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Han J, Dong X, Yin Z, Zhang S, Li M, Zheng Z, Ugurlu MC, Jiang W, Liu H, Sitti M. Actuation-enhanced multifunctional sensing and information recognition by magnetic artificial cilia arrays. Proc Natl Acad Sci U S A 2023; 120:e2308301120. [PMID: 37792517 PMCID: PMC10589697 DOI: 10.1073/pnas.2308301120] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/17/2023] [Accepted: 09/04/2023] [Indexed: 10/06/2023] Open
Abstract
Artificial cilia integrating both actuation and sensing functions allow simultaneously sensing environmental properties and manipulating fluids in situ, which are promising for environment monitoring and fluidic applications. However, existing artificial cilia have limited ability to sense environmental cues in fluid flows that have versatile information encoded. This limits their potential to work in complex and dynamic fluid-filled environments. Here, we propose a generic actuation-enhanced sensing mechanism to sense complex environmental cues through the active interaction between artificial cilia and the surrounding fluidic environments. The proposed mechanism is based on fluid-cilia interaction by integrating soft robotic artificial cilia with flexible sensors. With a machine learning-based approach, complex environmental cues such as liquid viscosity, environment boundaries, and distributed fluid flows of a wide range of velocities can be sensed, which is beyond the capability of existing artificial cilia. As a proof of concept, we implement this mechanism on magnetically actuated cilia with integrated laser-induced graphene-based sensors and demonstrate sensing fluid apparent viscosity, environment boundaries, and fluid flow speed with a reconfigurable sensitivity and range. The same principle could be potentially applied to other soft robotic systems integrating other actuation and sensing modalities for diverse environmental and fluidic applications.
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Affiliation(s)
- Jie Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Xiaoguang Dong
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN37212
| | - Zhen Yin
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- Department of Control Science and Engineering, Tongji University, Shanghai201800, China
- Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai200120, China
| | - Shuaizhong Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
- National Key Laboratory of Hoisting Machinery Key Technology, Yanshan University, Qinhuangdao066004, China
- Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao066004, China
| | - Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Zhiqiang Zheng
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Musab Cagri Ugurlu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Weitao Jiang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Hongzhong Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450Istanbul, Turkey
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Zhang S, Ke X, Jiang Q, Chai Z, Wu Z, Ding H. Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200671. [PMID: 35732070 DOI: 10.1002/adma.202200671] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/21/2022] [Revised: 06/12/2022] [Indexed: 06/15/2023]
Abstract
Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.
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Affiliation(s)
- Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Xingxing Ke
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhiping Chai
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
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Dong X, Luo X, Zhao H, Qiao C, Li J, Yi J, Yang L, Oropeza FJ, Hu TS, Xu Q, Zeng H. Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications. SOFT MATTER 2022; 18:7699-7734. [PMID: 36205123 DOI: 10.1039/d2sm01067d] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/29/2023]
Abstract
Compared to traditional rigid-bodied robots, soft robots are constructed using physically flexible/elastic bodies and electronics to mimic nature and enable novel applications in industry, healthcare, aviation, military, etc. Recently, the fabrication of robots on soft matter with great flexibility and compliance has enabled smooth and sophisticated 'multi-degree-of-freedom' 3D actuation to seamlessly interact with humans, other organisms and non-idealized environments in a highly complex and controllable manner. Herein, we summarize the fabrication approaches, driving strategies, novel applications, and future trends of soft robots. Firstly, we introduce the different fabrication approaches to prepare soft robots and compare and systematically discuss their advantages and disadvantages. Then, we present the actuator-based and material-based driving strategies of soft robotics and their characteristics. The representative applications of soft robotics in artificial intelligence, medicine, sensors, and engineering are summarized. Also, some remaining challenges and future perspectives in soft robotics are provided. This work highlights the recent advances of soft robotics in terms of functional material selection, structure design, control strategies and biomimicry, providing useful insights into the development of next-generation functional soft robotics.
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Affiliation(s)
- Xiaoxiao Dong
- College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China.
