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Yang W, Wang X, Teng X, Qiao Z, Yu H, Yuan Z. A bionic mimosa soft robot based on a multi-responsive PNIPAM-PEGDA hydrogel composition. BIOMICROFLUIDICS 2024; 18:034102. [PMID: 38726372 PMCID: PMC11078265 DOI: 10.1063/5.0203482] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/14/2024] [Accepted: 04/22/2024] [Indexed: 05/12/2024]
Abstract
Deformation plays a vital role in the survival of natural organisms. One example is that plants deform themselves to face the sun for sufficient sunlight exposure, which allows them to produce nutrients through photosynthesis. Drawing inspiration from nature, researchers have been exploring the development of 3D deformable materials. However, the traditional approach to manufacturing deformable hydrogels relies on complex technology, which limits their potential applications. In this study, we simulate the stress variations observed in the plant tissue to create a 3D structure from a 2D material. Using UV curing technology, we create a single-layer poly(N-isopropylacrylamide) hydrogel sheet with microchannels that exhibit distinct swelling rates when subjected to stimulation. After a two-step curing process, we produce a poly(N-isopropylacrylamide)-polyethylene glycol diacrylatedouble-layer structure that can be manipulated to change its shape by controlling the light and solvent content. Based on the double-layer structure, we fabricate a dual-response driven bionic mimosa robot that can perform a variety of functions. This soft robot can not only reversibly change its shape but also maintain a specific shape without continuous stimulation. Its capacity for reversible deformation, resulting from internal stress, presents promising application prospects in the biomedical and soft robotics domain. This study delivers an insightful framework for the development of programmable soft materials.
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Affiliation(s)
- Wenguang Yang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Xiaowen Wang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Xiangyu Teng
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Zezheng Qiao
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Haibo Yu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
| | - Zheng Yuan
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
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Zhao Z, Sun J, Yu Y, Ding P, Ding J, Chang Y, Zhao C. Swing Regulates Movement Direction in the Sea Cucumber Apostichopus japonicus in the Presence of Food Cue: New Insights into Movement Patterns. Animals (Basel) 2023; 13:3388. [PMID: 37958143 PMCID: PMC10649083 DOI: 10.3390/ani13213388] [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: 07/26/2023] [Revised: 10/21/2023] [Accepted: 10/30/2023] [Indexed: 11/15/2023] Open
Abstract
Regulating movement direction is essential in the locomotion of animals. Sea cucumbers, as eyeless animals, do not have eyes for the perception of the surrounding environment and food. They have a unique way of swinging their bodies when a food cue is detected, although they lack an important perceptual tool. The present study investigated the movement patterns of the sea cucumber Apostichopus japonicus in the absence of a food cue (experiment 1) and in the presence of a food cue (experiment 2). In experiment 1, we found that the movement of sea cucumbers was close to a linear motion (motion linearity 0.91 ± 0.01). In experiment 2, sea cucumbers most frequently adjusted the movement direction when being exposed to food (84 times/216 min), indicating that sea cucumbers adjusted the direction of movement in the swing state but not the motion state. In experiment 2, we found significantly lower time in the immobility state in the sea cucumbers in the presence of food cues compared to that of those without being exposed to food cues, and the frequency of the motion state in response to food cues was 1.6 times than that of those without food cue. This suggests that food cues cause the change in motion state in sea cucumbers. Swing frequency was 1.7 times higher in sea cucumbers exposed to food cues than that of those not exposed to food cues. Further, sea cucumbers in the presence of food showed significantly better performances in swing angle and swing velocity compared to those not exposed to food cues. This suggests that food cue significantly affects the swing state of sea cucumbers. Notably, the present study described the movement patterns of sea cucumbers when they detected food cues, and other factors (such as the detection of predators) need to be further studied. The present study provides new insights into the regulation of movement direction in eyeless organisms.
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Affiliation(s)
| | | | | | | | | | | | - Chong Zhao
- Key Laboratory of Mariculture & Stock Enhancement in North China’s Sea, Ministry of Agriculture and Rural Affairs, Dalian Ocean University, Dalian 116023, China; (Z.Z.); (J.S.); (Y.Y.); (P.D.); (J.D.); (Y.C.)
