1
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Yoder Z, Rumley EH, Schmidt I, Rothemund P, Keplinger C. Hexagonal electrohydraulic modules for rapidly reconfigurable high-speed robots. Sci Robot 2024; 9:eadl3546. [PMID: 39292807 DOI: 10.1126/scirobotics.adl3546] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/05/2024] [Accepted: 08/20/2024] [Indexed: 09/20/2024]
Abstract
Robots made from reconfigurable modular units feature versatility, cost efficiency, and improved sustainability compared with fixed designs. Reconfigurable modules driven by soft actuators provide adaptable actuation, safe interaction, and wide design freedom, but existing soft modules would benefit from high-speed and high-strain actuation, as well as driving methods well-suited to untethered operation. Here, we introduce a class of electrically actuated robotic modules that provide high-speed (a peak contractile strain rate of 4618% per second, 15.8-hertz bandwidth, and a peak specific power of 122 watts per kilogram), high-strain (49% contraction) actuation and that use magnets for reversible mechanical and electrical connections between neighboring modules, thereby serving as building blocks for rapidly reconfigurable and highly agile robotic systems. The actuation performance of each hexagonal electrohydraulic (HEXEL) module is enabled by a synergistic combination of soft and rigid components; a hexagonal exoskeleton of rigid plates amplifies the motion produced by soft electrohydraulic actuators and provides a mechanical structure and connection platform for reconfigurable robots composed of many modules. We characterize the actuation performance of individual HEXEL modules, present a model that captures their quasi-static force-stroke behavior, and demonstrate both a high-jumping and a fast pipe-crawling robot. Using embedded magnetic connections, we arranged multiple modules into reconfigurable robots with diverse functionality, including a high-stroke muscle, a multimodal active array, a table-top active platform, and a fast-rolling robot. We further leveraged the magnetic connections for hosting untethered, snap-on driving electronics, together highlighting the promise of HEXEL modules for creating rapidly reconfigurable high-speed robots.
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Affiliation(s)
- Zachary Yoder
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA
| | - Ellen H Rumley
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA
| | - Ingemar Schmidt
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Philipp Rothemund
- Institute for Adaptive Mechanical Systems, University of Stuttgart, Stuttgart, Germany
| | - Christoph Keplinger
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA
- Materials Science and Engineering Program, University of Colorado, Boulder, CO, USA
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2
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Wong DCY, Li M, Kang S, Luo L, Yu H. Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable Three-Dimensional Deformations for Dexterous Soft Robotics Applications. Soft Robot 2024. [PMID: 39288069 DOI: 10.1089/soro.2023.0072] [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: 09/19/2024] Open
Abstract
Numerous soft actuators based on pneumatic network (PneuNet) design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is that their action is predetermined during the fabrication process, thereby restricting the ability to modify or alter their function during operation. To address this shortcoming, in this article the design of a Reconfigurable, Transformable Soft Pneumatic Actuator (RT-SPA) is proposed. The working principle of the RT-SPA is analogous to the conventional PneuNet. The key distinction between the two lies in the ability of the RT-SPA to undergo controlled transformations, allowing for more versatile bending and twisting motions in various directions. Furthermore, the unique reconfigurable design of the RT-SPA enables the selection of actuation units with different sizes to achieve a diverse range of three-dimensional deformations. This versatility enhances the RT-SPA's potential for adaptation to a multitude of tasks and environments, setting it apart from traditional PneuNet. The article begins with a detailed description of the design and fabrication of the RT-SPA. Following this, a series of experiments are conducted to evaluate the performance of the RT-SPA. Finally, the abilities of the RT-SPA for locomotion, gripping, and object manipulation are demonstrated to illustrate the versatility of the RT-SPA across different aspects.
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Affiliation(s)
- Dickson Chiu Yu Wong
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong, Hong Kong
| | - Mingtan Li
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong, Hong Kong
| | - Shijie Kang
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong, Hong Kong
| | - Lifan Luo
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong, Hong Kong
| | - Hongyu Yu
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong, Hong Kong
- HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, China
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3
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Xu Q, Zhang K, Ying C, Xie H, Chen J, E S. Origami-Inspired Vacuum-Actuated Foldable Actuator Enabled Biomimetic Worm-like Soft Crawling Robot. Biomimetics (Basel) 2024; 9:541. [PMID: 39329563 PMCID: PMC11430112 DOI: 10.3390/biomimetics9090541] [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: 07/20/2024] [Revised: 08/23/2024] [Accepted: 09/04/2024] [Indexed: 09/28/2024] Open
Abstract
The development of a soft crawling robot (SCR) capable of quick folding and recovery has important application value in the field of biomimetic engineering. This article proposes an origami-inspired vacuum-actuated foldable soft crawling robot (OVFSCR), which is composed of entirely soft foldable mirrored origami actuators with a Kresling crease pattern, and possesses capabilities of realizing multimodal locomotion incorporating crawling, climbing, and turning movements. The OVFSCR is characterized by producing periodically foldable and restorable body deformation, and its asymmetric structural design of low front and high rear hexahedral feet creates a friction difference between the two feet and contact surface to enable unidirectional movement. Combining an actuation control sequence with an asymmetrical structural design, the body deformation and feet in contact with ground can be coordinated to realize quick continuous forward crawling locomotion. Furthermore, an efficient dynamic model is developed to characterize the OVFSCR's motion capability. The robot demonstrates multifunctional characteristics, including crawling on a flat surface at an average speed of 11.9 mm/s, climbing a slope of 3°, carrying a certain payload, navigating inside straight and curved round tubes, removing obstacles, and traversing different media. It is revealed that the OVFSCR can imitate contractile deformation and crawling mode exhibited by soft biological worms. Our study contributes to paving avenues for practical applications in adaptive navigation, exploration, and inspection of soft robots in some uncharted territory.
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Affiliation(s)
| | | | | | | | - Jinxin Chen
- Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology & Equipment of Zhejiang Province, Department of Robotics Engineering, College of Engineering, Zhejiang Normal University, Jinhua 321004, China; (Q.X.); (K.Z.); (C.Y.); (H.X.)
| | - Shiju E
- Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology & Equipment of Zhejiang Province, Department of Robotics Engineering, College of Engineering, Zhejiang Normal University, Jinhua 321004, China; (Q.X.); (K.Z.); (C.Y.); (H.X.)
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4
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Kotak P, Maxson S, Weerakkody T, Cichella V, Lamuta C. Octopus-Inspired Muscular Hydrostats Powered By Twisted and Coiled Artificial Muscles. Soft Robot 2024; 11:432-443. [PMID: 37971832 DOI: 10.1089/soro.2023.0069] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2023] Open
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.