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
| | - Xiaohang Luo
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Hong Zhao
- College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China.
| | - Chenyu Qiao
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
| | - Jiapeng Li
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Jianhong Yi
- Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China.
| | - Li Yang
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
- Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China.
| | - Francisco J Oropeza
- Department of Mechanical Engineering, California State University, Los Angeles, California 90032, USA
| | - Travis Shihao Hu
- Department of Mechanical Engineering, California State University, Los Angeles, California 90032, USA
| | - Quan Xu
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Hongbo Zeng
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
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Cao D, Martinez JG, Hara ES, Jager EWH. Biohybrid Variable-Stiffness Soft Actuators that Self-Create Bone. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2107345. [PMID: 34877728 DOI: 10.1002/adma.202107345] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/15/2021] [Revised: 11/12/2021] [Indexed: 06/13/2023]
Abstract
Inspired by the dynamic process of initial bone development, in which a soft tissue turns into a solid load-bearing structure, the fabrication, optimization, and characterization of bioinduced variable-stiffness actuators that can morph in various shapes and change their properties from soft to rigid are hereby presented. Bilayer devices are prepared by combining the electromechanically active properties of polypyrrole with the compliant behavior of alginate gels that are uniquely functionalized with cell-derived plasma membrane nanofragments (PMNFs), previously shown to mineralize within 2 days, which promotes the mineralization in the gel layer to achieve the soft to stiff change by growing their own bone. The mineralized actuator shows an evident frozen state compared to the movement before mineralization. Next, patterned devices show programmed directional and fixated morphing. These variable-stiffness devices can wrap around and, after the PMNF-induced mineralization in and on the gel layer, adhere and integrate onto bone tissue. The developed biohybrid variable-stiffness actuators can be used in soft (micro-)robotics and as potential tools for bone repair or bone tissue engineering.
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Affiliation(s)
- Danfeng Cao
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
| | - Jose G Martinez
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
| | - Emilio Satoshi Hara
- Department of Biomaterials, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, 700-8558, Japan
| | - Edwin W H Jager
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
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Abstract
The end-effector is a key device for direct contact and operation between the operator and the workpiece, and its mechanical structure will directly affect the quality of the machine and expand its application. The theoretical research and technical implementation of the end-effector for compliance control are facing a lot of urgent challenges to be solved, therefore, the research results of active compliance control of robot end-effectors have a very broad application prospect. This paper describes the design and research results of different end-effectors under impedance-based control, hybrid force/position control, and intelligent flexible control methods, respectively. Under each control method, the structural characteristics and the optimized control scheme under different drives are introduced. Finally, key techniques for achieving compliance control are derived by summarizing, which broadens the engineering applications and provides methods and ideas for future research.
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Higueras-Ruiz DR, Nishikawa K, Feigenbaum H, Shafer M. What is an artificial muscle? A comparison of soft actuators to biological muscles. BIOINSPIRATION & BIOMIMETICS 2021; 17:011001. [PMID: 34792040 DOI: 10.1088/1748-3190/ac3adf] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/11/2021] [Accepted: 11/16/2021] [Indexed: 06/13/2023]
Abstract
Interest in emulating the properties of biological muscles that allow for fast adaptability and control in unstructured environments has motivated researchers to develop new soft actuators, often referred to as 'artificial muscles'. The field of soft robotics is evolving rapidly as new soft actuator designs are published every year. In parallel, recent studies have also provided new insights for understanding biological muscles as 'active' materials whose tunable properties allow them to adapt rapidly to external perturbations. This work presents a comparative study of biological muscles and soft actuators, focusing on those properties that make biological muscles highly adaptable systems. In doing so, we briefly review the latest soft actuation technologies, their actuation mechanisms, and advantages and disadvantages from an operational perspective. Next, we review the latest advances in understanding biological muscles. This presents insight into muscle architecture, the actuation mechanism, and modeling, but more importantly, it provides an understanding of the properties that contribute to adaptability and control. Finally, we conduct a comparative study of biological muscles and soft actuators. Here, we present the accomplishments of each soft actuation technology, the remaining challenges, and future directions. Additionally, this comparative study contributes to providing further insight on soft robotic terms, such as biomimetic actuators, artificial muscles, and conceptualizing a higher level of performance actuator named artificial supermuscle. In conclusion, while soft actuators often have performance metrics such as specific power, efficiency, response time, and others similar to those in muscles, significant challenges remain when finding suitable substitutes for biological muscles, in terms of other factors such as control strategies, onboard energy integration, and thermoregulation.