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3
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Li S, Zhang Y, Zhang R, Liu J. Radial Expansion Favors the Burrowing Behavior of Urechis unicinctus. Appl Bionics Biomech 2023; 2023:2478606. [PMID: 37829521 PMCID: PMC10567378 DOI: 10.1155/2023/2478606] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/17/2022] [Revised: 08/29/2023] [Accepted: 09/08/2023] [Indexed: 10/14/2023] Open
Abstract
Urechis unicinctus can utilize the ability of large deformation to advance in sands by radial expansion, just using a small force. However, the large deformation of U. unicinctus skin and the discrete nature of the sands make it hard to analyze this process quantitatively. In this study, we aim to uncover the burrowing mechanism of U. unicinctus in granular sediments by combining discrete and finite elements. We observe that U. unicinctus will expand radially at the head, and then the head will shrink to move forward. The radial expansion will collapse the sands and let them flow, making it easy to advance. U. unicinctus mainly relies on the skin's large deformation and sufficient pressure to achieve radial expansion. Thus, we first establish the large deformation constitutive model of the skin. The stress-strain relationship can be expressed by the Yeoh model. Meanwhile, the pressure required for radial expansion is indirectly measured by the balloon experiment. To study the effect of radial expansion on the burrowing behavior, we use the finite element method-discrete element method (FEM-DEM) coupling model to simulate the expansion process of burrowing. The simulated pressure for radial expansion is very close to the experimental data, verifying the reliability of the simulation. The results show that the expansion can drastically reduce the pressure of sand particles on the head front face by 97.1% ± 0.6%, significantly decreasing the difficulty of burrowing. This unique underwater burrow method of U. unicinctus can provide new ideas for engineering burrowing devices in soft soil, especially for granular sediments.
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Affiliation(s)
- Shanpeng Li
- College of Engineering, Lishui University, Lishui 323000, China
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou, Gansu 730000, China
| | - Yun Zhang
- College of Pipeline and Civil Engineering, China University of Petroleum (East China), Qingdao 266580, China
| | - Ruihua Zhang
- College of Engineering, Lishui University, Lishui 323000, China
| | - Jianlin Liu
- College of Pipeline and Civil Engineering, China University of Petroleum (East China), Qingdao 266580, China
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4
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Pan W, Gao C, Zhu C, Yang Y, Xu L. Kinematic Behavior of an Untethered, Small-Scale Hydrogel-Based Soft Robot in Response to Magneto-Thermal Stimuli. Biomimetics (Basel) 2023; 8:379. [PMID: 37622984 PMCID: PMC10452115 DOI: 10.3390/biomimetics8040379] [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: 07/04/2023] [Revised: 08/12/2023] [Accepted: 08/17/2023] [Indexed: 08/26/2023] Open
Abstract
Fruit fly larvae, which exist widely in nature, achieve peristaltic motion via the contraction and elongation of their bodies and the asymmetric friction generated by the front and rear parts of their bodies when they are in contact with the ground. Herein, we report the development of an untethered, magnetic, temperature-sensitive hydrogel-based soft robot that mimics the asymmetric micro-patterns of fruit-fly-larvae gastropods and utilizes cyclic deformation to achieve directional peristaltic locomotion. Due to Néel relaxation losses of nanomagnetic Fe3O4 particles, the hydrogel-based soft robot is capable of converting changes in external alternating magnetic stimuli into contracting and expanding deformation responses which can be remotely controlled via a high-frequency alternating magnetic field (AMF) to realize periodic actuation. Furthermore, the Fe3O4 particles included in the hydrogel-based soft robot cause it to follow a gradient magnetic field in confined liquid environments and can be coupled with AMFs for the targeted release of water-soluble drugs or targeted magnetic hyperthermia therapy (MHT). We believe that such a controlled motion can enable highly targeted drug delivery, as well as vascular disease detection and thrombus removal tasks, without the use of invasive procedures.
