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Xiong Q, Zhou X, Li D, Ambrose JW, Yeow RC. An Amphibious Fully-Soft Centimeter-Scale Miniature Crawling Robot Powered by Electrohydraulic Fluid Kinetic Energy. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2308033. [PMID: 38303577 PMCID: PMC11005735 DOI: 10.1002/advs.202308033] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/24/2023] [Revised: 12/21/2023] [Indexed: 02/03/2024]
Abstract
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted significant research interest due to their exceptional terrain adaptability and safety features. Here, a fully-soft centimeter-scale miniature crawling robot directly powered by fluid kinetic energy generated by an electrohydraulic actuator is introduced. Through optimization of the operating voltage and design parameters, the average crawling velocity of the robot is dramatically enhanced, reaching 16 mm s-1. The optimized robot weighs 6.3 g and measures 5 cm in length, 5 cm in width, and 6 mm in height. By combining two robots in parallel, the robot can achieve a turning rate of ≈3° s-1. Additionally, by reconfiguring the distribution of electrodes in the electrohydraulic actuator, the robot can achieve 2 degrees-of-freedom translational motion, improving its maneuverability in narrow spaces. Finally, the use of a soft water-proof skin is demonstrated for underwater locomotion and actuation. In comparison with other soft miniature crawling robots, this robot with full softness can achieve relatively high crawling velocity as well as increased robustness and recovery.
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Affiliation(s)
- Quan Xiong
- Department of Biomedical EngineeringNational University of Singapore15 Kent Ridge CresSingapore119276Singapore
| | - Xuanyi Zhou
- Department of Biomedical EngineeringNational University of Singapore15 Kent Ridge CresSingapore119276Singapore
| | - Dannuo Li
- Department of Biomedical EngineeringNational University of Singapore15 Kent Ridge CresSingapore119276Singapore
| | - Jonathan William Ambrose
- Department of Biomedical EngineeringNational University of Singapore15 Kent Ridge CresSingapore119276Singapore
| | - Raye Chen‐Hua Yeow
- Department of Biomedical EngineeringNational University of Singapore15 Kent Ridge CresSingapore119276Singapore
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2
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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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3
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Gravert SD, Varini E, Kazemipour A, Michelis MY, Buchner T, Hinchet R, Katzschmann RK. Low-voltage electrohydraulic actuators for untethered robotics. SCIENCE ADVANCES 2024; 10:eadi9319. [PMID: 38181082 PMCID: PMC10775996 DOI: 10.1126/sciadv.adi9319] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/26/2023] [Accepted: 12/05/2023] [Indexed: 01/07/2024]
Abstract
Rigid robots can be precise but struggle in environments where compliance, robustness to disturbances, or energy efficiency is crucial. This has led researchers to develop biomimetic robots incorporating soft artificial muscles. Electrohydraulic actuators are promising artificial muscles that perform comparably to mammalian muscles in speed and power density. However, their operation requires several thousand volts. The high voltage leads to bulky and inefficient driving electronics. Here, we present hydraulically amplified low-voltage electrostatic (HALVE) actuators that match mammalian skeletal muscles in average power density (50.5 watts per kilogram) and peak strain rate (971% per second) at a 4.9 times lower driving voltage (1100 volts) compared to the state of the art. HALVE actuators are safe to touch, are waterproof, and exhibit self-clearing properties. We characterize, model, and validate key performance metrics of our actuator. Last, we demonstrate the utility of HALVE actuators on a robotic gripper and a soft robotic swimmer.