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Affiliation(s)
- Diego R Higueras-Ruiz
- Department of Mechanical Engineering, Northern Arizona University, Flagstaff, AZ-86011, United States of America
| | - Kiisa Nishikawa
- Department of Biological Sciences, Northern Arizona University, Flagstaff, AZ-86011, United States of America
| | - Heidi Feigenbaum
- Department of Mechanical Engineering, Northern Arizona University, Flagstaff, AZ-86011, United States of America
| | - Michael Shafer
- Department of Mechanical Engineering, Northern Arizona University, Flagstaff, AZ-86011, United States of America
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Abstract
Smart materials are a kind of functional materials which can sense and response to environmental conditions or stimuli from optical, electrical, magnetic mechanical, thermal, and chemical signals, etc. Patterning of smart materials is the key to achieving large-scale arrays of functional devices. Over the last decades, printing methods including inkjet printing, template-assisted printing, and 3D printing are extensively investigated and utilized in fabricating intelligent micro/nano devices, as printing strategies allow for constructing multidimensional and multimaterial architectures. Great strides in printable smart materials are opening new possibilities for functional devices to better serve human beings, such as wearable sensors, integrated optoelectronics, artificial neurons, and so on. However, there are still many challenges and drawbacks that need to be overcome in order to achieve the controllable modulation between smart materials and device performance. In this review, we give an overview on printable smart materials, printing strategies, and applications of printed functional devices. In addition, the advantages in actual practices of printing smart materials-based devices are discussed, and the current limitations and future opportunities are proposed. This review aims to summarize the recent progress and provide reference for novel smart materials and printing strategies as well as applications of intelligent devices.
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Affiliation(s)
- Meng Su
- Key Laboratory of Green Printing, Institute of Chemistry, Chinese Academy of Sciences, Beijing Engineering Research Center of Nanomaterials for Green Printing Technology, Beijing National Laboratory for Molecular Sciences (BNLMS), Zhongguancun North First Street 2, 100190 Beijing, P. R. China.,University of Chinese Academy of Sciences, Yuquan Road no.19A, 100049 Beijing, P. R. China
| | - Yanlin Song
- Key Laboratory of Green Printing, Institute of Chemistry, Chinese Academy of Sciences, Beijing Engineering Research Center of Nanomaterials for Green Printing Technology, Beijing National Laboratory for Molecular Sciences (BNLMS), Zhongguancun North First Street 2, 100190 Beijing, P. R. China.,University of Chinese Academy of Sciences, Yuquan Road no.19A, 100049 Beijing, P. R. China
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Abstract
Current additive manufacturing, including three-dimensional (3D) and so-called four-dimensional printing, of soft robotic devices is limited to millimeter sizes. In this study, we present additive manufacturing of soft microactuators and microrobots to fabricate even smaller structures in the micrometer domain. Using a custom-built extrusion 3D printer, microactuators are scaled down to a size of 300 × 1000 μm2, with minimum thickness of 20 μm. Microactuators combined with printed body and electroactive polymers to drive the actuators are fabricated from computer-aided design model of the device structure. To demonstrate the ease and versatility of 3D printing process, microactuators with varying lengths ranging from 1000 to 5000 μm are fabricated and operated. Likewise, microrobotic devices consisting of a rigid body and individually controlled free-moving arms or legs are 3D printed to explore the microfabrication of soft grippers, manipulators, or microrobots through simple additive manufacturing technique.
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Affiliation(s)
- Manav Tyagi
- Sensor and Actuator Systems, Department of Physics, Chemistry, and Biology (IFM), Linköping University, Linköping, Sweden.,Australian Institute of Innovative Materials, Intelligent Polymer Research Institute, ARC Centre of Excellence for Electromaterials Science, University of Wollongong, Wollongong, Australia
| | - Geoffrey M Spinks
- Australian Institute of Innovative Materials, Intelligent Polymer Research Institute, ARC Centre of Excellence for Electromaterials Science, University of Wollongong, Wollongong, Australia
| | - Edwin W H Jager
- Sensor and Actuator Systems, Department of Physics, Chemistry, and Biology (IFM), Linköping University, Linköping, Sweden.,Australian Institute of Innovative Materials, Intelligent Polymer Research Institute, ARC Centre of Excellence for Electromaterials Science, University of Wollongong, Wollongong, Australia
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