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Affiliation(s)
- Wenlong Pan
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China; (W.P.)
| | - Chongyi Gao
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China; (W.P.)
| | - Chen Zhu
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China; (W.P.)
| | - Yabing Yang
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China; (W.P.)
| | - Lin Xu
- Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China; (W.P.)
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, China
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Design and experiment of a pneumatic self-repairing soft actuator. ROBOTICA 2023. [DOI: 10.1017/s0263574723000188] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/16/2023]
Abstract
Abstract
This paper presents a study on the design and modeling of a novel pneumatic self-repairing soft actuator. The self-repairing soft actuator is composed of driving element, heating element, and repairing element. The driving element completes the deformation of the self-repairing soft actuator. The heating element and the repairing element complete the self-repairing function of the self-repairing soft actuator. A model used to optimize the structure is established, and the structure of the self-repairing soft actuator is determined through finite element analysis and experiment. The self-repairing time model of the soft actuator is established. The influences of different factors on the self-repairing effect and the self-repairing time are analyzed. The self-repairing scheme of the soft actuator is determined. Experiments show that the shortest time for the self-repairing soft actuator to complete the self-repairing process is 83 min. When the self-repairing soft actuator works normally, the bending angle can reach 129.8° and the bending force can reach 24.96 N. After repairing, the bending angle can reach 108.2°, and the bending force can reach 21.85 N. The repaired soft actuator can complete normal locomotion.
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Coskuner-Weber O, Yuce-Erarslan E, Uversky VN. Paving the Way for Synthetic Intrinsically Disordered Polymers for Soft Robotics. Polymers (Basel) 2023; 15:polym15030763. [PMID: 36772065 PMCID: PMC9919048 DOI: 10.3390/polym15030763] [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: 12/07/2022] [Revised: 01/15/2023] [Accepted: 01/31/2023] [Indexed: 02/05/2023] Open
Abstract
Nature is full of examples of processes that, through evolution, have been perfected over the ages to effectively use matter and sustain life. Here, we present our strategies for designing intrinsically disordered smart polymers for soft robotics applications that are bio-inspired by intrinsically disordered proteins. Bio-inspired intrinsically disordered smart and soft polymers designed using our deep understanding of intrinsically disordered proteins have the potential to open new avenues in soft robotics. Together with other desirable traits, such as robustness, dynamic self-organization, and self-healing abilities, these systems possess ideal characteristics that human-made formations strive for but often fail to achieve. Our main aim is to develop materials for soft robotics applications bio-inspired by intrinsically disordered proteins to address what we see as the largest current barriers in the practical deployment of future soft robotics in various areas, including defense. Much of the current literature has focused on the de novo synthesis of tailor-made polymers to perform specific functions. With bio-inspired polymers, the complexity of protein folding mechanisms has limited the ability of researchers to reliably engineer specific structures. Unlike existing studies, our work is focused on utilizing the high flexibility of intrinsically disordered proteins and their self-organization characteristics using synthetic quasi-foldamers.
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Affiliation(s)
- Orkid Coskuner-Weber
- Molecular Biotechnology, Turkish-German University, Sahinkaya Caddesi, No. 106, Beykoz, Istanbul 34820, Turkey
- Correspondence:
| | - Elif Yuce-Erarslan
- Chemical Engineering, Istanbul University-Cerrahpasa, Avcılar, Istanbul 34320, Turkey
| | - Vladimir N. Uversky
- Department of Molecular Medicine, Morsani College of Medicine, University of South Florida, Tampa, FL 33612, USA
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Liu J, Li P, Zuo S. Actuation and design innovations in earthworm-inspired soft robots: A review. Front Bioeng Biotechnol 2023; 11:1088105. [PMID: 36896011 PMCID: PMC9989016 DOI: 10.3389/fbioe.2023.1088105] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/03/2022] [Accepted: 02/06/2023] [Indexed: 02/23/2023] Open
Abstract
Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot's segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.