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Affiliation(s)
- Parth Kotak
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
| | - Sean Maxson
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
| | - Thilina Weerakkody
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
| | - Venanzio Cichella
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
| | - Caterina Lamuta
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
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5
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Jiao Z, Hu Z, Dong Z, Tang W, Yang H, Zou J. Reprogrammable Metamaterial Processors for Soft Machines. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2305501. [PMID: 38161221 PMCID: PMC10953550 DOI: 10.1002/advs.202305501] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/08/2023] [Revised: 11/29/2023] [Indexed: 01/03/2024]
Abstract
Soft metamaterials have attracted extensive attention due to their remarkable properties. These materials hold the potential to program and control the morphing behavior of soft machines, however, their combination is limited by the poor reprogrammability of metamaterials and incompatible communication between them. Here, printable and recyclable soft metamaterials possessing reprogrammable embedded intelligence to regulate the morphing of soft machines are introduced. These metamaterials are constructed from interconnected and periodically arranged logic unit cells that are able to perform compound logic operations coupling multiplication and negation. The scalable computation capacity of the unit cell empowers it to simultaneously process multiple fluidic signals with different types and magnitudes, thereby allowing the execution of sophisticated and high-level control operations. By establishing the laws of physical Boolean algebra and formulating a universal design route, soft metamaterials capable of diverse logic operations can be readily created and reprogrammed. Besides, the metamaterials' potential of directly serving as fluidic processors for soft machines is validated by constructing a soft latched demultiplexer, soft controllers capable of universal and customizable morphing programming, and a reprogrammable processor without reconnection. This work provides a facile way to create reprogrammable soft fluidic control systems to meet on-demand requirements in dynamic situations.
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Affiliation(s)
- Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Zhenhan Hu
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Zeyu Dong
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
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6
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Luan H, Wang M, Zhang Q, You Z, Jiao Z. Variable Stiffness Fibers Enabled Universal and Programmable Re-Foldability Strategy for Modular Soft Robotics. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307350. [PMID: 38155496 PMCID: PMC10933646 DOI: 10.1002/advs.202307350] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/03/2023] [Revised: 11/26/2023] [Indexed: 12/30/2023]
Abstract
Origami is a rich source of inspiration for creating soft actuators with complex deformations. However, implementing the re-foldability of origami on soft actuators remains a significant challenge. Herein, a universal and programmable re-foldability strategy is reported to integrate multiple origami patterns into a single soft origami actuator, thereby enabling multimode morphing capability. This strategy can selectively activate and deactivate origami creases through variable stiffness fibers. The utilization of these fibers enables the programmability of crease pattern quantity and types within a single actuator, which expands the morphing modes and deformation ranges without increasing their physical size and chamber number. The universality of this approach is demonstrated by developing a series of re-foldable soft origami actuators. Moreover, these soft origami actuators are utilized to construct a bidirectional crawling robot and a multimode soft gripper capable of adapting to object size, grasping orientation, and placing orientation. This work represents a significant step forward in the design of multifunctional soft actuators and holds great potential for the advancement of agile and versatile soft robots.
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Affiliation(s)
- Hengxuan Luan
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
| | - Meng Wang
- Shandong University of Science and TechnologyTaian271019China
| | - Qiang Zhang
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
| | - Zhong You
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
- Department of Engineering ScienceUniversity of OxfordParks RoadOxfordOX1 3PJUK
| | - Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
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7
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Mendoza MJ, Cancán S, Surichaqui S, Centeno E, Vilchez R, Bertoldi K, Vela EA. Versatile vacuum-powered artificial muscles through replaceable external reinforcements. Front Robot AI 2024; 10:1289074. [PMID: 38239276 PMCID: PMC10794473 DOI: 10.3389/frobt.2023.1289074] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/05/2023] [Accepted: 12/11/2023] [Indexed: 01/22/2024] Open
Abstract
Soft pneumatic artificial muscles are a well actuation scheme in soft robotics due to its key features for robotic machines being safe, lightweight, and conformable. In this work, we present a versatile vacuum-powered artificial muscle (VPAM) with manually tunable output motion. We developed an artificial muscle that consists of a stack of air chambers that can use replaceable external reinforcements. Different modes of operation are achieved by assembling different reinforcements that constrain the output motion of the actuator during actuation. We designed replaceable external reinforcements to produce single motions such as twisting, bending, shearing and rotary. We then conducted a deformation and lifting force characterization for these motions. We demonstrated sophisticated motions and reusability of the artificial muscle in two soft machines with different modes of locomotion. Our results show that our VPAM is reusable and versatile producing a variety and sophisticated output motions if needed. This key feature specially benefits unpredicted workspaces that require a soft actuator that can be adjusted for other tasks. Our scheme has the potential to offer new strategies for locomotion in machines for underwater or terrestrial operation, and wearable devices with different modes of operation.
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Affiliation(s)
- Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Sergio Cancán
- Department of Mechatronics Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Steve Surichaqui
- Department of Bioengineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Esteban Centeno
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
- Department of Mechatronics Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Ricardo Vilchez
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Katia Bertoldi
- J. A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, United States
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
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8
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Wajahat M, Kim JH, Kim JH, Jung ID, Pyo J, Seol SK. 4D Printing of Ultrastretchable Magnetoactive Soft Material Architectures for Soft Actuators. ACS APPLIED MATERIALS & INTERFACES 2023; 15:59582-59591. [PMID: 38100363 DOI: 10.1021/acsami.3c12173] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/17/2023]
Abstract
Magnetoactive soft materials (MSMs) comprising magnetic particles and soft matrices have emerged as smart materials for realizing soft actuators. 4D printing, which involves fabricating 3D architectures that can transform shapes under external magnetic fields, is an effective way to fabricate MSMs-based soft actuators with complex shapes. The printed MSMs must be flexible, stretchable, and adaptable in their magnetization profiles to maximize the degrees of freedom for shape morphing. This study utilizes a facile 4D printing strategy for producing ultrastretchable (stretchability > 1000%) MSM 3D architectures for soft-actuator applications. The strategy involves two sequential steps: (i) direct ink writing (DIW) of the MSM 3D architectures with ink composed of NdFeB and styrene-isoprene block copolymers (SIS) at room temperature and (ii) programming and reconfiguration of the magnetization profiles of the printed architecture using an origami-inspired magnetization method (magnetization field, Hm = 2.7 T). Various differently shaped MSM 3D architectures, which can be transformed into desired shapes under an actuation magnetic field (Ba = 85 mT), are successfully fabricated. In addition, two different soft-actuator applications are demonstrated: a multifinger magnetic soft gripper and a Kirigami-shaped 3D electrical switch with conductive and magnetic functionalities. Our strategy shows potential for realizing multifunctional, shape-morphing, and reprogrammable magnetoactive devices for advanced soft-actuator applications.
