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Yang B, Nasab AM, Woodman SJ, Thomas E, Tilton LG, Levin M, Kramer-Bottiglio R. Self-Amputating and Interfusing Machines. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2400241. [PMID: 38780175 DOI: 10.1002/adma.202400241] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/05/2024] [Revised: 04/25/2024] [Indexed: 05/25/2024]
Abstract
Biological organisms exhibit phenomenal adaptation through morphology-shifting mechanisms including self-amputation, regeneration, and collective behavior. For example, reptiles, crustaceans, and insects amputate their own appendages in response to threats. Temporary fusion between individuals enables collective behaviors, such as in ants that temporarily fuse to build bridges. The concept of morphological editing often involves the addition and subtraction of mass and can be linked to modular robotics, wherein synthetic body morphology may be revised by rearranging parts. This work describes a reversible cohesive interface made of thermoplastic elastomer that allows for strong attachment and easy detachment of distributed soft robot modules without direct human handling. The reversible joint boasts a modulus similar to materials commonly used in soft robotics, and can thus be distributed throughout soft robot bodies without introducing mechanical incongruities. To demonstrate utility, the reversible joint is implemented in two embodiments: a soft quadruped robot that self-amputates a limb when stuck, and a cluster of three soft-crawling robots that fuse to cross a land gap. This work points toward future robots capable of radical shape-shifting via changes in mass through autotomy and interfusion, as well as highlights the crucial role that interfacial stiffness change plays in autotomizable biological and artificial systems.
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Affiliation(s)
- Bilige Yang
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
| | - Amir Mohammadi Nasab
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
| | - Stephanie J Woodman
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
| | - Eugene Thomas
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
| | - Liana G Tilton
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
| | - Michael Levin
- Department of Biology, Allen Discovery Center at Tufts University, 200 Boston Ave. Suite 4604, Medford, MA, 02155, USA
- Wyss Institute for Biologically Inspired Engineering, Harvard University, 3 Blackfan Cir, Boston, MA, 02115, USA
| | - Rebecca Kramer-Bottiglio
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
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2
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Cornejo J, Sierra-Garcia JE, Gomez-Gil FJ, Weitzenfeld A, Acevedo FE, Escalante I, Recuero E, Wehrtmann IS. Bio-inspired design of hard-bodied mobile robots based on arthropod morphologies: a 10 year systematic review and bibliometric analysis. BIOINSPIRATION & BIOMIMETICS 2024; 19:051001. [PMID: 38866026 DOI: 10.1088/1748-3190/ad5778] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/05/2024] [Accepted: 06/12/2024] [Indexed: 06/14/2024]
Abstract
This research presents a 10-year systematic review based on bibliometric analysis of the bio-inspired design of hard-bodied mobile robot mechatronic systems considering the anatomy of arthropods. These are the most diverse group of animals whose flexible biomechanics and adaptable morphology, thus, it can inspire robot development. Papers were reviewed from two international databases (Scopus and Web of Science) and one platform (Aerospace Research Central), then they were classified according to: Year of publication (January 2013 to April 2023), arthropod group, published journal, conference proceedings, editorial publisher, research teams, robot classification according to the name of arthropod, limb's locomotion support, number of legs/arms, number of legs/body segments, limb's degrees of freedom, mechanical actuation type, modular system, and environment adaptation. During the screening, more than 33 000 works were analyzed. Finally, a total of 174 studies (90 journal-type, 84 conference-type) were selected for in-depth study: Insecta-hexapods (53.8%), Arachnida-octopods (20.7%), Crustacea-decapods (16.1%), and Myriapoda-centipedes and millipedes (9.2%). The study reveals that the most active editorials are the Institute of Electrical and Electronics Engineers Inc., Springer, MDPI, and Elsevier, while the most influential researchers are located in the USA, China, Singapore, and Japan. Most works pertained to spiders, crabs, caterpillars, cockroaches, and centipedes. We conclude that 'arthrobotics' research, which merges arthropods and robotics, is constantly growing and includes a high number of relevant studies with findings that can inspire new methods to design biomechatronic systems.
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Affiliation(s)
- José Cornejo
- Department of Electromechanical Engineering, University of Burgos, 09006 Burgos, Spain
| | | | | | - Alfredo Weitzenfeld
- Biorobotics Laboratory, Department of Computer Science and Engineering, University of South Florida, Tampa, FL, United States of America
| | - Flor E Acevedo
- Department of Entomology, The Pennsylvania State University, University Park, PA, United States of America
| | - Ignacio Escalante
- Department of Biological Sciences, University of Illinois-Chicago, 845 W Taylor St, Chicago, IL 60607, United States of America
| | - Ernesto Recuero
- Department of Plant & Environmental Sciences, 277 Poole Agricultural Center, Clemson University, Clemson, SC 29634-0310, United States of America
| | - Ingo S Wehrtmann
- Centro de Investigación en Ciencias del Mar y Limnología (CIMAR), Universidad de Costa Rica, 11501-2060 San José, Costa Rica
- Escuela de Biología, Universidad de Costa Rica, 11501-2060 San José, Costa Rica
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3
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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4
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Pigozzi F. Pressure-Based Soft Agents. ARTIFICIAL LIFE 2024; 30:240-258. [PMID: 37987673 DOI: 10.1162/artl_a_00415] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/22/2023]
Abstract
Biological agents have bodies that are composed mostly of soft tissue. Researchers have resorted to soft bodies to investigate Artificial Life (ALife)-related questions; similarly, a new era of soft-bodied robots has just begun. Nevertheless, because of their infinite degrees of freedom, soft bodies pose unique challenges in terms of simulation, control, and optimization. Herein I propose a novel soft-bodied agents formalism, namely, pressure-based soft agents (PSAs): spring-mass membranes containing a pressurized medium. Pressure endows the agents with structure, while springs and masses simulate softness and allow the agents to assume a large gamut of shapes. PSAs actuate both locally, by changing the resting lengths of springs, and globally, by modulating global pressure. I optimize the controller of PSAs for a locomotion task on hilly terrain, an escape task from a cage, and an object manipulation task. The results suggest that PSAs are indeed effective at the tasks, especially those requiring a shape change. I envision PSAs as playing a role in modeling soft-bodied agents, such as soft robots and biological cells.
