunable Contact Stiffness Range and High Compliance for Adaptive and Wide-Range Grasping Objects with Diverse Fragilities.","authors":"Jiaqi Zhu, Han Chen, Zhiping Chai, Han Ding, Zhigang Wu","doi":"10.1089/soro.2023.0022","DOIUrl":"10.1089/soro.2023.0022","url":null,"abstract":"The difficulties of traditional rigid/soft grippers in meeting the increasing performance expectations (e.g., high grasping adaptability and wide graspable objects range) of a single robotic gripper have given birth to numerous soft-rigid coupling grippers with promising performance. However, it is still hard for these hybrid grippers to adaptively grasp various objects with diverse fragilities intact, such as incense ash and orange, due to their limited contact stiffness adjustable range and compliance. To solve these challenging issues, herein, we propose a dual-modal hybrid gripper, whose fingers contain a detachable elastomer-coated flexible sheet that is restrained by a moving frame as a teardrop shape. The gripper's two modes switched by controlling the moving frame position can selectively highlight the low contact stiffness and excellent compliance of the teardrop-shaped flexible sheets and the high contact stiffness of the moving frames. Moreover, the contact stiffness of the teardrop-shaped sheets can be wide-range adjusted by online controlling the moving frame position and offline replacing the sheets with different thicknesses. The compliance of the teardrop-shaped sheets also proves to be excellent compared with an Ecoflex 10 fingertip with the same profile. Such a gripper with wide-range tunable contact stiffness and high compliance demonstrates excellent grasping adaptability (e.g., it can safely grasp several fragile strawberries with a maximum size difference of 18 mm, a strawberry with a left/right offset of 3 cm, and a strawberry in two different lying poses) and wide-range graspable objects (from 0.1 g super fragile cigarette ashes to 5.1 kg dumbbell).","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"371-381"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71416434","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

Bionic Snail Robot Enhanced by Poroelastic Foams Crawls Using Direct and Retrograde Waves. 由多孔弹性泡沫增强的仿生蜗牛机器人利用直向波和逆向波爬行

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-12-28 DOI: 10.1089/soro.2023.0077

Qinjie Ji, Aiguo Song

{"title":"Bionic Snail Robot Enhanced by Poroelastic Foams Crawls Using Direct and Retrograde Waves.","authors":"Qinjie Ji, Aiguo Song","doi":"10.1089/soro.2023.0077","DOIUrl":"10.1089/soro.2023.0077","url":null,"abstract":"Snails employ a distinctive crawling mechanism in which the pedal waves travel along the foot and interact with the mucus to promote efficient movement on various substrates. Inspired by the concavities on the pedal wave, we develop a new bionic snail robot that introduces transverse patterns in a longitudinal wave to periodically change the friction. The poroelastic foam serves as flexible constraint and fills the robot's internal cavity. It contributes to the bending action, and maintains the thinness and softness of the robot. Then, the model of the robot's single segment is built utilizing the Euler-Bernoulli beam theory. The model aligns well with the experimental data, thereby confirming the effectiveness of soft constraints. The evaluation of pedal wave is conducted, which further guides the optimization of the control sequence. The experiments demonstrated the robot performing retrograde wave locomotion on dry substrates. Notably, shear-thickening fluids were found to be suitable for this particular crawling pattern compared with other mucus simulants, resulting in direct wave locomotion with a 49% increase in speed and a 33% reduction in energy usage. The load capacity of the soft snail robot was also enhanced, enabling it to carry loads up to 2.84 times its own weight. The use of mucus in crawling also brings valuable insights for the enhancement of other biomimetic robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"453-463"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139050028","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

Teleoperation of an Anthropomorphic Robot Hand with a Metamorphic Palm and Tunable-Stiffness Soft Fingers. 具有变形手掌和可调刚度软手指的拟人机器人手的远程操作。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-02-21 DOI: 10.1089/soro.2023.0062

Bohan Chen, Ziming Chen, Xingyu Chen, Sizhe Mao, Fei Pan, Lei Li, Wenbo Liu, Huasong Min, Xilun Ding, Bin Fang, Fuchun Sun, Li Wen

引用次数: 0

Untethered Soft Pneumatic Actuators with Embedded Multiple Sensing Capabilities. 具有嵌入式多重传感功能的无创软气动执行器。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-11-10 DOI: 10.1089/soro.2023.0048

Xingmiao Fang, Kun Wei, Runhuai Yang

引用次数: 0

Octopus-Inspired Muscular Hydrostats Powered By Twisted and Coiled Artificial Muscles. 受章鱼启发的肌肉静水器，由扭曲和盘绕的人造肌肉提供动力。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-11-16 DOI: 10.1089/soro.2023.0069