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Affiliation(s)
| | - Elia Varini
- Soft Robotics Lab, D-MAVT, ETH, Zurich, Switzerland
| | | | | | | | - Ronan Hinchet
- Computational Robotics Lab, D-INFK, ETH, Zurich, Switzerland
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4
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Chen B, Meng Q, Wang J, Lu Z, Cai Y. Experimental Study on Double-Joint Soft Actuator and Its Dexterous Hand. MICROMACHINES 2023; 14:1966. [PMID: 37893403 PMCID: PMC10608914 DOI: 10.3390/mi14101966] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/18/2023] [Revised: 10/13/2023] [Accepted: 10/19/2023] [Indexed: 10/29/2023]
Abstract
In this paper, we propose a pneumatic double-joint soft actuator based on fiber winding and build a dexterous hand with 11 degrees of freedom. Firstly, soft actuator structural design is carried out according to the actuator driving principle and gives the specific manufacturing process. Then, an experimental analysis of the bending performance of a single soft actuator, including bending angle, speed, and force magnitude, is carried out by building a pneumatic control experimental platform. Finally, a series of dexterous robotic hand-grasping experiments is conducted. Different grasping methods are used to catch the objects and measure the objects' change in height, length, and rotation angle during the experiment. The results show that the proposed soft actuator is more consistent with the bending rule of human fingers, and that the gestures of the dexterous hand are more imaginable and flexible when grasping objects. The soft actuator can carry out horizontal and vertical movements, and rotation of the object in the dexterous hand, thus achieving better human-computer interaction.
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Affiliation(s)
| | | | | | - Zongxing Lu
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China; (B.C.); (Q.M.); (J.W.); (Y.C.)
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5
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Ye W, Zhao L, Luo X, Guo J, Liu X. Perceptual Soft End-Effectors for Future Unmanned Agriculture. SENSORS (BASEL, SWITZERLAND) 2023; 23:7905. [PMID: 37765962 PMCID: PMC10537409 DOI: 10.3390/s23187905] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2023] [Revised: 08/19/2023] [Accepted: 08/28/2023] [Indexed: 09/29/2023]
Abstract
As consumers demand ever-higher quality standards for agricultural products, the inspection of such goods has become an integral component of the agricultural production process. Unfortunately, traditional testing methods necessitate the deployment of numerous bulky machines and cannot accurately determine the quality of produce prior to harvest. In recent years, with the advancement of soft robot technology, stretchable electronic technology, and material science, integrating flexible plant wearable sensors on soft end-effectors has been considered an attractive solution to these problems. This paper critically reviews soft end-effectors, selecting the appropriate drive mode according to the challenges and application scenarios in agriculture: electrically driven, fluid power, and smart material actuators. In addition, a presentation of various sensors installed on soft end-effectors specifically designed for agricultural applications is provided. These sensors include strain, temperature, humidity, and chemical sensors. Lastly, an in-depth analysis is conducted on the significance of implementing soft end-effectors in agriculture as well as the potential opportunities and challenges that will arise in the future.
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Affiliation(s)
- Weikang Ye
- College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; (W.Y.)
| | - Lin Zhao
- College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; (W.Y.)
| | - Xuan Luo
- College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; (W.Y.)
| | - Junxian Guo
- College of Mechanical Engineering, Xinjiang Agricultural University, Urumqi 830052, China
| | - Xiangjiang Liu
- College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; (W.Y.)
- College of Mechanical Engineering, Xinjiang Agricultural University, Urumqi 830052, China
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6
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Nguyen VP, Dhyan SB, Mai V, Han BS, Chow WT. Bioinspiration and Biomimetic Art in Robotic Grippers. MICROMACHINES 2023; 14:1772. [PMID: 37763934 PMCID: PMC10535325 DOI: 10.3390/mi14091772] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 09/07/2023] [Accepted: 09/09/2023] [Indexed: 09/29/2023]
Abstract
The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature's genius but also significantly enrich various domains through their versatility.
