1
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Kim S, Kang J, Yoo S, Cha Y. Spring toy-inspired soft robots with electrohydraulic actuators. Sci Rep 2024; 14:20011. [PMID: 39198636 PMCID: PMC11358452 DOI: 10.1038/s41598-024-71018-w] [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: 05/21/2024] [Accepted: 08/23/2024] [Indexed: 09/01/2024] Open
Abstract
Toys are useful resources for structural inspiration in science and engineering. Their fascinating structures provide new strategies for robotics, particularly in overcoming challenging obstacles and increasing adaptability to unstructured environments. Recent advances in actuators made of soft materials have enabled robots to exhibit safer and more adaptive behaviors during locomotion. However, it is still difficult to descend quickly without falling off at the drop point. In the same context, we recall playing with spring toys descending on stairs. In this paper, we introduce an electrohydraulic-based soft robot inspired by the structure of spring toys. The robot demonstrated a novel and previously unreported ability to descend a series of stairs. Specifically, the soft robot consisted of a helical structure and multiple electrohydraulic actuators. A helical structure was used to accommodate the expansion of the electrohydraulic actuators and to operate a wider range of bending motions. This design prevents unpredictable falls and achieves operation while maintaining a sufficient level of flexibility. We also experimentally investigated the actuation characteristics of the soft robot in terms of motion and force. Additionally, we demonstrated a soft gripper using the spring toy-inspired robot as another potential application.
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Affiliation(s)
- Sohyun Kim
- School of Electrical Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Joohyeon Kang
- Department of Smart Convergence, Korea University, Seoul, 02841, Republic of Korea
| | - Seunghoon Yoo
- 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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2
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Tanaka M, Song Y, Nomura T. Fabric soft pneumatic actuators with programmable turing pattern textures. Sci Rep 2024; 14:19175. [PMID: 39160199 PMCID: PMC11333703 DOI: 10.1038/s41598-024-69450-z] [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: 02/20/2024] [Accepted: 08/05/2024] [Indexed: 08/21/2024] Open
Abstract
This paper presents a novel computational design and fabrication method for fabric-based soft pneumatic actuators (FSPAs) that use Turing patterns, inspired by Alan Turing's morphogenesis theory. These inflatable structures can adapt their shapes with simple pressure changes and are applicable in areas like soft robotics, airbags, and temporary shelters. Traditionally, the design of such structures relies on isotropic materials and the designer's expertise, often requiring a trial-and-error approach. The present study introduces a method to automate this process using advanced numerical optimization to design and manufacture fabric-based inflatable structures with programmable shape-morphing capabilities. Initially, an optimized distribution of the material orientation field on the surface membrane is achieved through gradient-based orientation optimization. This involves a comprehensive physical deployment simulation using the nonlinear shell finite element method, which is integrated into the inner loop of the optimization algorithm. This continuous adjustment of material orientations enhances the design objectives. These material orientation fields are transformed into discretized texture patterns that replicate the same anisotropic deformations. Anisotropic reaction-diffusion equations, using diffusion coefficients determined by local orientations from the optimization step, are then utilized to create space-filling Turing pattern textures. Furthermore, the fabrication methods of these optimized Turing pattern textures are explored using fabrics through heat bonding and embroidery. The performance of the fabricated FSPAs is evaluated through three different deformation shapes: C-shaped bending, S-shaped bending, and twisting.
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Affiliation(s)
- Masato Tanaka
- Toyota Central R&D Laboratories, Inc., 41-1, Yokomichi, Nagakute, Aichi, 480-1192, Japan.