Parth Kotak, Sean Maxson, Thilina Weerakkody, Venanzio Cichella, Caterina Lamuta

{"title":"Octopus-Inspired Muscular Hydrostats Powered By Twisted and Coiled Artificial Muscles.","authors":"Parth Kotak, Sean Maxson, Thilina Weerakkody, Venanzio Cichella, Caterina Lamuta","doi":"10.1089/soro.2023.0069","DOIUrl":"10.1089/soro.2023.0069","url":null,"abstract":"Traditional robots are characterized by rigid structures, which restrict their range of motion and their application in environments where complex movements and safe human-robot interactions are required. Soft robots inspired by nature and characterized by soft compliant materials have emerged as an exciting alternative in unstructured environments. However, the use of multicomponent actuators with low power/weight ratios has prevented the development of truly bioinspired soft robots. Octopodes' limbs contain layers of muscular hydrostats, which provide them with a nearly limitless range of motions. In this work, we propose octopus-inspired muscular hydrostats powered by an emerging class of artificial muscles called twisted and coiled artificial muscles (TCAMs). TCAMs are fabricated by twisting and coiling inexpensive fibers, can sustain stresses up to 60 MPa, and provide tensile strokes of nearly 50% with <0.2 V/cm of input voltage. These artificial muscles overcome the limitations of other actuators in terms of cost, power, and portability. We developed four different configurations of muscular hydrostats with TCAMs arranged in different orientations to reproduce the main motions of octopodes' arms: shortening, torsion, bending, and extension. We also assembled an untethered waterproof device with on-board control, sensing, actuation, and a power source for driving our hydrostats underwater. The proposed TCAM-powered muscular hydrostats will pave the way for the development of compliant bioinspired robots that can be used to explore the underwater world and perform complex tasks in harsh and dangerous environments.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"432-443"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136400880","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

Effective On-Line Performance Modulation and Efficient Continuous Preparation of Ultra-Long Twisted and Coiled Polymer Artificial Muscles for Engineering Applications. 用于工程应用的超长扭曲和盘绕聚合物人造肌肉的有效在线性能调制和高效连续制备。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-01-08 DOI: 10.1089/soro.2023.0043

Qingwei Li, Mingxing Cheng, Mengjie Wu

{"title":"Effective On-Line Performance Modulation and Efficient Continuous Preparation of Ultra-Long Twisted and Coiled Polymer Artificial Muscles for Engineering Applications.","authors":"Qingwei Li, Mingxing Cheng, Mengjie Wu","doi":"10.1089/soro.2023.0043","DOIUrl":"10.1089/soro.2023.0043","url":null,"abstract":"Artificial muscle is a kind of thread-like actuator that can produce contractile strain, generate force, and output mechanical work under external stimulations to imitate the functions and achieve the performances of biological muscles. It can be used to actuate various bionic soft robots and has broad application prospects. The electrically controlled twisted and coiled polymer (TCP) artificial muscles, with the advantages of high power density, large stroke and low driving voltage, while also being electrolyte free, are the most practical. However, the relationship between the muscle performances and its preparation parameters is not very clear yet, and the complete procedure of designing and preparing TCP muscles according to actual needs has not been established. Besides, current preparation approaches are very time-consuming and cannot make ultra-long TCP muscles. These problems greatly limit wide applications of TCP artificial muscles. In this study, we studied and built the relationship between the actuating performances of TCP muscles and their preparation parameters, so that suitable TCP muscles can be easily designed and prepared according to actual requirements. Moreover, an efficient preparation method integrating one-step annealing technique has been developed to realize on-line performance modulation and continuous fabrication of ultra-long TCP muscles. By graphically assembling long muscles on heat-resist films, we designed and produced a series of fancy soft robots (butterfly, flower, starfish), which can perform various bionic movements and complete specific tasks. This work has achieved efficient on-demand preparation and large-scale assembly of ultra-long TCP muscles, laying solid foundations for their engineering applications in soft robot field.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"519-530"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139379088","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

Educational Soft Underwater Robot with an Electromagnetic Actuation. 带电磁驱动装置的软体水下教育机器人。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-01-08 DOI: 10.1089/soro.2021.0181