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Affiliation(s)
- Federico Pigozzi
- University of Trieste Department of Engineering and Architecture.
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5
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Gao Y, Wang X, Chen Y. Light-driven soft microrobots based on hydrogels and LCEs: development and prospects. RSC Adv 2024; 14:14278-14288. [PMID: 38694551 PMCID: PMC11062240 DOI: 10.1039/d4ra00495g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/19/2024] [Accepted: 04/08/2024] [Indexed: 05/04/2024] Open
Abstract
In the daily life of mankind, microrobots can respond to stimulations received and perform different functions, which can be used to complete repetitive or dangerous tasks. Magnetic driving works well in robots that are tens or hundreds of microns in size, but there are big challenges in driving microrobots that are just a few microns in size. Therefore, it is impossible to guarantee the precise drive of microrobots to perform tasks. Acoustic driven micro-nano robot can achieve non-invasive and on-demand movement, and the drive has good biological compatibility, but the drive mode has low resolution and requires expensive experimental equipment. Light-driven robots move by converting light energy into other forms of energy. Light is a renewable, powerful energy source that can be used to transmit energy. Due to the gradual maturity of beam modulation and optical microscope technology, the application of light-driven microrobots has gradually become widespread. Light as a kind of electromagnetic wave, we can change the energy of light by controlling the wavelength and intensity of light. Therefore, the light-driven robot has the advantages of programmable, wireless, high resolution and accurate spatio-temporal control. According to the types of robots, light-driven robots are subdivided into three categories, namely light-driven soft microrobots, photochemical microrobots and 3D printed hard polymer microrobots. In this paper, the driving materials, driving mechanisms and application scenarios of light-driven soft microrobots are reviewed, and their advantages and limitations are discussed. Finally, we prospected the field, pointed out the challenges faced by light-driven soft micro robots and proposed corresponding solutions.
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Affiliation(s)
- Yingnan Gao
- School of Electromechanical and Automotive Engineering, Yantai University Yantai 264005 China
| | - Xiaowen Wang
- School of Electromechanical and Automotive Engineering, Yantai University Yantai 264005 China
| | - Yibao Chen
- School of Electromechanical and Automotive Engineering, Yantai University Yantai 264005 China
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6
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Twohig T, Tutika R, Zu W, Bartlett MD, Croll AB. Kuttsukigami: sticky sheet design. SOFT MATTER 2024; 20:2711-2719. [PMID: 38441249 DOI: 10.1039/d3sm01403g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/21/2024]
Abstract
Shaping 3D objects from 2D sheets enables form and function in diverse areas from art to engineering. Here we introduce kuttsukigami, which exploits sheet-sheet adhesion to create structure. The technique allows thin sheets to be sculpted without requiring sharp folds, enabling structure in a broad range of materials for a versatile and reconfigurable thin-sheet engineering design scheme. Simple closed structures from cylindrical loops to complex shapes like the Möbius loop are constructed and modeled through the balance between deformation and adhesion. Importantly, the balance can be used to create experimental measurements of elasticity in complex morphologies. More practically, kuttsukigami is demonstrated to encapsulate objects from the kitchen to micro scales and to build on-demand logic gates through sticky electronic sheets for truly reusable, reconfigurable devices.
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Affiliation(s)
- Timothy Twohig
- Department of Physics, North Dakota State University, Fargo, USA.
| | - Ravi Tutika
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA.
- Macromolecules Innovation Institute (MII), Virginia Tech, Blacksburg, VA 24061, USA
| | - Wuzhou Zu
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA.
| | - Michael D Bartlett
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA.
- Macromolecules Innovation Institute (MII), Virginia Tech, Blacksburg, VA 24061, USA
| | - Andrew B Croll
- Department of Physics, North Dakota State University, Fargo, USA.
- Materials and Nanotechnology Program, North Dakota State University, Fargo, USA
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Kim J, Bae J. Self-Locking Pneumatic Actuators Formed from Origami Shape-Morphing Sheets. Soft Robot 2024; 11:32-42. [PMID: 37616544 DOI: 10.1089/soro.2022.0233] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/26/2023] Open
Abstract
The art of origami has gained traction in various fields such as architecture, the aerospace industry, and soft robotics, owing to the exceptional versatility of flat sheets to exhibit complex shape transformations. Despite the promise that origami robots hold, their use in high-capacity environments has been limited due to the lack of rigidity. This article introduces novel, origami-inspired, self-locking pneumatic modular actuators (SPMAs), enabling them to operate in such environments. Our innovative approach is based on origami patterns that allow for various types of shape morphing, including linear and rotational motion. We have significantly enhanced the stiffness of the actuators by embedding magnets in composite sheets, thus facilitating their application in real-world scenarios. In addition, the embedded self-adjustable valves facilitate the control of sequential origami actuations, making it possible to simplify the pneumatic system for actuating multimodules. With just one actuation source and one solenoid valve, the valves enable efficient control of our SPMAs. The SPMAs can control robotic arms operating in confined spaces, and the entire system can be modularized to accomplish various tasks. Our results demonstrate the potential of origami-inspired designs to achieve more efficient and reliable robotic systems, thus opening up new avenues for the development of robotic systems for various applications.