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI, 48105, USA.
| | - Yuyang Song
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI, 48105, USA.
| | - Tsuyoshi Nomura
- Toyota Central R&D Laboratories, Inc., 41-1, Yokomichi, Nagakute, Aichi, 480-1192, Japan
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3
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Qiu S, Zhang H, Cheng J, Shi S, Lam Y, Li W, Li H, Wang H, Sun F, Jia H. Pre-programmable pneumatic actuator: leveraging mechanical anisotropy of nonwoven fabrics with an integrated tensile sensor. MATERIALS HORIZONS 2024; 11:3623-3632. [PMID: 38748488 DOI: 10.1039/d4mh00353e] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/30/2024]
Abstract
The emergence of flexible fabric-based pneumatic actuators (FPAs) with pre-programmable motion capabilities, enhanced security and versatile interaction features significantly advances the construction of sophisticated soft robotic systems, owing to their enhanced security and versatile interaction features. Despite these promising attributes, the commercial viability of FPA products faces a considerable amount of challenges, primarily stemming from the scarcity of highly deformable fabric structures and the availability of industrial fabrication approaches. Taking inspiration from the anisotropic nature of lobster antennae, we propose a scalable and economical strategy to fabricate functional FPAs using nonwoven fabric material with superior mechanical anisotropy. This innovative method involves the adoption of tunable inelastic constrained wires sewn onto extensible nonwoven fabrics with regular wrinkles. This nonwoven fabric-based pneumatic actuator (NFPA) demonstrates specific motion profiles with curvature of over 0.6 cm-1 and output forces of over 140 cN under adjustable pressure conditions. Guided by the constrained wire combinations, NFPA enables diverse programmable motions like spiraling, assistance, and grasping. Furthermore, NFPA incorporated with specific sensors exhibits significant potential in wearable devices with real-time environmental detection for rehabilitation applications. Our work contributes a distinctive insight into the design of programmable NFPAs and enlightens an arena toward versatile soft robotic applications.
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Affiliation(s)
- Sheng Qiu
- School of Textile Science and Engineering, Jiangnan University, Wuxi 214122, China.
| | - Hongwei Zhang
- School of Textile Science and Engineering, Jiangnan University, Wuxi 214122, China.
| | - Jiazhe Cheng
- School of Textile Science and Engineering, Jiangnan University, Wuxi 214122, China.
| | - Shuo Shi
- School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Yintung Lam
- School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Wenfang Li
- School of Textile Science and Engineering, Jiangnan University, Wuxi 214122, China.
| | - Haoyun Li
- School of Textile Science and Engineering, Jiangnan University, Wuxi 214122, China.
| | - Hongbo Wang
- School of Textile Science and Engineering, Jiangnan University, Wuxi 214122, China.
| | - Fengxin Sun
- School of Textile Science and Engineering, Jiangnan University, Wuxi 214122, China.
| | - Hao Jia
- School of Textile Science and Engineering, Jiangnan University, Wuxi 214122, China.
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4
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Dong H, Weng T, Zheng K, Sun H, Chen B. Review: Application of 3D Printing Technology in Soft Robots. 3D PRINTING AND ADDITIVE MANUFACTURING 2024; 11:954-976. [PMID: 39359605 PMCID: PMC11442412 DOI: 10.1089/3dp.2023.0127] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/04/2024]
Abstract
Soft robots, inspired by living organisms in nature, are primarily made of soft materials, and can be used to perform delicate tasks due to their high flexibility, such as grasping and locomotion. However, it is a challenge to efficiently manufacture soft robots with complex functions. In recent years, 3D printing technology has greatly improved the efficiency and flexibility of manufacturing soft robots. Unlike traditional subtractive manufacturing technologies, 3D printing, as an additive manufacturing method, can directly produce parts of high quality and complex geometry for soft robots without manual errors or costly post-processing. In this review, we investigate the basic concepts and working principles of current 3D printing technologies, including stereolithography, selective laser sintering, material extrusion, and material jetting. The advantages and disadvantages of fabricating soft robots are discussed. Various 3D printing materials for soft robots are introduced, including elastomers, shape memory polymers, hydrogels, composites, and other materials. Their functions and limitations in soft robots are illustrated. The existing 3D-printed soft robots, including soft grippers, soft locomotion robots, and wearable soft robots, are demonstrated. Their application in industrial, manufacturing, service, and assistive medical fields is discussed. We summarize the challenges of 3D printing at the technical level, material level, and application level. The prospects of 3D printing technology in the field of soft robots are explored.