Robert Hennig, Alex Beaudette, Holly M Golecki, Conor J Walsh

{"title":"Educational Soft Underwater Robot with an Electromagnetic Actuation.","authors":"Robert Hennig, Alex Beaudette, Holly M Golecki, Conor J Walsh","doi":"10.1089/soro.2021.0181","DOIUrl":"10.1089/soro.2021.0181","url":null,"abstract":"As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or replicating 3d swarm behavior. To make this research area accessible for education we developed Educational Soft Underwater Robot with Electromagnetic Actuation (ESURMA), a humanoid soft underwater robot. We achieved advances in simplicity, modularity, and performance by implementing electromagnetic actuation into the caudal fin. An electromagnet, including electronics, is placed in a waterproof housing, and permanent magnets are embedded in a soft silicone cast tail. The force from their magnetic interaction results in a bending movement of the tail. The magnetic actuation is simple to implement and requires no mechanical connection between the actuated component and the electrically controlled coil. This enables robust waterproofing and makes the device fully modular. Thanks to the direct and immediate transmission of force, experimental flapping frequencies of 14 Hz were achieved, an order of magnitude higher compared to pneumatically actuated tails. The completely silent actuation of the caudal fin enables a maximum swimming speed of 14.3 cm/s. With its humanoid shape, modular composition, and cost efficiency ESURMA represents an attractive platform for education and demonstrates an alternative method of actuating soft structures.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"444-452"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139405820","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

Bioinspired Bidirectional Stiffening Soft Actuators Enable Versatile and Robust Grasping. 受生物启发的双向刚性软执行器可实现多用途稳健抓取。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-02-21 DOI: 10.1089/soro.2022.0212

Jianfeng Lin, Jingwei Ke, Ruikang Xiao, Xiangtao Jiang, Miao Li, Xiaohui Xiao, Zhao Guo

{"title":"Bioinspired Bidirectional Stiffening Soft Actuators Enable Versatile and Robust Grasping.","authors":"Jianfeng Lin, Jingwei Ke, Ruikang Xiao, Xiangtao Jiang, Miao Li, Xiaohui Xiao, Zhao Guo","doi":"10.1089/soro.2022.0212","DOIUrl":"10.1089/soro.2022.0212","url":null,"abstract":"The bending stiffness modulation mechanism for soft grippers has gained considerable attention to improve grasping versatility, capacity, and stability. However, lateral stability is usually ignored or hard to achieve at the same time with good bending stiffness modulation performance. Therefore, this article presents a bioinspired bidirectional stiffening soft actuator (BISA), enabling compliant and stable performance. BISA combines the air tendon actuation (ATA) and a bone-like structure (BLS). The ATA is the main actuation of the BISA, and the bending stiffness can be modulated with a maximum stiffness of about 0.7 N/mm and a maximum magnification of three times when the bending angle is 45°. Inspired by the morphological structure of the phalanx, the lateral stiffness can be modulated by changing the pulling force of the BLS. The actuator with BLSs can improve the lateral stiffness by about 3.9 times compared to the one without BLSs. The maximum lateral stiffness can reach 0.46 N/mm. And the lateral stiffness can be modulated by decoupling about 1.3 times (e.g., from 0.35 to 0.46 N/mm when the bending angle is 45°). The test results show that the influence of the rigid structures on bending is small with about 1.5 mm maximum position errors of the distal point of the actuator in different pulling forces. The advantages brought by the proposed method enable versatile four-finger grasping. The performance of this gripper is characterized and demonstrated on multiscale, multiweight, and multimodal grasping tasks.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"494-507"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139934895","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

Squid-Inspired Powerful Untethered Soft Pumps via Magnetically Induced Phase Transitions. 鱿鱼启发的强大无系绳软泵通过磁诱导相变。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-11-27 DOI: 10.1089/soro.2022.0118

Qin Jiang, Zhitong Hu, Kefan Wu, Wenjun Wu, Shuo Zhang, Han Ding, Zhigang Wu

{"title":"Squid-Inspired Powerful Untethered Soft Pumps via Magnetically Induced Phase Transitions.","authors":"Qin Jiang, Zhitong Hu, Kefan Wu, Wenjun Wu, Shuo Zhang, Han Ding, Zhigang Wu","doi":"10.1089/soro.2022.0118","DOIUrl":"10.1089/soro.2022.0118","url":null,"abstract":"Soft robots possess unique deformability and hence result in great adaptability to various unconstructive environments; meanwhile, untethered soft actuation techniques are critical in fully exploiting their potential for practical applications. However, restricted by the material's softness and structural compliance, most untethered actuation systems were incapable of achieving fully soft construction with a powerful output. While in Nature, with a fully soft body, a squid can burst high-pressure jet flow from a cavity that drives the squid to swim swiftly. Here, inspired by such a unique actuation strategy of squids, an entirely soft pump capable of high-pressure output, fast jetting, and untethered control is presented, and it helps a bionic soft robotic squid to achieve a high-efficient untethered motion in water. The soft pump is designed by a reversible liquid-gas phase transition of an inductive heating magnetic liquid metal composite that acts as an adjustable power source with high heat efficiency. In particular, being purely soft, the pump can yet lift ∼20 times its weight and achieve ∼3 times the specific pressure of the previous record. It may promote the application of soft robots with independent actuation, high output power, and embodied energy supply.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"423-431"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138447642","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