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Affiliation(s)
- Muhammad Wajahat
- Smart 3D Printing Research Team, Korea Electrotechnology Research Institute (KERI), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
- Electro-Functional Materials Engineering, University of Science and Technology (UST), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
| | - Je Hyeong Kim
- Smart 3D Printing Research Team, Korea Electrotechnology Research Institute (KERI), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
- Electro-Functional Materials Engineering, University of Science and Technology (UST), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
| | - Jung Hyun Kim
- Smart 3D Printing Research Team, Korea Electrotechnology Research Institute (KERI), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
- Electro-Functional Materials Engineering, University of Science and Technology (UST), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
| | - Im Doo Jung
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulju-gun, Ulsangwang-yeogsi, Ulsan 44919, Republic of Korea
| | - Jaeyeon Pyo
- Smart 3D Printing Research Team, Korea Electrotechnology Research Institute (KERI), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
- Electro-Functional Materials Engineering, University of Science and Technology (UST), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
| | - Seung Kwon Seol
- Smart 3D Printing Research Team, Korea Electrotechnology Research Institute (KERI), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
- Electro-Functional Materials Engineering, University of Science and Technology (UST), Changwon-si, Gyeongsangnam-do 51543, Republic of Korea
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9
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Zhang Y, Wang T, He W, Zhu S. Human-Powered Master Controllers for Reconfigurable Fluidic Soft Robots. Soft Robot 2023; 10:1126-1136. [PMID: 37196160 DOI: 10.1089/soro.2022.0077] [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: 05/19/2023] Open
Abstract
Fluidic soft robots have the advantages of inherent compliance and adaptability, but they are significantly restricted by complex control systems and bulky power devices, including fluidic valves, fluidic pumps, electrical motors, as well as batteries, which make it challenging to operate in narrow space, energy shortage, or electromagnetic sensitive situations. To overcome the shortcomings, we develop portable human-powered master controllers to provide an alternative solution for the master-slave control of the fluidic soft robots. Each controller can supply multiple fluidic pressures to the multiple chambers of the soft robots simultaneously. We use modular fluidic soft actuators to reconfigure soft robots with various functions as control objects. Experimental results show that flexible manipulation and bionic locomotion can be simply realized using the human-powered master controllers. The developed controllers which eliminate energy storage and electronic components can provide a promising candidate of soft robot control in surgical, industrial, and entertainment applications.
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Affiliation(s)
- Yunce Zhang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
| | - Tao Wang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan, China
| | - Weidong He
- Ocean College, Zhejiang University, Zhoushan, China
| | - Shiqiang Zhu
- Ocean College, Zhejiang University, Zhoushan, China
- Zhejiang Lab, Hangzhou, China
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10
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Xi K, Chai S, Ma J, Chen Y. Multi-Stability of the Extensible Origami Structures. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2303454. [PMID: 37552013 PMCID: PMC10582408 DOI: 10.1002/advs.202303454] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/28/2023] [Revised: 07/17/2023] [Indexed: 08/09/2023]
Abstract
Multi-stable structures and metamaterials with more than two stable states are widely applied in diversified engineering applications. Non-rigid foldable origami patterns have provided an effective way of designing multi-stable structures. But most of them have only two stable states and therefore require a combination of many units to achieve multi-stability. Here, a series of extensible origami structures are proposed with generic multi-stability based on non-rigid wrapping origami. Through a kinematic analysis and experiments, it is demonstrate that a sequential folding among different layers of the structures is created to generate a continuous rigid origami range and several discrete rigid origami states, which consequently leads to the multi-stability of the extensible origami structures. Moreover, the effects of design parameters on the mechanical properties of the structures are investigated by numerical simulation, enabling properties programmability upon specific needs. This study thus paves a new pathway for the development of novel multi-stable origami structures.
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Affiliation(s)
- Kaili Xi
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of EducationSchool of Mechanical EngineeringTianjin University135 Yaguan RoadTianjin300350China
| | - Sibo Chai
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of EducationSchool of Mechanical EngineeringTianjin University135 Yaguan RoadTianjin300350China
| | - Jiayao Ma
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of EducationSchool of Mechanical EngineeringTianjin University135 Yaguan RoadTianjin300350China
| | - Yan Chen
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of EducationSchool of Mechanical EngineeringTianjin University135 Yaguan RoadTianjin300350China
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11
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Jin T, Wang T, Xiong Q, Tian Y, Li L, Zhang Q, Yeow CH. Modular Soft Robot with Origami Skin for Versatile Applications. Soft Robot 2023; 10:785-796. [PMID: 36951665 DOI: 10.1089/soro.2022.0064] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/24/2023] Open
Abstract
Recent advances in soft robotics demonstrate the requirement of modular actuation to enable the rapid replacement of actuators for maintenance and functionality extension. There remain challenges to designing soft actuators capable of different motions with a consistent appearance for simplifying fabrication and modular connection. Origami structures reshaping along with their unique creases became a powerful tool to provide compact constraint layers for soft pneumatic actuators. Inspired by Waterbomb and Kresling origami, this article presents three types of vacuum-driven soft actuators with a cubic shape and different origami skins, featuring contraction, bending, and twisting-contraction combined motions, respectively. In addition, these modular actuators with diversified motion patterns can be directly fabricated by molding silicone shell and constraint layers together. Actuators with different geometrical parameters are characterized to optimize the structure and maximize output properties after establishing a theoretical model to predict the deformation. Owing to the shape consistency, our actuators can be further modularized to achieve modular actuation via mortise and tenon-based structures, promoting the possibility and efficiency of module connection for versatile tasks. Eventually, several types of modular soft robots are created to achieve fragile object manipulation and locomotion in various environments to show their potential applications.
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Affiliation(s)
- Tao Jin
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
| | - Tianhong Wang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
| | - Quan Xiong
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
| | - Yingzhong Tian
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Long Li
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China
| | - Quan Zhang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
| | - Chen-Hua Yeow
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
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12
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Zhang C, Zhang Z, Peng Y, Zhang Y, An S, Wang Y, Zhai Z, Xu Y, Jiang H. Plug & play origami modules with all-purpose deformation modes. Nat Commun 2023; 14:4329. [PMID: 37468465 DOI: 10.1038/s41467-023-39980-7] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/16/2023] [Accepted: 07/06/2023] [Indexed: 07/21/2023] Open
Abstract
Three basic deformation modes of an object (bending, twisting, and contraction/extension) along with their various combinations and delicate controls lead to diverse locomotion. As a result, seeking mechanisms to achieve simple to complex deformation modes in a controllable manner is a focal point in related engineering fields. Here, a pneumatic-driven, origami-based deformation unit that offers all-purpose deformation modes, namely, three decoupled basic motion types and four combinations of these three basic types, with seven distinct motion modes in total through one origami module, was created and precisely controlled through various pressurization schemes. These all-purpose origami-based modules can be readily assembled as needed, even during operation, which enables plug-and-play characteristics. These origami modules with all-purpose deformation modes offer unprecedented opportunities for soft robots in performing complex tasks, which were successfully demonstrated in this work.