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Affiliation(s)
- Juri Kim
- Bio-Robotics and Control Laboratory, Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea
| | - Joonbum Bae
- Bio-Robotics and Control Laboratory, Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea
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8
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Yu Q, Gravish N. Multimodal Locomotion in a Soft Robot Through Hierarchical Actuation. Soft Robot 2024; 11:21-31. [PMID: 37471221 DOI: 10.1089/soro.2022.0198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/22/2023] Open
Abstract
Soft and continuum robots present the opportunity for extremely large ranges of motion, which can enable dexterous, adaptive, and multimodal locomotion behaviors. However, as the number of degrees of freedom (DOF) of a robot increases, the number of actuators should also increase to achieve the full actuation potential. This presents a dilemma in mobile soft robot design: physical space and power requirements restrict the number and type of actuators available and may ultimately limit the movement capabilities of soft robots with high-DOF appendages. Restrictions on actuation of continuum appendages ultimately may limit the various movement capabilities of soft robots. In this work, we demonstrate multimodal behaviors in an underwater robot called "Hexapus." A hierarchical actuation design for multiappendage soft robots is presented in which a single high-power motor actuates all appendages for locomotion, while smaller low-power motors augment the shape of each appendage. The flexible appendages are designed to be capable of hyperextension for thrust, and flexion for grasping with a peak pullout force of 32 N. For propulsion, we incorporate an elastic membrane connected across the base of each tentacle, which is stretched slowly by the high-power motor and released rapidly through a slip-gear mechanism. Through this actuation arrangement, Hexapus is capable of underwater locomotion with low cost of transport (COT = 1.44 at 16.5 mm/s) while swimming and a variety of multimodal locomotion behaviors, including swimming, turning, grasping, and crawling, which we demonstrate in experiment.
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Affiliation(s)
- Qifan Yu
- Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, California, USA
| | - Nick Gravish
- Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, California, USA
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9
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Choe JK, Yi J, Jang H, Won H, Lee S, Lee H, Jang Y, Song H, Kim J. Digital Mechanical Metamaterial: Encoding Mechanical Information with Graphical Stiffness Pattern for Adaptive Soft Machines. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2304302. [PMID: 37850948 DOI: 10.1002/adma.202304302] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/08/2023] [Revised: 09/15/2023] [Indexed: 10/19/2023]
Abstract
Inspired by the adaptive features exhibited by biological organisms like the octopus, soft machines that can tune their shape and mechanical properties have shown great potential in applications involving unstructured and continuously changing environments. However, current soft machines are far from achieving the same level of adaptability as their biological counterparts, hampered by limited real-time tunability and severely deficient reprogrammable space of properties and functionalities. As a steppingstone toward fully adaptive soft robots and smart interactive machines, an encodable multifunctional material that uses graphical stiffness patterns is introduced here to in situ program versatile mechanical capabilities without requiring additional infrastructure. Through independently switching the digital binary stiffness states (soft or rigid) of individual constituent units of a simple auxetic structure with elliptical voids, in situ and gradational tunability is demonstrated here in various mechanical qualities such as shape-shifting and -memory, stress-strain response, and Poisson's ratio under compressive load as well as application-oriented functionalities such as tunable and reusable energy absorption and pressure delivery. This digitally programmable material is expected to pave the way toward multienvironment soft robots and interactive machines.
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Affiliation(s)
- Jun Kyu Choe
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Jiyoon Yi
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hanhyeok Jang
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Heejae Won
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Suwoo Lee
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hajun Lee
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Yeonwoo Jang
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hyeonseo Song
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Jiyun Kim
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
- Center for Multidimensional Programmable Matter, Ulsan National Institute of Science and Technology, Ulsan, 44919, South Korea
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10
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McCaskill JS, Karnaushenko D, Zhu M, Schmidt OG. Microelectronic Morphogenesis: Smart Materials with Electronics Assembling into Artificial Organisms. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2306344. [PMID: 37814374 DOI: 10.1002/adma.202306344] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 08/27/2023] [Indexed: 10/11/2023]
Abstract
Microelectronic morphogenesis is the creation and maintenance of complex functional structures by microelectronic information within shape-changing materials. Only recently has in-built information technology begun to be used to reshape materials and their functions in three dimensions to form smart microdevices and microrobots. Electronic information that controls morphology is inheritable like its biological counterpart, genetic information, and is set to open new vistas of technology leading to artificial organisms when coupled with modular design and self-assembly that can make reversible microscopic electrical connections. Three core capabilities of cells in organisms, self-maintenance (homeostatic metabolism utilizing free energy), self-containment (distinguishing self from nonself), and self-reproduction (cell division with inherited properties), once well out of reach for technology, are now within the grasp of information-directed materials. Construction-aware electronics can be used to proof-read and initiate game-changing error correction in microelectronic self-assembly. Furthermore, noncontact communication and electronically supported learning enable one to implement guided self-assembly and enhance functionality. Here, the fundamental breakthroughs that have opened the pathway to this prospective path are reviewed, the extent and way in which the core properties of life can be addressed are analyzed, and the potential and indeed necessity of such technology for sustainable high technology in society is discussed.
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Affiliation(s)
- John S McCaskill
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Material Systems for Nanoelectronics, Chemnitz University of Technology, 09126, Chemnitz, Germany
- European Centre for Living Technology (ECLT), Ca' Bottacin, Dorsoduro 3911, Venice, 30123, Italy
| | - Daniil Karnaushenko
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Material Systems for Nanoelectronics, Chemnitz University of Technology, 09126, Chemnitz, Germany
| | - Minshen Zhu
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Material Systems for Nanoelectronics, Chemnitz University of Technology, 09126, Chemnitz, Germany
| | - Oliver G Schmidt
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Material Systems for Nanoelectronics, Chemnitz University of Technology, 09126, Chemnitz, Germany
- European Centre for Living Technology (ECLT), Ca' Bottacin, Dorsoduro 3911, Venice, 30123, Italy
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Wang J, Zhang Y, Zheng J, Zhao X, Guo H, Qiu Y, Wang X, Liu L, Yu H. A 4D-Printing Inverse Design Strategy for Micromachines with Customized Shape-Morphing. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2302656. [PMID: 37345000 DOI: 10.1002/smll.202302656] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/29/2023] [Revised: 05/28/2023] [Indexed: 06/23/2023]
Abstract
An active heterostructure with smart-response material used as "muscle" and inactive material as "skeleton" can deform over time to respond to external stimuli. 4D printing integrated with two-photon polymerization technology and smart material allows the material or characteristic distribution of active heterostructures to be defined directly at the microscale, providing a huge programmable space. However, the high degree of design freedom and the microscale pose a challenge to the construction of micromachines with customized shape morphing. Here, a reverse design strategy based on multi-material stepwise 4D printing is proposed to guide the structural design of biomimetic micromachines. Inspired by the piecewise constant curvature model of soft robot, a reverse design algorithm based on the Timoshenko model is developed. The algorithm can approximate 2D features to a constant-curvature model and determine an acceptable material distribution within the explored printing range. Three Chinese "Long" (Chinese dragon heralds of good fortune) designed by the strategy can deform to the customized shape. In addition, a microcrawler printed using this method can imitate a real inchworm gait. These results demonstrate that this method can be an efficient tool for the action or shape design of bionic soft microrobots or micromachines with predetermined functions.