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Affiliation(s)
- Hui Dong
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Tao Weng
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Kexin Zheng
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Hao Sun
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Bingxing Chen
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
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5
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Vazquez R, Motovilova E, Winkler SA. Stretchable Sensor Materials Applicable to Radiofrequency Coil Design in Magnetic Resonance Imaging: A Review. SENSORS (BASEL, SWITZERLAND) 2024; 24:3390. [PMID: 38894182 PMCID: PMC11174967 DOI: 10.3390/s24113390] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/14/2024] [Revised: 05/19/2024] [Accepted: 05/21/2024] [Indexed: 06/21/2024]
Abstract
Wearable sensors are rapidly gaining influence in the diagnostics, monitoring, and treatment of disease, thereby improving patient outcomes. In this review, we aim to explore how these advances can be applied to magnetic resonance imaging (MRI). We begin by (i) introducing limitations in current flexible/stretchable RF coils and then move to the broader field of flexible sensor technology to identify translatable technologies. To this goal, we discuss (ii) emerging materials currently used for sensor substrates, (iii) stretchable conductive materials, (iv) pairing and matching of conductors with substrates, and (v) implementation of lumped elements such as capacitors. Applicable (vi) fabrication methods are presented, and the review concludes with a brief commentary on (vii) the implementation of the discussed sensor technologies in MRI coil applications. The main takeaway of our research is that a large body of work has led to exciting new sensor innovations allowing for stretchable wearables, but further exploration of materials and manufacturing techniques remains necessary, especially when applied to MRI diagnostics.
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Affiliation(s)
- Rigoberto Vazquez
- Department of Biomedical Engineering, Cornell University, Ithaca, NY 10065, USA
- Department of Radiology, Weill Cornell Medicine, New York, NY 10065, USA
| | | | - Simone Angela Winkler
- Department of Biomedical Engineering, Cornell University, Ithaca, NY 10065, USA
- Department of Radiology, Weill Cornell Medicine, New York, NY 10065, USA
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6
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Huaroto JJ, Suarez E, Kim W, Vela EA. Leveraging pleat folds and soft compliant elements in inflatable fabric beams. Front Robot AI 2024; 10:1267642. [PMID: 38283800 PMCID: PMC10822686 DOI: 10.3389/frobt.2023.1267642] [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: 07/26/2023] [Accepted: 12/13/2023] [Indexed: 01/30/2024] Open
Abstract
Inflatable fabric beams (IFBs) integrating pleat folds can generate complex motion by modifying the pleat characteristics (e.g., dimensions, orientations). However, the capability of the IFB to return to the folded configuration relies upon the elasticity of the fabrics, requiring additional pressure inputs or complementary mechanisms. Using soft compliant elements (SCEs) assembled onto pleat folds is an appealing approach to improving the IFB elasticity and providing a range of spatial configurations when pressurized. This study introduces an actuator comprising an IFB with pleat folds and SCEs. By methodologically assembling the SCEs onto the pleat folds, we constrain the IFB unfolding to achieve out-of-plane motion at 5 kPa. Besides, the proposed actuator can generate angular displacement by regulating the input pressure (> 5 kPa). A matrix-based representation and model are proposed to analyze the actuator motion. We experimentally study the actuator's angular displacement by modifying SCE shapes, fold dimensions, and assembly distances of SCEs. Moreover, we analyze the effects of incorporating two SCEs onto a pleat fold. Our results show that the actuator motion can be tuned by integrating SCEs with different stiffness and varying the pleat fold dimensions. In addition, we demonstrate that the integration of two SCEs onto the pleat fold permits the actuator to return to its folded configuration when depressurized. In order to demonstrate the versatility of the proposed actuator, we devise and conduct experiments showcasing the implementation of a planar serial manipulator and a soft gripper with two grasping modalities.