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Affiliation(s)
- Chao Zhang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, Zhejiang, 310027, China
| | - Zhuang Zhang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China
| | - Yun Peng
- School of Mechanical Engineering, Dongguan University of Technology, Dongguan, Guangdong, 523808, China
| | - Yanlin Zhang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
| | - Siqi An
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China
| | - Yunjie Wang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
| | - Zirui Zhai
- School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, 85287, USA
| | - Yan Xu
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, Zhejiang, 310027, China.
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China.
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China.
- Research Center for Industries of the Future and School of Engineering, Westlake University, Hangzhou, 310030, China.
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13
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Wang X, Meng Z, Chen CQ. Robotic Materials Transformable Between Elasticity and Plasticity. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2206637. [PMID: 36793150 PMCID: PMC10161124 DOI: 10.1002/advs.202206637] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/13/2022] [Revised: 01/12/2023] [Indexed: 05/06/2023]
Abstract
Robotic materials, with coupled sensing, actuation, computation, and communication, have attracted increasing attention because they are able to not only tune their conventional passive mechanical property via geometrical transformation or material phase change but also become adaptive and even intelligent to suit varying environments. However, the mechanical behavior of most robotic materials is either reversible (elastic) or irreversible (plastic), but not transformable between them. Here, a robotic material whose behavior is transformable between elastic and plastic is developed, based upon an extended neutrally stable tensegrity structure. The transformation does not depend on conventional phase transition and is fast. By integrating with sensors, the elasticity-plasticity transformable (EPT) material is able to self-sense deformation and decides whether to undergo transformation or not. This work expands the capability of the mechanical property modulation of robotic materials.
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Affiliation(s)
- Xinyuan Wang
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
| | - Zhiqiang Meng
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
| | - Chang Qing Chen
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
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14
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Gollob SD, Mendoza MJ, Koo BHB, Centeno E, Vela EA, Roche ET. A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants. Front Robot AI 2023; 10:1190387. [PMID: 37213243 PMCID: PMC10192875 DOI: 10.3389/frobt.2023.1190387] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2023] [Accepted: 04/20/2023] [Indexed: 05/23/2023] Open
Abstract
Soft pneumatic artificial muscles are increasingly popular in the field of soft robotics due to their light-weight, complex motions, and safe interfacing with humans. In this paper, we present a Vacuum-Powered Artificial Muscle (VPAM) with an adjustable operating length that offers adaptability throughout its use, particularly in settings with variable workspaces. To achieve the adjustable operating length, we designed the VPAM with a modular structure consisting of cells that can be clipped in a collapsed state and unclipped as desired. We then conducted a case study in infant physical therapy to demonstrate the capabilities of our actuator. We developed a dynamic model of the device and a model-informed open-loop control system, and validated their accuracy in a simulated patient setup. Our results showed that the VPAM maintains its performance as it grows. This is crucial in applications such as infant physical therapy where the device must adapt to the growth of the patient during a 6-month treatment regime without actuator replacement. The ability to adjust the length of the VPAM on demand offers a significant advantage over traditional fixed-length actuators, making it a promising solution for soft robotics. This actuator has potential for various applications that can leverage on demand expansion and shrinking, including exoskeletons, wearable devices, medical robots, and exploration robots.
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Affiliation(s)
- Samuel Dutra Gollob
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
| | - Bon Ho Brandon Koo
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Esteban Centeno
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
- *Correspondence: Ellen T. Roche, ; Emir A. Vela,
| | - Ellen T. Roche
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
- Institute for Medical Engineering and Science, Massachusetts Institute of Technology, Cambridge, MA, United States
- *Correspondence: Ellen T. Roche, ; Emir A. Vela,
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15
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He Z, Yang Y, Jiao P, Wang H, Lin G, Pähtz T. Copebot: Underwater Soft Robot with Copepod-Like Locomotion. Soft Robot 2022; 10:314-325. [PMID: 36580550 DOI: 10.1089/soro.2021.0158] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/31/2022] Open
Abstract
It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely fast escape responses when a predator is sensed by performing explosive curved jumps. In this study, we present a design and build prototypes of a combustion-driven underwater soft robot, the "copebot," which, similar to copepods, is able to accurately reach nearby predefined locations in space within a single curved jump. Because of an improved thrust force transmission unit, causing a large initial acceleration peak (850 body length·s-2), the copebot is eight times faster than previous combustion-driven underwater soft robots, while able to perform a complete 360° rotation during the jump. Thrusts generated by the copebot are tested to quantitatively determine the actuation performance, and parametric studies are conducted to investigate the sensitivity of the kinematic performance of the copebot to the input parameters. We demonstrate the utility of our design by building a prototype that rapidly jumps out of the water, accurately lands on its feet on a small platform, wirelessly transmits data, and jumps back into the water. Our copebot design opens the way toward high-performance biomimetic robots for multifunctional applications.
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Affiliation(s)
- Zhiguo He
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China.,Engineering Research Center of Oceanic Sensing Technology and Equipment, Zhejiang University, Ministry of Education, Zhoushan, China
| | - Yang Yang
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China
| | - Pengcheng Jiao
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China.,Engineering Research Center of Oceanic Sensing Technology and Equipment, Zhejiang University, Ministry of Education, Zhoushan, China
| | - Haipeng Wang
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China
| | - Guanzheng Lin
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China
| | - Thomas Pähtz
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China
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16
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Li L, Xie F, Wang T, Wang G, Tian Y, Jin T, Zhang Q. Stiffness-Tunable Soft Gripper with Soft-Rigid Hybrid Actuation for Versatile Manipulations. Soft Robot 2022; 9:1108-1119. [PMID: 35172109 DOI: 10.1089/soro.2021.0025] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023] Open
Abstract
Highly flexible and environmentally adaptive soft robots have received considerable attention. There remains a demand for soft robots to realize the stiffness modulation and variable workspace for robust and versatile manipulations. This article presents a compact soft gripper with a polylactic acid-based variable stiffness module (VSM) and a rigid retractable mechanism to achieve soft-rigid hybrid actuation. The soft gripper can enhance its stiffness by 18-fold without sacrificing flexibility due to the VSM. A heating circuit is designed to divide the VSM into three regions. Each region can be activated separately for varying flexible segments to amplify the dexterity. Meanwhile, the water-cooling system accelerates the heat exchange, thus reducing the cooling time from ∼400 to 39 s. The rigid retractable mechanism can adjust the initial layout of the gripper to expand the workspace and perform manipulation by opening and closing fingers. The soft finger combined with stiffness tunability can maintain its deformation after being stiffened to realize morphing. Therefore, it can efficiently perform a grasp with a high load and avoid repeated heating and cooling, especially for items with a similar shape. The performance of the gripper is further validated by measuring the grasping force and grasping demonstration with various objects, showing its robustness and dexterity in versatile tasks.