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Affiliation(s)
- Jingang Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Yuzhao Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Jianchen Zheng
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Xiubao Zhao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- School of Information Engineering, Shenyang University of Chemical Technology, Shenyang, China
| | - Hongji Guo
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
| | - Ye Qiu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Xiaoduo Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
| | - Haibo Yu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
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12
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Sun J, Lerner E, Tighe B, Middlemist C, Zhao J. Embedded shape morphing for morphologically adaptive robots. Nat Commun 2023; 14:6023. [PMID: 37758737 PMCID: PMC10533550 DOI: 10.1038/s41467-023-41708-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/15/2023] [Accepted: 09/15/2023] [Indexed: 09/29/2023] Open
Abstract
Shape-morphing robots can change their morphology to fulfill different tasks in varying environments, but existing shape-morphing capability is not embedded in a robot's body, requiring bulky supporting equipment. Here, we report an embedded shape-morphing scheme with the shape actuation, sensing, and locking, all embedded in a robot's body. We showcase this embedded scheme using three morphing robotic systems: 1) self-sensing shape-morphing grippers that can adapt to objects for adaptive grasping; 2) a quadrupedal robot that can morph its body shape for different terrestrial locomotion modes (walk, crawl, or horizontal climb); 3) an untethered robot that can morph its limbs' shape for amphibious locomotion. We also create a library of embedded morphing modules to demonstrate the versatile programmable shapes (e.g., torsion, 3D bending, surface morphing, etc.). Our embedded morphing scheme offers a promising avenue for robots to reconfigure their morphology in an embedded manner that can adapt to different environments on demand.
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Affiliation(s)
- Jiefeng Sun
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA.
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA.
| | - Elisha Lerner
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA
| | - Brandon Tighe
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA
| | - Clint Middlemist
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA
| | - Jianguo Zhao
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA.
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13
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Zheng Z, Han J, Demir SO, Wang H, Jiang W, Liu H, Sitti M. Electrodeposited Superhydrophilic-Superhydrophobic Composites for Untethered Multi-Stimuli-Responsive Soft Millirobots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2302409. [PMID: 37288527 PMCID: PMC10427389 DOI: 10.1002/advs.202302409] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/17/2023] [Revised: 05/16/2023] [Indexed: 06/09/2023]
Abstract
To navigate in complex and unstructured real-world environments, soft miniature robots need to possess multiple functions, including autonomous environmental sensing, self-adaptation, and multimodal locomotion. However, to achieve multifunctionality, artificial soft robots should respond to multiple stimuli, which can be achieved by multimaterial integration using facile and flexible fabrication methods. Here, a multimaterial integration strategy for fabricating soft millirobots that uses electrodeposition to integrate two inherently non-adherable materials, superhydrophilic hydrogels and superhydrophobic elastomers, together via gel roots is proposed. This approach enables the authors to electrodeposit sodium alginate hydrogel onto a laser-induced graphene-coated elastomer, which can then be laser cut into various shapes to function as multi-stimuli-responsive soft robots (MSRs). Each MSR can respond to six different stimuli to autonomously transform their shapes, and mimic flowers, vines, mimosas, and flytraps. It is demonstrated that MSRs can climb slopes, switch locomotion modes, self-adapt between air-liquid environments, and transport cargo between different environments. This multimaterial integration strategy enables creating untethered soft millirobots that have multifunctionality, such as environmental sensing, self-propulsion, and self-adaptation, paving the way for their future operation in complex real-world environments.
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Affiliation(s)
- Zhiqiang Zheng
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Jie Han
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- State Key Laboratory for Manufacturing Systems EngineeringXi'an Jiaotong UniversityXi'an710054China
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710054China
| | - Sinan Ozgun Demir
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Huaping Wang
- Intelligent Robotics InstituteSchool of Mechatronical EngineeringBeijing Institute of TechnologyBeijing100081China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology)Ministry of EducationBeijing100081China
| | - Weitao Jiang
- State Key Laboratory for Manufacturing Systems EngineeringXi'an Jiaotong UniversityXi'an710054China
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710054China
| | - Hongzhong Liu
- State Key Laboratory for Manufacturing Systems EngineeringXi'an Jiaotong UniversityXi'an710054China
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710054China
| | - Metin Sitti
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
- School of Medicine and College of EngineeringKoç UniversityIstanbul34450Turkey
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14
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Wang J, Sotzing M, Lee M, Chortos A. Passively addressed robotic morphing surface (PARMS) based on machine learning. SCIENCE ADVANCES 2023; 9:eadg8019. [PMID: 37478174 PMCID: PMC10361599 DOI: 10.1126/sciadv.adg8019] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/06/2023] [Accepted: 06/21/2023] [Indexed: 07/23/2023]
Abstract
Reconfigurable morphing surfaces provide new opportunities for advanced human-machine interfaces and bio-inspired robotics. Morphing into arbitrary surfaces on demand requires a device with a sufficiently large number of actuators and an inverse control strategy. Developing compact, efficient control interfaces and algorithms is vital for broader adoption. In this work, we describe a passively addressed robotic morphing surface (PARMS) composed of matrix-arranged ionic actuators. To reduce the complexity of the physical control interface, we introduce passive matrix addressing. Matrix addressing allows the control of N2 independent actuators using only 2N control inputs, which is substantially lower than traditional direct addressing (N2 control inputs). Using machine learning with finite element simulations for training, our control algorithm enables real-time, high-precision forward and inverse control, allowing PARMS to dynamically morph into arbitrary achievable predefined surfaces on demand. These innovations may enable the future implementation of PARMS in wearables, haptics, and augmented reality/virtual reality.