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Affiliation(s)
- Van Pho Nguyen
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Sunil Bohra Dhyan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Vu Mai
- Faculty of Engineering, Dong Nai Technology University, Bien Hoa City 76000, Vietnam;
| | - Boon Siew Han
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Wai Tuck Chow
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
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7
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Jiang X, Yang J, Zeng L, Huang C. A Spider-Joint-like Bionic Actuator with an Approximately Triangular Prism Shape. Biomimetics (Basel) 2023; 8:299. [PMID: 37504187 PMCID: PMC10807400 DOI: 10.3390/biomimetics8030299] [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: 05/09/2023] [Revised: 07/01/2023] [Accepted: 07/06/2023] [Indexed: 07/29/2023] Open
Abstract
The unique drive principle and strong manipulation ability of spider legs have led to several bionic robot designs. However, some parameters of bionic actuators still need to be improved, such as torque. Inspired by the hydraulic drive principle of spider legs, this paper describes the design of a bionic actuator characterized by the use of air pressure on each surface and its transmittance in the direction of movement, achieving a torque amplification effect. The produced torque is as high as 4.78 N m. In addition, its torque characteristics during folding motions are similar to those during unfolding motions, showing that the bionic actuator has stable bidirectional drive capability.
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Affiliation(s)
- Xiaomao Jiang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
| | - Jun Yang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
| | - Le Zeng
- Department of Aviation Machinery Manufacturing, Changsha Aeronautical Vocational and Technical College, Changsha 410124, China;
| | - Changyang Huang
- College of Engineering and Design, Hunan Normal University, Changsha 410081, China; (X.J.); (C.H.)
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8
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Kim S, Cha Y. A soft crawling robot with a modular design based on electrohydraulic actuator. iScience 2023; 26:106726. [PMID: 37216115 PMCID: PMC10192932 DOI: 10.1016/j.isci.2023.106726] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/11/2022] [Revised: 12/26/2022] [Accepted: 04/20/2023] [Indexed: 05/24/2023] Open
Abstract
The soft structure of creatures without a rigid internal skeleton can easily adapt to any atypical environment. In the same context, robots with soft structures can change their shape to adapt to complex and varied surroundings. In this study, we introduce a caterpillar-inspired soft crawling robot with a fully soft body. The proposed crawling robot consists of soft modules based on an electrohydraulic actuator, a body frame, and contact pads. The modular robotic design produces deformations similar to the peristaltic crawling behavior of caterpillars. In this approach, the deformable body replicates the mechanism of the anchor movement of a caterpillar by sequentially varying the friction between the robot contact pads and the ground. The robot carries out forward movement by repeating the operation pattern. The robot has also been demonstrated to traverse slopes and narrow crevices.
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Affiliation(s)
- Sohyun Kim
- School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea
| | - Youngsu Cha
- School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea
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9
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Wang T, Joo HJ, Song S, Hu W, Keplinger C, Sitti M. A versatile jellyfish-like robotic platform for effective underwater propulsion and manipulation. SCIENCE ADVANCES 2023; 9:eadg0292. [PMID: 37043565 PMCID: PMC10096580 DOI: 10.1126/sciadv.adg0292] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/30/2022] [Accepted: 03/13/2023] [Indexed: 05/27/2023]
Abstract
Underwater devices are critical for environmental applications. However, existing prototypes typically use bulky, noisy actuators and limited configurations. Consequently, they struggle to ensure noise-free and gentle interactions with underwater species when realizing practical functions. Therefore, we developed a jellyfish-like robotic platform enabled by a synergy of electrohydraulic actuators and a hybrid structure of rigid and soft components. Our 16-cm-diameter noise-free prototype could control the fluid flow to propel while manipulating objects to be kept beneath its body without physical contact, thereby enabling safer interactions. Its against-gravity speed was up to 6.1 cm/s, substantially quicker than other examples in literature, while only requiring a low input power of around 100 mW. Moreover, using the platform, we demonstrated contact-based object manipulation, fluidic mixing, shape adaptation, steering, wireless swimming, and cooperation of two to three robots. This study introduces a versatile jellyfish-like robotic platform with a wide range of functions for diverse applications.