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Affiliation(s)
- Long Li
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.,School of Artificial Intelligence, Shanghai University, Shanghai, China.,Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai, China
| | - Fengming Xie
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Tianhong Wang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.,School of Artificial Intelligence, Shanghai University, Shanghai, China
| | - Guopeng Wang
- Shanghai Key Laboratory of Aerospace Intelligence Control Technology, Shanghai Aerospace Control Technology Institute, Shanghai, China
| | - Yingzhong Tian
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Tao Jin
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.,School of Artificial Intelligence, Shanghai University, Shanghai, China
| | - Quan Zhang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.,School of Artificial Intelligence, Shanghai University, Shanghai, China
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17
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Venkatesh S, Sturm D, Lu X, Lang RJ, Sengupta K. Origami Microwave Imaging Array: Metasurface Tiles on a Shape-Morphing Surface for Reconfigurable Computational Imaging. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2105016. [PMID: 35896946 PMCID: PMC9534976 DOI: 10.1002/advs.202105016] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/04/2021] [Revised: 06/09/2022] [Indexed: 06/15/2023]
Abstract
Origami is the art of paper folding that allows a single flat piece of paper to assume different 3D shapes depending on the fold patterns and the sequence of folding. Using the principles of origami along with computation imaging technique the authors demonstrate a versatile shape-morphing microwave imaging array with reconfigurable field-of-view and scene-adaptive imaging capability. Microwave/millimeter-wave based array imaging systems are expected to be the workhorse for sensory perception of future autonomous intelligent systems. The imaging capability of a planar array-based systems operating in complex scattering conditions have limited field-of-view and lack the ability to adaptively reconfigure resolution. To overcome this, here, deviations from planarity and isometry are allowed, and a shape-morphing computational imaging system is demonstrated. Implemented on a reconfigurable Waterbomb origami surface with 22 active metasurface panels that radiate near-orthogonal modes across 17-27 GHz, capability to image complex 3D objects in full details minimizing the effects of specular reflections in diffraction-limited sparse imaging with scene adaptability, reconfigurable cross-range resolution, and field-of-view is demonstrated. Such electromagnetic origami surfaces, through simultaneous surface shape-morphing ability (potentially with shape-shifting electronic materials) and electromagnetic field programmability, opens up new avenues for intelligent and robust sensing and imaging systems for a wide range of applications.
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Affiliation(s)
- Suresh Venkatesh
- Department of Electrical and Computer EngineeringNorth Carolina State UniversityRaleighNC27606USA
| | - Daniel Sturm
- Department of Electrical and Computer EngineeringPrinceton UniversityPrincetonNJ08544USA
| | - Xuyang Lu
- University of Michigan‐Shanghai Jiao Tong University Joint InstituteShanghai200240China
| | | | - Kaushik Sengupta
- Department of Electrical and Computer EngineeringPrinceton UniversityPrincetonNJ08544USA
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18
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Ambrose JW, Chiang NZR, Cheah DSY, Yeow CH. Compact Multilayer Extension Actuators for Reconfigurable Soft Robots. Soft Robot 2022; 10:301-313. [PMID: 36037007 DOI: 10.1089/soro.2022.0042] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Soft robotic pneumatic actuators generally excel in the specific application they were designed for but lack the versatility to be redeployed to other applications. This study presents a novel and versatile soft compact multilayer extension actuator (MEA) to overcome this limitation. We use the MEA linear output in different hybrid configurations to achieve this versatility. The unique design and fabrication of the MEA allow for a compact elastomeric actuator with innate tension, capable of reverting to its initial state without the need for external stimulus. The MEA is made from alternating elastomers with different Young's modulus, bestowing the MEA with high durability, force, and extension capabilities. In addition, the MEA is lightweight at 4 g, capable of a high force-to-weight ratio of 1000 and an extension ratio of 525%. We also explored varying the MEA parameters, such as its material and dimension, which further enhance its properties. Subsequently, we showed four different design configurations encompassing the MEA to produce four basic motions, that is, push, pull, bend, and twist. Finally, we demonstrated three possible hybrid configurations for manipulation, locomotion, and assistive applications that highlight the versatility, manipulability, and modularity of the MEA.
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Affiliation(s)
- Jonathan William Ambrose
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore.,Evolution Innovation Laboratory, Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | | | - Dylan Sin You Cheah
- Department of Biomedical Engineering, Nanyang Polytechnic, Singapore, Singapore
| | - Chen-Hua Yeow
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore.,Evolution Innovation Laboratory, Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
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19
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Abstract
In this overview of recent developments in the field of biorobotics we cover the developments in materials such as the use of polyester fabric being used as artificial skin and the start of whole new ways to actuate artificial muscles as a whole. In this, we discuss all of the relevant innovations from the fields of nano and microtechnology, as well as in the field of soft robotics to summarize what has been over the last 4 years and what could be improved for artificial muscles in the future. The goal of this paper will be to gain a better understanding of where the current field of biorobotics is at and what its current trends in manufacturing and its techniques are within the last several years.