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Affiliation(s)
- Jue Wang
- Department of Mechanical Engineering, Purdue University, 500 Central Dr, Lafayette, IN 47907, USA
| | - Michael Sotzing
- Department of Mechanical Engineering, Purdue University, 500 Central Dr, Lafayette, IN 47907, USA
| | - Mina Lee
- Department of Mechanical Engineering, Purdue University, 500 Central Dr, Lafayette, IN 47907, USA
| | - Alex Chortos
- Department of Mechanical Engineering, Purdue University, 500 Central Dr, Lafayette, IN 47907, USA
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15
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Giordano G, Murali Babu SP, Mazzolai B. Soft robotics towards sustainable development goals and climate actions. Front Robot AI 2023; 10:1116005. [PMID: 37008983 PMCID: PMC10064016 DOI: 10.3389/frobt.2023.1116005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Accepted: 03/06/2023] [Indexed: 03/19/2023] Open
Abstract
Soft robotics technology can aid in achieving United Nations’ Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By utilizing soft robotics, we can mitigate the detrimental effects of climate change on human society and the natural world through fostering adaptation, restoration, and remediation. Moreover, the implementation of soft robotics can lead to groundbreaking discoveries in material science, biology, control systems, energy efficiency, and sustainable manufacturing processes. However, to achieve these goals, we need further improvements in understanding biological principles at the basis of embodied and physical intelligence, environment-friendly materials, and energy-saving strategies to design and manufacture self-piloting and field-ready soft robots. This paper provides insights on how soft robotics can address the pressing issue of environmental sustainability. Sustainable manufacturing of soft robots at a large scale, exploring the potential of biodegradable and bioinspired materials, and integrating onboard renewable energy sources to promote autonomy and intelligence are some of the urgent challenges of this field that we discuss in this paper. Specifically, we will present field-ready soft robots that address targeted productive applications in urban farming, healthcare, land and ocean preservation, disaster remediation, and clean and affordable energy, thus supporting some of the SDGs. By embracing soft robotics as a solution, we can concretely support economic growth and sustainable industry, drive solutions for environment protection and clean energy, and improve overall health and well-being.
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Affiliation(s)
- Goffredo Giordano
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy
- Department of Mechanics Mathematics and Management, Politecnico di Barit, Bari, Italy
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
| | - Saravana Prashanth Murali Babu
- SDU Soft Robotics, SDU Biorobotics, The Mærsk McKinney Møller Institute, University of Southern Denmark, Odense, Denmark
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
| | - Barbara Mazzolai
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
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16
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Yang W, Wang X, Wang Z, Yuan Z, Ge Z, Yu H. A multi-stimulus-responsive bionic fish microrobot for remote intelligent control applications. SOFT MATTER 2023; 19:913-920. [PMID: 36625411 DOI: 10.1039/d2sm01468h] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
In nature, all creatures have their unique characteristics that allow them to adapt to the complex and changeable living environments. In recent years, bionic fish has received increased attention from the research community, and many fish-like microrobots driven by the Marangoni effect have been developed. They are generally characterized by easy operation and rapid driving. However, traditional fish-like microrobots can only be driven by a single stimulus and move on two-dimensional (2D) gas-liquid interfaces, which greatly limits their ability in obstacle avoidance and transportation. In this article, we propose a multi-stimulus-responsive bionic fish microrobot, which is made of temperature-responsive hydrogel poly(N-isopropylacrylamide) (pNIPAM). This microrobot is impregnated with carbon nanotubes (CNTs) and Fe3O4 and therefore has magnetic and photothermal conversion properties. Under the action of optical, magnetic or ethanol molecules, the microrobot can perform complex programmable translational motion on 2D surfaces and controllable rising and sinking, while realizing motion simulation and obstacle avoidance. The microrobot is expected to be used for a wide range of applications in intelligent control systems.
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Affiliation(s)
- Wenguang Yang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai, 264005, China.
| | - Xiaowen Wang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai, 264005, China.
| | - Zhen Wang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai, 264005, China.
| | - Zheng Yuan
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai, 264005, China.
| | - Zhixing Ge
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
| | - Haibo Yu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
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17
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Zheng P, Xiao F, Nguyen PH, Farinha A, Kovac M. Metamorphic aerial robot capable of mid-air shape morphing for rapid perching. Sci Rep 2023; 13:1297. [PMID: 36690665 PMCID: PMC9870873 DOI: 10.1038/s41598-022-26066-5] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/27/2022] [Accepted: 12/08/2022] [Indexed: 01/24/2023] Open
Abstract
Aerial robots can perch onto structures at heights to reduce energy use or to remain firmly in place when interacting with their surroundings. Like how birds have wings to fly and legs to perch, these bio-inspired aerial robots use independent perching modules. However, modular design not only increases the weight of the robot but also its size, reducing the areas that the robot can access. To mitigate these problems, we take inspiration from gliding and tree-dwelling mammals such as sugar gliders and sloths. We noted how gliding mammals morph their whole limb to transit between flight and perch, and how sloths optimized their physiology to encourage energy-efficient perching. These insights are applied to design a quadrotor robot that transitions between morphologies to fly and perch with a single-direction tendon drive. The robot's bi-stable arm is rigid in flight but will conform to its target in 0.97 s when perching, holding its grasp with minimal energy use. We achieved a [Formula: see text] overall mass reduction by integrating this capability into a single body. The robot perches by a controlled descent or a free-falling drop to avoid turbulent aerodynamic effects. Our proposed design solution can fulfill the need for small perching robots in cluttered environments.
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Affiliation(s)
- Peter Zheng
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK.