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Affiliation(s)
- Tianlu Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland
| | - Hyeong-Joon Joo
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Shanyuan Song
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Bioinspired Autonomous Miniature Robots Group, Stuttgart 70569, Germany
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Bioinspired Autonomous Miniature Robots Group, Stuttgart 70569, Germany
| | - Christoph Keplinger
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Paul M. Rady Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO 80309, USA
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder, CO 80309, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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10
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Rumley EH, Preninger D, Shagan Shomron A, Rothemund P, Hartmann F, Baumgartner M, Kellaris N, Stojanovic A, Yoder Z, Karrer B, Keplinger C, Kaltenbrunner M. Biodegradable electrohydraulic actuators for sustainable soft robots. SCIENCE ADVANCES 2023; 9:eadf5551. [PMID: 36947626 PMCID: PMC10032599 DOI: 10.1126/sciadv.adf5551] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/29/2022] [Accepted: 02/22/2023] [Indexed: 06/18/2023]
Abstract
Combating environmental pollution demands a focus on sustainability, in particular from rapidly advancing technologies that are poised to be ubiquitous in modern societies. Among these, soft robotics promises to replace conventional rigid machines for applications requiring adaptability and dexterity. For key components of soft robots, such as soft actuators, it is thus important to explore sustainable options like bioderived and biodegradable materials. We introduce systematically determined compatible materials systems for the creation of fully biodegradable, high-performance electrohydraulic soft actuators, based on various biodegradable polymer films, ester-based liquid dielectric, and NaCl-infused gelatin hydrogel. We demonstrate that these biodegradable actuators reliably operate up to high electric fields of 200 V/μm, show performance comparable to nonbiodegradable counterparts, and survive more than 100,000 actuation cycles. Furthermore, we build a robotic gripper based on biodegradable soft actuators that is readily compatible with commercial robot arms, encouraging wider use of biodegradable materials systems in soft robotics.
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Affiliation(s)
- 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
| | - David Preninger
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University, Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University, Linz, Austria
| | - Alona Shagan Shomron
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Philipp Rothemund
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA
| | - Florian Hartmann
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University, Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University, Linz, Austria
| | - Melanie Baumgartner
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University, Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University, Linz, Austria
| | - Nicholas Kellaris
- Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA
- Materials Science and Engineering Program, University of Colorado, Boulder, CO, USA
| | - Andreas Stojanovic
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University, Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University, Linz, Austria
| | - Zachary Yoder
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Benjamin Karrer
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University, Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University, Linz, Austria
| | - 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
| | - Martin Kaltenbrunner
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University, Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University, Linz, Austria
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11
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Zhu J, Chai Z, Yong H, Xu Y, Guo C, Ding H, Wu Z. Bioinspired Multimodal Multipose Hybrid Fingers for Wide-Range Force, Compliant, and Stable Grasping. Soft Robot 2023; 10:30-39. [PMID: 35584255 DOI: 10.1089/soro.2021.0126] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/25/2023] Open
Abstract
The increasing demand for grasping diverse objects in unstructured environments poses severe challenges to the existing soft/rigid robotic fingers due to the issues in balancing force, compliance, and stability, and hence has given birth to several hybrid designs. These hybrid designs utilize the advantages of rigid and soft structures and show better performance, but they are still suffering from narrow output force range, limited compliance, and rarely reported stability. Owing to its rigid-soft coupling structure with flexible switched multiple poses, human finger, as an excellent hybrid design, shows wide-range output force, excellent compliance, and stability. Inspired by human finger, we propose a hybrid finger with multiple modes and poses, coupled by a soft actuator (SA) and a rigid actuator (RA) in parallel. The multiple actuation modes formed by a pneumatic-based rigid-soft collaborative strategy can selectively enable the RA's high force and SA's softness, whereas the multiple poses derived from the specially designed underactuated RA skeleton can be flexibly switched with tasks, thus achieving high compliance. Such hybrid fingers also proved to be highly stable under external stimuli or gravity. Furthermore, we modularize and configure these fingers into a series of grippers with excellent grasping performance, for example, wide graspable object range (diverse from 0.1 g potato chips to 27 kg dumbbells for a 420 g two-finger gripper), high compliance (tolerate objects with 94% gripper span size and 4 cm offset), and high stability. Our study highlights the potential of fusing rigid-soft technologies for robot development, and potentially impacts future bionics and high-performance robot development.