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20
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Chi Y, Li Y, Zhao Y, Hong Y, Tang Y, Yin J. Bistable and Multistable Actuators for Soft Robots: Structures, Materials, and Functionalities. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2110384. [PMID: 35172026 DOI: 10.1002/adma.202110384] [Citation(s) in RCA: 42] [Impact Index Per Article: 21.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/20/2021] [Revised: 02/04/2022] [Indexed: 06/14/2023]
Abstract
Snap-through bistability is often observed in nature (e.g., fast snapping to closure of Venus flytrap) and the life (e.g., bottle caps and hair clippers). Recently, harnessing bistability and multistability in different structures and soft materials has attracted growing interest for high-performance soft actuators and soft robots. They have demonstrated broad and unique applications in high-speed locomotion on land and under water, adaptive sensing and fast grasping, shape reconfiguration, electronics-free controls with a single input, and logic computation. Here, an overview of integrating bistable and multistable structures with soft actuating materials for diverse soft actuators and soft/flexible robots is given. The mechanics-guided structural design principles for five categories of basic bistable elements from 1D to 3D (i.e., constrained beams, curved plates, dome shells, compliant mechanisms of linkages with flexible hinges and deformable origami, and balloon structures) are first presented, alongside brief discussions of typical soft actuating materials (i.e., fluidic elastomers and stimuli-responsive materials such as electro-, photo-, thermo-, magnetic-, and hydro-responsive polymers). Following that, integrating these soft materials with each category of bistable elements for soft bistable and multistable actuators and their diverse robotic applications are discussed. To conclude, perspectives on the challenges and opportunities in this emerging field are considered.
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Affiliation(s)
- Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yichao Tang
- School of Mechanical Engineering, Tongji University, Shanghai, 200092, China
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
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21
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Tao K, Chen Z, Yu J, Zeng H, Wu J, Wu Z, Jia Q, Li P, Fu Y, Chang H, Yuan W. Ultra-Sensitive, Deformable, and Transparent Triboelectric Tactile Sensor Based on Micro-Pyramid Patterned Ionic Hydrogel for Interactive Human-Machine Interfaces. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2104168. [PMID: 35098703 PMCID: PMC8981453 DOI: 10.1002/advs.202104168] [Citation(s) in RCA: 64] [Impact Index Per Article: 32.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/18/2021] [Revised: 01/02/2022] [Indexed: 05/19/2023]
Abstract
Rapid advances in wearable electronics and mechno-sensational human-machine interfaces impose great challenges in developing flexible and deformable tactile sensors with high efficiency, ultra-sensitivity, environment-tolerance, and self-sustainability. Herein, a tactile hydrogel sensor (THS) based on micro-pyramid-patterned double-network (DN) ionic organohydrogels to detect subtle pressure changes by measuring the variations of triboelectric output signal without an external power supply is reported. By the first time of pyramidal-patterned hydrogel fabrication method and laminated polydimethylsiloxane (PDMS) encapsulation process, the self-powered THS shows the advantages of remarkable flexibility, good transparency (≈85%), and excellent sensing performance, including extraordinary sensitivity (45.97 mV Pa-1 ), fast response (≈20 ms), very low limit of detection (50 Pa) as well as good stability (36 000 cycles). Moreover, with the LiBr immersion treatment method, the THS possesses excellent long-term hyper anti-freezing and anti-dehydrating properties, broad environmental tolerance (-20 to 60 °C), and instantaneous peak power density of 20 µW cm-2 , providing reliable contact outputs with different materials and detecting very slight human motions. By integrating the signal acquisition/process circuit, the THS with excellent self-power sensing ability is utilized as a switching button to control electric appliances and robotic hands by simulating human finger gestures, offering its great potentials for wearable and multi-functional electronic applications.
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Affiliation(s)
- Kai Tao
- Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical UniversityXi'an710072P. R. China
| | - Zhensheng Chen
- Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical UniversityXi'an710072P. R. China
| | - Jiahao Yu
- Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical UniversityXi'an710072P. R. China
| | - Haozhe Zeng
- Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical UniversityXi'an710072P. R. China
| | - Jin Wu
- State Key Laboratory of Optoelectronic Materials and Technologies and the Guangdong Province Key Laboratory of Display Material and TechnologySchool of Electronics and Information TechnologySun Yat‐sen UniversityGuangzhou510275P. R. China
| | - Zixuan Wu
- State Key Laboratory of Optoelectronic Materials and Technologies and the Guangdong Province Key Laboratory of Display Material and TechnologySchool of Electronics and Information TechnologySun Yat‐sen UniversityGuangzhou510275P. R. China
| | - Qingyan Jia
- Frontiers Science Center for Flexible Electronics (FSCFE)Xi'an Institute of Flexible Electronics (IFE) and Xi'an Institute of Biomedical Materials and Engineering (IBME)Northwestern Polytechnical UniversityXi'an710072P. R. China
| | - Peng Li
- Frontiers Science Center for Flexible Electronics (FSCFE)Xi'an Institute of Flexible Electronics (IFE) and Xi'an Institute of Biomedical Materials and Engineering (IBME)Northwestern Polytechnical UniversityXi'an710072P. R. China
| | - Yongqing Fu
- Faculty of Engineering and EnvironmentNorthumbria UniversityNewcastle upon TyneNE1 8STUK
| | - Honglong Chang
- Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical UniversityXi'an710072P. R. China
| | - Weizheng Yuan
- Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical UniversityXi'an710072P. R. China
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22
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Jin T, Li L, Wang T, Wang G, Cai J, Tian Y, Zhang Q. Origami-Inspired Soft Actuators for Stimulus Perception and Crawling Robot Applications. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3096644] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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23
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Heng W, Solomon S, Gao W. Flexible Electronics and Devices as Human-Machine Interfaces for Medical Robotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2107902. [PMID: 34897836 PMCID: PMC9035141 DOI: 10.1002/adma.202107902] [Citation(s) in RCA: 117] [Impact Index Per Article: 58.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/02/2021] [Revised: 12/08/2021] [Indexed: 05/02/2023]
Abstract
Medical robots are invaluable players in non-pharmaceutical treatment of disabilities. Particularly, using prosthetic and rehabilitation devices with human-machine interfaces can greatly improve the quality of life for impaired patients. In recent years, flexible electronic interfaces and soft robotics have attracted tremendous attention in this field due to their high biocompatibility, functionality, conformability, and low-cost. Flexible human-machine interfaces on soft robotics will make a promising alternative to conventional rigid devices, which can potentially revolutionize the paradigm and future direction of medical robotics in terms of rehabilitation feedback and user experience. In this review, the fundamental components of the materials, structures, and mechanisms in flexible human-machine interfaces are summarized by recent and renowned applications in five primary areas: physical and chemical sensing, physiological recording, information processing and communication, soft robotic actuation, and feedback stimulation. This review further concludes by discussing the outlook and current challenges of these technologies as a human-machine interface in medical robotics.