- The Grantham Institute-Climate Change and the Environment, Imperial College London, London, SW7 2AZ, UK.
| | - Feng Xiao
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Pham Huy Nguyen
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Andre Farinha
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Mirko Kovac
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK.
- Laboratory of Sustainability Robotics, Swiss Federal Laboratories of Materials Science and Technology, 8600, Dübendorf, Switzerland.
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18
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Liu W, Duo Y, Liu J, Yuan F, Li L, Li L, Wang G, Chen B, Wang S, Yang H, Liu Y, Mo Y, Wang Y, Fang B, Sun F, Ding X, Zhang C, Wen L. Touchless interactive teaching of soft robots through flexible bimodal sensory interfaces. Nat Commun 2022; 13:5030. [PMID: 36028481 PMCID: PMC9412806 DOI: 10.1038/s41467-022-32702-5] [Citation(s) in RCA: 38] [Impact Index Per Article: 19.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2022] [Accepted: 08/12/2022] [Indexed: 11/09/2022] Open
Abstract
In this paper, we propose a multimodal flexible sensory interface for interactively teaching soft robots to perform skilled locomotion using bare human hands. First, we develop a flexible bimodal smart skin (FBSS) based on triboelectric nanogenerator and liquid metal sensing that can perform simultaneous tactile and touchless sensing and distinguish these two modes in real time. With the FBSS, soft robots can react on their own to tactile and touchless stimuli. We then propose a distance control method that enabled humans to teach soft robots movements via bare hand-eye coordination. The results showed that participants can effectively teach a self-reacting soft continuum manipulator complex motions in three-dimensional space through a "shifting sensors and teaching" method within just a few minutes. The soft manipulator can repeat the human-taught motions and replay them at different speeds. Finally, we demonstrate that humans can easily teach the soft manipulator to complete specific tasks such as completing a pen-and-paper maze, taking a throat swab, and crossing a barrier to grasp an object. We envision that this user-friendly, non-programmable teaching method based on flexible multimodal sensory interfaces could broadly expand the domains in which humans interact with and utilize soft robots.
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Affiliation(s)
- Wenbo Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Youning Duo
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Jiaqi Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Feiyang Yuan
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Lei Li
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Luchen Li
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Gang Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Bohan Chen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Siqi Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Hui Yang
- Institute of Semiconductors, Guangdong Academy of Sciences, Guangdong, 510075, China
| | - Yuchen Liu
- School of General Engineering, Beihang University, Beijing, 100191, China
| | - Yanru Mo
- School of General Engineering, Beihang University, Beijing, 100191, China
| | - Yun Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Bin Fang
- Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, China
| | - Fuchun Sun
- Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, China
| | - Xilun Ding
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Chi Zhang
- CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-Nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing, 101400, China.,School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China.
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19
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Xia N, Jin B, Jin D, Yang Z, Pan C, Wang Q, Ji F, Iacovacci V, Majidi C, Ding Y, Zhang L. Decoupling and Reprogramming the Wiggling Motion of Midge Larvae Using a Soft Robotic Platform. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2109126. [PMID: 35196405 DOI: 10.1002/adma.202109126] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/11/2021] [Revised: 02/06/2022] [Indexed: 06/14/2023]
Abstract
The efficient motility of invertebrates helps them survive under evolutionary pressures. Reconstructing the locomotion of invertebrates and decoupling the influence of individual basic motion are crucial for understanding their underlying mechanisms, which, however, generally remain a challenge due to the complexity of locomotion gaits. Herein, a magnetic soft robot to reproduce midge larva's key natural swimming gaits is developed, and the coupling effect between body curling and rotation on motility is investigated. Through the authors' systematically decoupling studies using programmed magnetic field inputs, the soft robot (named LarvaBot) experiences various coupled gaits, including biomimetic side-to-side flexures, and unveils that the optimal rotation amplitude and the synchronization of curling and rotation greatly enhance its motility. The LarvaBot achieves fast locomotion and upstream capability at the moderate Reynolds number regime. The soft robotics-based platform provides new insight to decouple complex biological locomotion, and design programmed swimming gaits for the fast locomotion of soft-bodied swimmers.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Bowen Jin
- Beijing Computational Science Research Center, Haidian District, Beijing, 100193, China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Veronica Iacovacci
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, 56025, Italy
| | - Carmel Majidi
- Soft Machines Lab, Carnegie Mellon University, Pittsburgh, PA, 15213, USA
| | - Yang Ding
- Beijing Computational Science Research Center, Haidian District, Beijing, 100193, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
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20
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21
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Cao D, Martinez JG, Hara ES, Jager EWH. Biohybrid Variable-Stiffness Soft Actuators that Self-Create Bone. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2107345. [PMID: 34877728 DOI: 10.1002/adma.202107345] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/15/2021] [Revised: 11/12/2021] [Indexed: 06/13/2023]
Abstract
Inspired by the dynamic process of initial bone development, in which a soft tissue turns into a solid load-bearing structure, the fabrication, optimization, and characterization of bioinduced variable-stiffness actuators that can morph in various shapes and change their properties from soft to rigid are hereby presented. Bilayer devices are prepared by combining the electromechanically active properties of polypyrrole with the compliant behavior of alginate gels that are uniquely functionalized with cell-derived plasma membrane nanofragments (PMNFs), previously shown to mineralize within 2 days, which promotes the mineralization in the gel layer to achieve the soft to stiff change by growing their own bone. The mineralized actuator shows an evident frozen state compared to the movement before mineralization. Next, patterned devices show programmed directional and fixated morphing. These variable-stiffness devices can wrap around and, after the PMNF-induced mineralization in and on the gel layer, adhere and integrate onto bone tissue. The developed biohybrid variable-stiffness actuators can be used in soft (micro-)robotics and as potential tools for bone repair or bone tissue engineering.