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Affiliation(s)
- Jiaqi Zhu
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhiping Chai
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Haochen Yong
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Yi Xu
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Chuanfei Guo
- Department of Materials Science and Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Han Ding
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhigang Wu
- Soft Intelligence Lab, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
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12
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Bio-inspired magnetic-driven folded diaphragm for biomimetic robot. Nat Commun 2023; 14:163. [PMID: 36631471 PMCID: PMC9834404 DOI: 10.1038/s41467-023-35905-6] [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: 07/17/2022] [Accepted: 01/09/2023] [Indexed: 01/13/2023] Open
Abstract
Functional soft materials, exhibiting multiple types of deformation, have shown their potential/abilities to achieve complicated biomimetic behaviors (soft robots). Inspired by the locomotion of earthworm, which is conducted through the contraction and stretching between body segments, this study proposes a type of one-piece-mold folded diaphragm, consisting of the structure of body segments with radial magnetization property, to achieve large 3D and bi-directional deformation with inside-volume change capability subjected to the low homogeneous magnetically driving field (40 mT). Moreover, the appearance based on the proposed magnetic-driven folded diaphragm is able to be easily customized to desired ones and then implanted into different untethered soft robotic systems as soft drivers. To verify the above points, we design the diaphragm pump providing unique properties of lightweight, powerful output and rapid response, and the soft robot including the bio-earthworm crawling robot and swimming robot inspired by squid to exhibit the flexible and rapid locomotion excited by single homogeneous magnetic fields.
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13
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Ma Z, Sameoto D. A Review of Electrically Driven Soft Actuators for Soft Robotics. MICROMACHINES 2022; 13:1881. [PMID: 36363902 PMCID: PMC9693343 DOI: 10.3390/mi13111881] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/23/2022] [Revised: 10/24/2022] [Accepted: 10/26/2022] [Indexed: 06/16/2023]
Abstract
In recent years, the field of soft robotics has gained much attention by virtue of its aptness to work in certain environments unsuitable for traditional rigid robotics. Along with the uprising field of soft robotics is the increased attention to soft actuators which provide soft machines the ability to move, manipulate, and deform actively. This article provides a focused review of various high-performance and novel electrically driven soft actuators due to their fast response, controllability, softness, and compactness. Furthermore, this review aims to act as a reference guide for building electrically driven soft machines. The focus of this paper lies on the actuation principle of each type of actuator, comprehensive performance comparison across different actuators, and up-to-date applications of each actuator. The range of actuators includes electro-static soft actuators, electro-thermal soft actuators, and electrically driven soft pumps.
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Affiliation(s)
- Zhaoqi Ma
- Faculty of Electrical and Computer Engineering, University of Alberta, Edmonton, AB T6G 2R3, Canada
| | - Dan Sameoto
- Faculty of Mechanical Engineering, University of Alberta, Edmonton, AB T6G 2R3, Canada
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14
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Ren M, Xu P, Zhou Y, Wang Y, Dong L, Zhou T, Chang J, He J, Wei X, Wu Y, Wang X, Chen W, Di J, Li Q. Stepwise Artificial Yarn Muscles with Energy-Free Catch States Driven by Aluminum-Ion Insertion. ACS NANO 2022; 16:15850-15861. [PMID: 35984218 DOI: 10.1021/acsnano.2c05586] [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] [Indexed: 06/15/2023]
Abstract
Present artificial muscles have been suffering from poor actuation step precision and the need of energy input to maintain actuated states due to weak interactions between guest and host materials or the unstable structural changes. Herein, these challenges are addressed by deploying a mechanism of reversible faradaic insertion and extraction reactions between tetrachloroaluminate ions and collapsed carbon nanotubes. This mechanism allows tetrachloroaluminate ions as a strong but dynamic "locker" to achieve an energy-free high-tension catch state and programmable stepwise actuation in the yarn muscle. When powered off, the muscle nearly 100% maintained any achieved contractile strokes even under loads up to 96,000 times the muscle weight. The actuation mechanism allowed the programmable control of stroke steps down to 1% during reversible actuation. The isometric stress generated by the yarn muscle (14.6 MPa in maximum, 40 times that of skeletal muscles) was also energy freely lockable and step controllable with high precision. Importantly, when fully charged, the muscle stored energy with a high capacity of 102 mAh g-1, allowing the muscle as a battery to power secondary muscles or other devices.