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Affiliation(s)
- Jianbin Liu
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
| | - Pengcheng Li
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
| | - Siyang Zuo
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
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Design of a Novel Soft Pneumatic Gripper with Variable Gripping Size and Mode. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01721-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/15/2022]
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9
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A novel soft-rigid wheeled crawling robot with high payload and passing capability. ROBOTICA 2022. [DOI: 10.1017/s0263574722000686] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
Abstract
Soft crawling robots have been significantly studied in recent decades. However, moving in amphibious environment, high payload capability, and passing through complex ground have always been challenges for soft crawling robots. For these problems, this article presents an amphibious soft-rigid wheeled crawling robot (SRWCR) consists of a soft-rigid body actuated by two soft pneumatic actuators (SPAs), four wheels, and four annular soft bladders (ASBs) as brakes. By programming the actuation sequences of the two SPAs and four ASBs, SRWCR can achieve two basic modes of locomotion: linear motion and turning. Based on the energy conservation law, we have developed analytical models to interpret the static actuation performance of SPA, including linear and bending deformations. Furthermore, with the help of fast response and waterproof of SPA and ASB, SRWCR can achieve a linear speed of 14.97 mm/s, a turning speed of 5.63°/s, and an underwater locomotion speed of 13 mm/s, which demonstrates the excellent locomotion performance of SRWCR in amphibious environment. In addition, SRWCR can also achieve multiple impressive functions, including carrying a payload of 2 kg at the moving speed of 11.18 mm/s, passing through various complex ground such as the grass ground and sand ground, and so on, obstacle navigation in confined space. Compared with the existing soft crawling robots, with the help of the soft-rigid body and wheeled structure, SRWCR has the best payload and passing capability, which indicates the potential advantage of SRWCR in the design of functional robots.
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Design and locomotion analysis of modular soft robot. ROBOTICA 2022. [DOI: 10.1017/s0263574722000728] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
Abstract
In the paper, a novel modular soft robot that can crawl and turn is presented. The modular soft robot is composed of multiple drive modules connected in series, including one head module, one tail module and three body modules. Each module is actuated by the air chamber. Due to the nonlinear performance of the air chamber, the strain energy function of the air chamber is established. The relationship between the displacement of the air chamber expansion wall and the inflation pressure is obtained, and the manufacturing parameters of the air chamber are determined. By dividing the body of the robot into a series of continuous flexible models, the driving force and the friction force of the robot in locomotion are analyzed. An inflation and deflation control method is presented to complete the locomotion. According to the experiment, the crawling speed of the robot can reach 15.53 mm/s (0.03 body length per second). The turning speed of the robot can reach 1.273 °/s. The robot can crawl and turn on the rough blanket surface effectively. The robot can explore and move in a complex and changeable environment.
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Janghorban A, Dehghani R. Design and Motion Analysis of a Bio-Inspired Soft Robotic Finger Based on Multi-Sectional Soft Reinforced Actuator. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01579-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
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12
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Detachable Soft Actuators with Tunable Stiffness Based on Wire Jamming. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12073582] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
The integration of variable stiffness materials and structures into soft robots is a popular trend, allowing soft robots to switch between soft and rigid states in different situations. This concept combines the advantages of rigid mechanisms and soft robots, resulting in not only excellent flexibility but also tunable stiffness for high load capacity and fast and precise operation. Here, a stiffness-tunable soft actuator based on wire/fiber jamming structure is proposed, where the fiber-reinforced soft actuator is responsible for the bending motion, and the jamming structure acts as a stiffness-tunable layer controlled by vacuum pressure. The primary design objective of this study is to fabricate a jamming structure with wide-range stiffness, universal adaptability and high dexterity. Thus, the behaviors of wire/fiber jamming structures with different layouts, materials and wire arrangements are analyzed, and a theoretical model is developed to predict the effect of geometric parameters. Experimental characterizations show that the stiffness can be significantly enhanced in the bending direction, while the stiffness is smaller in the torsion direction. Additionally, by integrating Velcro strips into the design, a quick and detachable scheme for the stiffness-tunable soft actuator is achieved. Application examples exhibit high load capacity and good shape adaptability.
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