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Affiliation(s)
- Danfeng Cao
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
| | - Jose G Martinez
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
| | - Emilio Satoshi Hara
- Department of Biomaterials, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, 700-8558, Japan
| | - Edwin W H Jager
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
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22
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Abramson CI, Levin M. Behaviorist approaches to investigating memory and learning: A primer for synthetic biology and bioengineering. Commun Integr Biol 2021; 14:230-247. [PMID: 34925687 PMCID: PMC8677006 DOI: 10.1080/19420889.2021.2005863] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/04/2022] Open
Abstract
The fields of developmental biology, biomedicine, and artificial life are being revolutionized by advances in synthetic morphology. The next phase of synthetic biology and bioengineering is resulting in the construction of novel organisms (biobots), which exhibit not only morphogenesis and physiology but functional behavior. It is now essential to begin to characterize the behavioral capacity of novel living constructs in terms of their ability to make decisions, form memories, learn from experience, and anticipate future stimuli. These synthetic organisms are highly diverse, and often do not resemble familiar model systems used in behavioral science. Thus, they represent an important context in which to begin to unify and standardize vocabulary and techniques across developmental biology, behavioral ecology, and neuroscience. To facilitate the study of behavior in novel living systems, we present a primer on techniques from the behaviorist tradition that can be used to probe the functions of any organism – natural, chimeric, or synthetic – regardless of the details of their construction or origin. These techniques provide a rich toolkit for advancing the fields of synthetic bioengineering, evolutionary developmental biology, basal cognition, exobiology, and robotics.
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Affiliation(s)
- Charles I Abramson
- Department of Psychology, Laboratory of Comparative Psychology and Behavioral Biology at Oklahoma State University, United States of America
| | - Michael Levin
- Department of Biology, Allen Discovery Center at Tufts University, United States of America
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23
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Yang B, Baines R, Shah D, Patiballa S, Thomas E, Venkadesan M, Kramer-Bottiglio R. Reprogrammable soft actuation and shape-shifting via tensile jamming. SCIENCE ADVANCES 2021; 7:eabh2073. [PMID: 34597130 PMCID: PMC11093226 DOI: 10.1126/sciadv.abh2073] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/22/2021] [Accepted: 08/10/2021] [Indexed: 06/13/2023]
Abstract
The emerging generation of robots composed of soft materials strives to match biological motor adaptation skills via shape-shifting. Soft robots often harness volumetric expansion directed by strain limiters to deform in complex ways. Traditionally, strain limiters have been inert materials embedded within a system to prescribe a single deformation. Under changing task demands, a fixed deformation mode limits adaptability. Recent technologies for on-demand reprogrammable deformation of soft bodies, including thermally activated variable stiffness materials and jamming systems, presently suffer from long actuation times or introduce unwanted bending stiffness. We present fibers that switch tensile stiffness via jamming of segmented elastic fibrils. When jammed, tensile stiffness increases more than 20× in less than 0.1 s, but bending stiffness increases only 2×. When adhered to an inflating body, jamming fibers locally limit surface tensile strains, unlocking myriad programmable deformations. The proposed jamming technology is scalable, enabling adaptive behaviors in emerging robotic materials that interact with unstructured environments.
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Affiliation(s)
| | | | | | - Sreekalyan Patiballa
- School of Engineering & Applied Science, Yale University, 10 Hillhouse Avenue, New Haven, CT 06520, USA
| | - Eugene Thomas
- School of Engineering & Applied Science, Yale University, 10 Hillhouse Avenue, New Haven, CT 06520, USA
| | - Madhusudhan Venkadesan
- School of Engineering & Applied Science, Yale University, 10 Hillhouse Avenue, New Haven, CT 06520, USA
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24
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Ren L, Li B, Wei G, Wang K, Song Z, Wei Y, Ren L, Qingping Liu. Biology and bioinspiration of soft robotics: Actuation, sensing, and system integration. iScience 2021; 24:103075. [PMID: 34568796 PMCID: PMC8449090 DOI: 10.1016/j.isci.2021.103075] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Abstract
Organisms in nature grow with senses, nervous, and actuation systems coordinated in ingenious ways to sustain metabolism and other essential life activities. The understanding of biological structures and functions guide the construction of soft robotics with unprecedented performances. However, despite the progress in soft robotics, there still remains a big gap between man-made soft robotics and natural lives in terms of autonomy, adaptability, self-repair, durability, energy efficiency, etc. Here, the actuation and sensing strategies in the natural biological world are summarized along with their man-made counterparts applied in soft robotics. The development trends of bioinspired soft robotics toward closed loop and embodiment are proposed. Challenges for obtaining autonomous soft robotics similar to natural organisms are outlined to provide a perspective in this field.
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Affiliation(s)
- Luquan Ren
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130022, China
| | - Bingqian Li
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130022, China
| | - Guowu Wei
- School of Science, Engineering and Environment, University of Salford, M5 4WT Salford, UK
| | - Kunyang Wang
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130022, China
| | - Zhengyi Song
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130022, China
| | - Yuyang Wei
- School of Mechanical, Aerospace and Civil Engineering, University of Manchester, M13 9PL Manchester, UK
| | - Lei Ren
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130022, China.,School of Mechanical, Aerospace and Civil Engineering, University of Manchester, M13 9PL Manchester, UK
| | - Qingping Liu
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130022, China
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25
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Design and Implementation of Morphed Multi-Rotor Vehicles with Real-Time Obstacle Detection and Sensing System. SENSORS 2021; 21:s21186192. [PMID: 34577393 PMCID: PMC8471925 DOI: 10.3390/s21186192] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/09/2021] [Revised: 09/09/2021] [Accepted: 09/13/2021] [Indexed: 11/21/2022]
Abstract
Multirotor unmanned aerial vehicles (MUAVs) are becoming more prominent for diverse real-world applications due to their inherent hovering ability, swift manoeuvring and vertical take-off landing capabilities. Nonetheless, to be entirely applicable for various obstacle prone environments, the conventional MUAVs may not be able to change their configuration depending on the available space and perform designated missions. It necessitates the morphing phenomenon of MUAVS, wherein it can alter their geometric structure autonomously. This article presents the development of a morphed MUAV based on a simple rotary actuation mechanism capable of driving each arm’s smoothly and satisfying the necessary reduction in workspace volume to navigate in the obstacle prone regions. The mathematical modelling for the folding mechanism was formulated, and corresponding kinematic analysis was performed to understand the synchronous motion characteristics of the arms during the folding of arms. Experiments were conducted by precisely actuating the servo motors based on the proximity ultrasonic sensor data to avoid the obstacle for achieving effective morphing of MUAV. The flight tests were conducted to estimate the endurance and attain a change in morphology of MUAV from “X-Configuration” to “H-Configuration” with the four arms actuated synchronously without time delay.