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Affiliation(s)
- Ming Ren
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Panpan Xu
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Yurong Zhou
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Yulian Wang
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Lizhong Dong
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Tao Zhou
- Division of Nanomaterials and Jiangxi Key Lab of Carbonene Materials, Jiangxi Institute of Nanotechnology, Nanchang 330200, China
| | - Jinke Chang
- Division of Surgery and Interventional Science, University College London, London NW3 2PF, United Kingdom
| | - Jianfeng He
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Xulin Wei
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Yulong Wu
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Xiaona Wang
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Wei Chen
- Research Centre for Smart Wearable Technology Institute of Textiles and Clothing, The Hong Kong Polytechnic University, Kowloon, Hong Kong 999077, China
| | - Jiangtao Di
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
- Division of Nanomaterials and Jiangxi Key Lab of Carbonene Materials, Jiangxi Institute of Nanotechnology, Nanchang 330200, China
| | - Qingwen Li
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Advanced Materials Division, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
- Division of Nanomaterials and Jiangxi Key Lab of Carbonene Materials, Jiangxi Institute of Nanotechnology, Nanchang 330200, China
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15
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Yap TF, Liu Z, Rajappan A, Shimokusu TJ, Preston DJ. Necrobotics: Biotic Materials as Ready-to-Use Actuators. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2201174. [PMID: 35875913 PMCID: PMC9561765 DOI: 10.1002/advs.202201174] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/01/2022] [Revised: 06/07/2022] [Indexed: 06/15/2023]
Abstract
Designs perfected through evolution have informed bioinspired animal-like robots that mimic the locomotion of cheetahs and the compliance of jellyfish; biohybrid robots go a step further by incorporating living materials directly into engineered systems. Bioinspiration and biohybridization have led to new, exciting research, but humans have relied on biotic materials-non-living materials derived from living organisms-since their early ancestors wore animal hides as clothing and used bones for tools. In this work, an inanimate spider is repurposed as a ready-to-use actuator requiring only a single facile fabrication step, initiating the area of "necrobotics" in which biotic materials are used as robotic components. The unique walking mechanism of spiders-relying on hydraulic pressure rather than antagonistic muscle pairs to extend their legs-results in a necrobotic gripper that naturally resides in its closed state and can be opened by applying pressure. The necrobotic gripper is capable of grasping objects with irregular geometries and up to 130% of its own mass. Furthermore, the gripper can serve as a handheld device and innately camouflages in outdoor environments. Necrobotics can be further extended to incorporate biotic materials derived from other creatures with similar hydraulic mechanisms for locomotion and articulation.