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Affiliation(s)
- Wenzheng Heng
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Samuel Solomon
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
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24
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Wu Z. Analysis, Modeling, and Simulation of a Reinforcement Mechanism in Preventing the Dysfunction of a Bellow-Like Artificial Muscle. INT J HUM ROBOT 2022. [DOI: 10.1142/s0219843622500037] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
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25
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Liu C, Li B, Li Z, Cao C, Gao X, Zhang K, Chen H. 3D printable and fringe electric field adhesion enabled variable stiffness artificial muscles for semi-active vibration attenuation. SOFT MATTER 2021; 17:6697-6706. [PMID: 34132322 DOI: 10.1039/d1sm00618e] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Soft robots are able to generate large and compliant deformation in an unconstructed environment, but their operation capability is limited by low stiffness. Thus, developing the function of variable stiffness while preserving its compliance is a challenging issue. This study proposes a new variable stiffness artificial muscle, as a complementary component for soft robots, using the principle of fringe electric field adhesion. Taking inspiration from the mechanism of multi-layer structures in biological muscles, the artificial muscle is composed of patterned conductive layers and interlayers and is 3D printable by direct ink writing (DIW). To further demonstrate the application, a vibration absorber by stacking this artificial muscle is proposed, whose natural frequency is tunable by the varying stiffness. The advantages of the fringe electric field-enabled variable stiffness (FEVS) artificial muscles include lightweight and irrelevance of the stiffness to the thickness of the interlayer, which can be beneficial to soft robots to achieve variable stiffness and semi-active vibration attenuation without extra weighting load.
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Affiliation(s)
- Chen Liu
- Centre for Advanced Robotics (ARQ), Queen Mary University of London, London E1 4NS, UK.
| | - Bo Li
- State Key Lab of Manufacturing Systems Engineering, Shaanxi Key Lab of Intelligent Robots, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, P. R. China.
| | - Zhuoyuan Li
- State Key Lab of Manufacturing Systems Engineering, Shaanxi Key Lab of Intelligent Robots, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, P. R. China.
| | - Chongjing Cao
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, P. R. China
| | - Xing Gao
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, P. R. China
| | - Ketao Zhang
- Centre for Advanced Robotics (ARQ), Queen Mary University of London, London E1 4NS, UK.
| | - Hualing Chen
- State Key Lab of Manufacturing Systems Engineering, Shaanxi Key Lab of Intelligent Robots, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, P. R. China.
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26
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Ye X, Zhu S, Qian X, Zhang M, Wang X. V-Shape Pneumatic Torsional Actuator: A Building Block for Soft Grasper and Manipulator. Soft Robot 2021; 9:562-576. [PMID: 34166097 DOI: 10.1089/soro.2020.0128] [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: 11/13/2022] Open
Abstract
Robotic joints are fundamental components in artificial graspers and manipulators, and they are designed to achieve high dexterity to carry out various tasks. Traditional robotic hands are often driven by rigid joints, such as tendons and electric motors, resulting in bulky and complex designs. Soft robotics, composed of flexible and compliant materials, offers promising solutions to mimic the human hands and handle delicate objects safely. In this article, we propose a simple yet effective V-shape pneumatic torsional actuator (V-PTA) as the building blocks of soft grasper and manipulators. The proposed actuator is capable of producing large angular changes and twisting torque, responding fast to pneumatic changes, and scaling to appropriate dimensions easily. Because the design is generic and modular in nature, these lightweight actuators could also be assembled to form a variety of patterns of structures to suit the needs of individual tasks. We further fabricated robotic graspers and manipulators based on multiple V-PTA and demonstrated that our design could offer solutions to execute daily laboratory operations that interact with small and irregular components. Experimental data confirmed that the V-PTA building block structure could potentially pave the path forward for miniature robotic automation in laboratory or industrial settings.
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Affiliation(s)
- Xing Ye
- Division of Advanced Manufacturing, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Shidong Zhu
- Division of Advanced Manufacturing, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Xiang Qian
- Division of Advanced Manufacturing, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Min Zhang
- Division of Advanced Manufacturing, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Xiaohao Wang
- Division of Advanced Manufacturing, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
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Lu H, Zou Z, Wu X, Shi C, Liu Y, Xiao J. Biomimetic Prosthetic Hand Enabled by Liquid Crystal Elastomer Tendons. MICROMACHINES 2021; 12:736. [PMID: 34201506 PMCID: PMC8306406 DOI: 10.3390/mi12070736] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/23/2021] [Revised: 06/19/2021] [Accepted: 06/21/2021] [Indexed: 12/18/2022]
Abstract
As one of the most important prosthetic implants for amputees, current commercially available prosthetic hands are still too bulky, heavy, expensive, complex and inefficient. Here, we present a study that utilizes the artificial tendon to drive the motion of fingers in a biomimetic prosthetic hand. The artificial tendon is realized by combining liquid crystal elastomer (LCE) and liquid metal (LM) heating element. A joule heating-induced temperature increase in the LCE tendon leads to linear contraction, which drives the fingers of the biomimetic prosthetic hand to bend in a way similar to the human hand. The responses of the LCE tendon to joule heating, including temperature increase, contraction strain and contraction stress, are characterized. The strategies of achieving a constant contraction stress in an LCE tendon and accelerating the cooling for faster actuation are also explored. This biomimetic prosthetic hand is demonstrated to be able to perform complex tasks including making different hand gestures, holding objects of different sizes and shapes, and carrying weights. The results can find applications in not only prosthetics, but also robots and soft machines.
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Affiliation(s)
- Haiqing Lu
- College of Mechanical Electrical and Vehicle Engineering, Weifang University, Weifang 261061, China;
- Department of Mechanical Engineering, University of Colorado, Boulder, CO 80309, USA; (Z.Z.); (X.W.); (C.S.); (Y.L.)
| | - Zhanan Zou
- Department of Mechanical Engineering, University of Colorado, Boulder, CO 80309, USA; (Z.Z.); (X.W.); (C.S.); (Y.L.)
| | - Xingli Wu
- Department of Mechanical Engineering, University of Colorado, Boulder, CO 80309, USA; (Z.Z.); (X.W.); (C.S.); (Y.L.)
- College of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China
| | - Chuanqian Shi
- Department of Mechanical Engineering, University of Colorado, Boulder, CO 80309, USA; (Z.Z.); (X.W.); (C.S.); (Y.L.)
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China
| | - Yimeng Liu
- Department of Mechanical Engineering, University of Colorado, Boulder, CO 80309, USA; (Z.Z.); (X.W.); (C.S.); (Y.L.)
| | - Jianliang Xiao
- Department of Mechanical Engineering, University of Colorado, Boulder, CO 80309, USA; (Z.Z.); (X.W.); (C.S.); (Y.L.)
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Recent Advances in Design and Actuation of Continuum Robots for Medical Applications. ACTUATORS 2020. [DOI: 10.3390/act9040142] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/24/2022]
Abstract
Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.