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Moreno R, Faiña A. EMERGE Modular Robot: A Tool for Fast Deployment of Evolved Robots. Front Robot AI 2021; 8:699814. [PMID: 34291092 PMCID: PMC8287515 DOI: 10.3389/frobt.2021.699814] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/24/2021] [Accepted: 06/16/2021] [Indexed: 01/23/2023] Open
Abstract
This work presents a platform for evolution of morphology in full cycle reconfigurable hardware: The EMERGE (Easy Modular Embodied Robot Generator) modular robot platform. Three parts necessary to implement a full cycle process, i.e., assembling the modules in morphologies, testing the morphologies, disassembling modules and repeating, are described as a previous step to testing a fully autonomous system: the mechanical design of the EMERGE module, extensive tests of the modules by first assembling them manually, and automatic assembly and disassembly tests. EMERGE modules are designed to be easy and fast to build, one module is built in half an hour and is constructed from off-the-shelf and 3D printed parts. Thanks to magnetic connectors, modules are quickly attached and detached to assemble and reconfigure robot morphologies. To test the performance of real EMERGE modules, 30 different morphologies are evolved in simulation, transferred to reality, and tested 10 times. Manual assembly of these morphologies is aided by a visual guiding tool that uses AprilTag markers to check the real modules positions in the morphology against their simulated counterparts and provides a color feedback. Assembly time takes under 5 min for robots with fewer than 10 modules and increases linearly with the number of modules in the morphology. Tests show that real EMERGE morphologies can reproduce the performance of their simulated counterparts, considering the reality gap. Results also show that magnetic connectors allow modules to disconnect in case of being subjected to high external torques that could damage them otherwise. Module tracking combined with their easy assembly and disassembly feature enable EMERGE modules to be also reconfigured using an external robotic manipulator. Experiments demonstrate that it is possible to attach and detach modules from a morphology, as well as release the module from the manipulator using a passive magnetic gripper. This shows that running a completely autonomous, evolution of morphology in full cycle reconfigurable hardware of different topologies for robots is possible and on the verge of being realized. We discuss EMERGE features and the trade-off between reusability and morphological variability among different approaches to physically implement evolved robots.
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Affiliation(s)
- Rodrigo Moreno
- REAL Lab, IT University of Copenhagen, Copenhagen, Denmark
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Chen Y, Yang J, Zhang X, Feng Y, Zeng H, Wang L, Feng W. Light-driven bimorph soft actuators: design, fabrication, and properties. MATERIALS HORIZONS 2021; 8:728-757. [PMID: 34821314 DOI: 10.1039/d0mh01406k] [Citation(s) in RCA: 62] [Impact Index Per Article: 20.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/15/2023]
Abstract
Soft robots that can move like living organisms and adapt to their surroundings are currently in the limelight from fundamental studies to technological applications, due to their advances in material flexibility, human-friendly interaction, and biological adaptation that surpass conventional rigid machines. Light-fueled smart actuators based on responsive soft materials are considered to be one of the most promising candidates to promote the field of untethered soft robotics, thereby attracting considerable attention amongst materials scientists and microroboticists to investigate photomechanics, photoswitch, bioinspired design, and actuation realization. In this review, we discuss the recent state-of-the-art advances in light-driven bimorph soft actuators, with the focus on bilayer strategy, i.e., integration between photoactive and passive layers within a single material system. Bilayer structures can endow soft actuators with unprecedented features such as ultrasensitivity, programmability, superior compatibility, robustness, and sophistication in controllability. We begin with an explanation about the working principle of bimorph soft actuators and introduction of a synthesis pathway toward light-responsive materials for soft robotics. Then, photothermal and photochemical bimorph soft actuators are sequentially introduced, with an emphasis on the design strategy, actuation performance, underlying mechanism, and emerging applications. Finally, this review is concluded with a perspective on the existing challenges and future opportunities in this nascent research Frontier.
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Affiliation(s)
- Yuanhao Chen
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, P. R. China.
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Programmable Stimuli-Responsive Actuators for Complex Motions in Soft Robotics: Concept, Design and Challenges. ACTUATORS 2020. [DOI: 10.3390/act9040131] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/15/2022]
Abstract
During the last years, great progress was made in material science in terms of concept, design and fabrication of new composite materials with conferred properties and desired functionalities. The scientific community paid particular interest to active soft materials, such as soft actuators, for their potential as transducers responding to various stimuli aiming to produce mechanical work. Inspired by this, materials engineers today are developing multidisciplinary approaches to produce new active matters, focusing on the kinematics allowed by the material itself more than on the possibilities offered by its design. Traditionally, more complex motions beyond pure elongation and bending are addressed by the robotics community. The present review targets encompassing and rationalizing a framework which will help a wider scientific audience to understand, sort and design future soft actuators and methods enabling complex motions. Special attention is devoted to recent progress in developing innovative stimulus-responsive materials and approaches for complex motion programming for soft robotics. In this context, a challenging overview of the new materials as well as their classification and comparison (performances and characteristics) are proposed. In addition, the great potential of soft transducers are outlined in terms of kinematic capabilities, illustrated by the related application. Guidelines are provided to design actuators and to integrate asymmetry enabling motions along any of the six basic degrees of freedom (translations and rotations), and strategies towards the programming of more complex motions are discussed. As a final note, a series of manufacturing methods are described and compared, from molding to 3D and 4D printing. The review ends with a Perspectives section, from material science and microrobotic points of view, on the soft materials’ future and close future challenges to be overcome.
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