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Affiliation(s)
- Te Faye Yap
- Department of Mechanical EngineeringRice UniversityHoustonTX77005USA
| | - Zhen Liu
- Department of Mechanical EngineeringRice UniversityHoustonTX77005USA
| | - Anoop Rajappan
- Department of Mechanical EngineeringRice UniversityHoustonTX77005USA
| | | | - Daniel J. Preston
- Department of Mechanical EngineeringRice UniversityHoustonTX77005USA
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16
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Residori S, Greco G, Pugno NM. The mechanical characterization of the legs, fangs, and prosoma in the spider Harpactira curvipes (Pocock 1897). Sci Rep 2022; 12:13056. [PMID: 35906448 PMCID: PMC9338270 DOI: 10.1038/s41598-022-16307-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/27/2021] [Accepted: 07/07/2022] [Indexed: 11/09/2022] Open
Abstract
The exoskeleton of spiders is the primary structure that interacts with the external mechanical stimuli, thus playing a crucial role in spider life. In particular, fangs, legs, and prosoma are the main rigid structures of the exoskeleton and their properties must be measured to better understand their mechanical behaviours. Here we investigate, by means of nanoindentation, the mechanical properties of the external sclerotized cuticles of such parts in the spider Harpactira curvipes. Interestingly, the results show that the leg’s cuticle is stiffer than the prosoma and has a stiffness similar to the one of the tip fangs. This could be explained by the legs’ function in perceiving vibrations that could be facilitated by higher stiffness. From a broader perspective, this characterization could help to understand how the same basic material (the cuticle, i.e. mainly composed of chitin) can be tuned to achieve different mechanical functions, which improves the animal’s adaptation to specific evolutive requirements. We, thus, hope that this work stimulates further comparative analysis. Moreover, these results may also be potentially important to inspire the design of graded materials with superior mechanical properties.
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Affiliation(s)
- Sara Residori
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials & Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy
| | - Gabriele Greco
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials & Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy
| | - Nicola M Pugno
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials & Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy. .,School of Engineering and Material Science, Queen Mary University of London, Mile End Road, London, E1 4NS, UK.
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17
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Yeh Y, Cisneros N, Wu Y, Rabenorosoa K, Gorrec YL. Modeling and Position Control of the HASEL Actuator via Port-Hamiltonian Approach. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3181365] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- Yu Yeh
- FEMTO-ST institute, UMR CNRS 6174, département AS2M, Université Bourgogne Franche-Comté, ENSMM, Besançon, France
| | - Nelson Cisneros
- FEMTO-ST institute, UMR CNRS 6174, département AS2M, Université Bourgogne Franche-Comté, ENSMM, Besançon, France
| | - Yongxin Wu
- FEMTO-ST institute, UMR CNRS 6174, département AS2M, Université Bourgogne Franche-Comté, ENSMM, Besançon, France
| | - Kanty Rabenorosoa
- FEMTO-ST institute, UMR CNRS 6174, département AS2M, Université Bourgogne Franche-Comté, ENSMM, Besançon, France
| | - Yann Le Gorrec
- FEMTO-ST institute, UMR CNRS 6174, département AS2M, Université Bourgogne Franche-Comté, ENSMM, Besançon, France
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18
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Green and sustainable cellulose-based shape memory composites with excellent conductivity for temperature warning. Carbohydr Polym 2022; 276:118767. [PMID: 34823787 DOI: 10.1016/j.carbpol.2021.118767] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/21/2021] [Revised: 09/20/2021] [Accepted: 10/05/2021] [Indexed: 12/15/2022]
Abstract
Green and sustainable cellulose-based composites containing poly(ε-caprolactone) (PCL) with temperature-induced shape memory properties and conductivity performance are presented. The composites are fabricated by in situ polymerization of ε-caprolactone (ε-CL) monomer in three-dimensional porous cellulose gels, and then silver-porous cellulose gel/poly(ε-caprolactone) (Ag-Cell/PCL) composites are fabricated by depositing Ag onto the surface of porous cellulose gel/poly(ε-caprolactone) (Cell/PCL) composites. The addition of PCL not only improves the mechanical properties of the Cell/PCL composites but also endows them with excellent shape memory properties. The Cell/PCL composites exhibit a high shape-fixing rate (98.9%) and can recover to their original shape within 8 s without external force. In addition, the Ag-Cell/PCL composites show superior and stable conductivity under different bending angles. Finally, a temperature warning sensor with fast performance is successfully designed using Ag-Cell/PCL composites. This work provides a means to develop temperature warning systems based on shape memory polymers.
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