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Liu H, Tian H, Shao J, Wang Z, Li X, Wang C, Chen X. An Electrically Actuated Soft Artificial Muscle Based on a High-Performance Flexible Electrothermal Film and Liquid-Crystal Elastomer. ACS APPLIED MATERIALS & INTERFACES 2020; 12:56338-56349. [PMID: 33284585 DOI: 10.1021/acsami.0c17327] [Citation(s) in RCA: 18] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Liquid-crystal elastomer (LCE)-based soft robots and devices via an electrothermal effect under a low driving voltage have attracted a great deal of attention for their ability on generating larger stress, reversible deformation, and versatile actuation modes. However, electrothermal materials integrated with LCE easily induce the uncertainty of a soft actuator due to the non-uniformity on temperature distribution, inconstant resistance in the deformation process, and slow responsivity after voltage on/off. In this paper, a low-voltage-actuated soft artificial muscle based on LCE and a flexible electrothermal film is presented. At 6.5 V, a saturation temperature of 189 °C can be reached with a heating rate of 21 °C/s, which allows the soft artificial muscle quick and significant contraction and is suitable for untethered operation. Meanwhile, uniform temperature distribution and stable resistance of the flexible electrothermal film in the deformation process are obtained, leading to a work density of 9.97 kJ/m3, an actuating stress of 0.46 MPa, and controllable deformation of the soft artificial muscle. Finally, programmable low-voltage-controlled soft artificial muscles are fabricated by tailoring the flexible electrothermal film or designing structured heating pattern, including a prototype of soft finger-like gripper for transporting small objects, which clearly demonstrates the potential of low-voltage-actuated soft artificial muscles in soft robotics applications.
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Affiliation(s)
- Haoran Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, No.28, Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Hongmiao Tian
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, No.28, Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Jinyou Shao
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, No.28, Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Zhijian Wang
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California 92093, United States
| | - Xiangming Li
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, No.28, Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Chunhui Wang
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, No.28, Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Xiaoliang Chen
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, No.28, Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
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Fluid-driven artificial muscles: bio-design, manufacturing, sensing, control, and applications. Biodes Manuf 2020. [DOI: 10.1007/s42242-020-00099-z] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023]
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Pishvar M, Harne RL. Foundations for Soft, Smart Matter by Active Mechanical Metamaterials. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2020; 7:2001384. [PMID: 32999844 PMCID: PMC7509744 DOI: 10.1002/advs.202001384] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/15/2020] [Revised: 07/17/2020] [Indexed: 05/22/2023]
Abstract
Emerging interest to synthesize active, engineered matter suggests a future where smart material systems and structures operate autonomously around people, serving diverse roles in engineering, medical, and scientific applications. Similar to biological organisms, a realization of active, engineered matter necessitates functionality culminating from a combination of sensory and control mechanisms in a versatile material frame. Recently, metamaterial platforms with integrated sensing and control have been exploited, so that outstanding non-natural material behaviors are empowered by synergistic microstructures and controlled by smart materials and systems. This emerging body of science around active mechanical metamaterials offers a first glimpse at future foundations for autonomous engineered systems referred to here as soft, smart matter. Using natural inspirations, synergy across disciplines, and exploiting multiple length scales as well as multiple physics, researchers are devising compelling exemplars of actively controlled metamaterials, inspiring concepts for autonomous engineered matter. While scientific breakthroughs multiply in these fields, future technical challenges remain to be overcome to fulfill the vision of soft, smart matter. This Review surveys the intrinsically multidisciplinary body of science targeted to realize soft, smart matter via innovations in active mechanical metamaterials and proposes ongoing research targets that may deliver the promise of autonomous, engineered matter to full fruition.
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Affiliation(s)
- Maya Pishvar
- Department of Mechanical and Aerospace EngineeringThe Ohio State UniversityColumbusOH43210USA
| | - Ryan L. Harne
- Department of Mechanical and Aerospace EngineeringThe Ohio State UniversityColumbusOH43210USA
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Abstract
Soft robots and devices exploit deformable materials that are capable of changes in shape to allow conformable physical contact for controlled manipulation. While the use of embedded sensors in soft actuation systems is gaining increasing interest, there are limited examples where the body of the actuator or robot is able to act as the sensing element. In addition, the conventional feedforward control method is widely used for the design of a controller, resulting in imprecise position control from a sensory input. In this work, we fabricate a soft self-sensing finger actuator using flexible carbon fibre-based piezoresistive composites to achieve an inherent sensing functionality and design a dual-closed-loop control system for precise actuator position control. The resistance change of the actuator body was used to monitor deformation and fed back to the motion controller. The experimental and simulated results demonstrated the effectiveness, robustness and good controllability of the soft finger actuator. Our work explores the emerging influence of inherently piezoresistive soft actuators to address the challenges of self-sensing, actuation and control, which can benefit the design of next-generation soft robots.
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Chu T, Chu J, Gao B, He B. Modern evolution of paper-based analytical devices for wearable use: from disorder to order. Analyst 2020; 145:5388-5399. [PMID: 32700700 DOI: 10.1039/d0an00994f] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Abstract
Paper devices have attracted great attention for their rapid development in multiple fields, such as life sciences, biochemistry, and materials science. When manufacturing paper chips, flexible materials, such as cellulose paper or other porous flexible membranes, can offer several advantages in terms of their flexibility, lightweight, low cost, safety and wearability. However, traditional cellulose paper sheets with chaotic cellulose fiber constitutions do not have special structures and optical characteristics, leading to poor repeatability and low sensitivity during biochemical sensing, limiting their wide application. Recent evidence showed that the addition of ordered structure provides a promising method for manufacturing intelligent flexible devices, making traditional flexible devices with multiple functions (microfluidics, motion detection and optical display). There is an urgent need for an overall summary of the evolution of paper devices so that readers can fully understand the field. Hence, in this review, we summarized the latest developments in intelligent paper devices, starting with the fabrication of paper and smart flexible paper devices, in the fields of biology, chemistry, electronics, etc. First, we outlined the manufacturing methods and applications of both traditional cellulose paper devices and modern smart devices based on pseudopaper (order paper). Then, considering different materials, such as cellulose, nitrocellulose, nature sourced photonic crystals (photonic crystals sourced from nature directly) and artificial photonic crystals, we summarized a new type of smart flexible device containing an ordered structure. Next, the applications of paper devices in biochemical sensing, wearable sensing, and cross-scale sensing were discussed. Finally, we summarized the development direction of this field. The aim of this review is to take an integral cognition approach to the development of smart flexible paper devices in multiple fields and promote communications between materials science, biology, chemistry and electrical science.
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Affiliation(s)
- Tianshu Chu
- School of Pharmaceutical Sciences, Nanjing Tech University, Nanjing 211816, China.
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