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Affiliation(s)
- Juan J. Huaroto
- Department of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, Peru
| | - Etsel Suarez
- Department of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, Peru
| | - Wangdo Kim
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
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7
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Guo X, Li W, Fang F, Chen H, Zhao L, Fang X, Yi Z, Shao L, Meng G, Zhang W. Encoded sewing soft textile robots. SCIENCE ADVANCES 2024; 10:eadk3855. [PMID: 38181076 PMCID: PMC10776007 DOI: 10.1126/sciadv.adk3855] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/18/2023] [Accepted: 12/01/2023] [Indexed: 01/07/2024]
Abstract
Incorporating soft actuation with soft yet durable textiles could effectively endow the latter with active and flexible shape morphing and motion like mollusks and plants. However, creating highly programmable and customizable soft robots based on textiles faces a longstanding design and manufacturing challenge. Here, we report a methodology of encoded sewing constraints for efficiently constructing three-dimensional (3D) soft textile robots through a simple 2D sewing process. By encoding heterogeneous stretching properties into three spatial seams of the sewed 3D textile shells, nonlinear inflation of the inner bladder can be guided to follow the predefined spatial shape and actuation sequence, for example, tendril-like shape morphing, tentacle-like sequential manipulation, and bioinspired locomotion only controlled by single pressure source. Such flexible, efficient, scalable, and low-cost design and formation methodology will accelerate the development and iteration of soft robots and also open up more opportunities for safe human-robot interactions, tailored wearable devices, and health care.
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Affiliation(s)
- Xinyu Guo
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Wenbo Li
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China
| | - Fuyi Fang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Huyue Chen
- University of Michigan–Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Linchuan Zhao
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Xiaoyong Fang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Zhiran Yi
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Lei Shao
- University of Michigan–Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Guang Meng
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Wenming Zhang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
- SJTU Paris Elite Institute of Technology, Shanghai Jiao Tong University, Shanghai 200240, China
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8
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Mendoza MJ, Cancán S, Surichaqui S, Centeno E, Vilchez R, Bertoldi K, Vela EA. Versatile vacuum-powered artificial muscles through replaceable external reinforcements. Front Robot AI 2024; 10:1289074. [PMID: 38239276 PMCID: PMC10794473 DOI: 10.3389/frobt.2023.1289074] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/05/2023] [Accepted: 12/11/2023] [Indexed: 01/22/2024] Open
Abstract
Soft pneumatic artificial muscles are a well actuation scheme in soft robotics due to its key features for robotic machines being safe, lightweight, and conformable. In this work, we present a versatile vacuum-powered artificial muscle (VPAM) with manually tunable output motion. We developed an artificial muscle that consists of a stack of air chambers that can use replaceable external reinforcements. Different modes of operation are achieved by assembling different reinforcements that constrain the output motion of the actuator during actuation. We designed replaceable external reinforcements to produce single motions such as twisting, bending, shearing and rotary. We then conducted a deformation and lifting force characterization for these motions. We demonstrated sophisticated motions and reusability of the artificial muscle in two soft machines with different modes of locomotion. Our results show that our VPAM is reusable and versatile producing a variety and sophisticated output motions if needed. This key feature specially benefits unpredicted workspaces that require a soft actuator that can be adjusted for other tasks. Our scheme has the potential to offer new strategies for locomotion in machines for underwater or terrestrial operation, and wearable devices with different modes of operation.
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Affiliation(s)
- Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Sergio Cancán
- Department of Mechatronics Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Steve Surichaqui
- Department of Bioengineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Esteban Centeno
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
- Department of Mechatronics Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Ricardo Vilchez
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Katia Bertoldi
- J. A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, United States
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
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9
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Feng M, Yang D, Ren L, Wei G, Gu G. X-crossing pneumatic artificial muscles. SCIENCE ADVANCES 2023; 9:eadi7133. [PMID: 37729399 PMCID: PMC10511197 DOI: 10.1126/sciadv.adi7133] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/13/2023] [Accepted: 08/17/2023] [Indexed: 09/22/2023]
Abstract
Artificial muscles are promising in soft exoskeletons, locomotion robots, and operation machines. However, their performance in contraction ratio, output force, and dynamic response is often imbalanced and limited by materials, structures, or actuation principles. We present lightweight, high-contraction ratio, high-output force, and positive pressure-driven X-crossing pneumatic artificial muscles (X-PAMs). Unlike PAMs, our X-PAMs harness the X-crossing mechanism to directly convert linear motion along the actuator axis, achieving an unprecedented 92.9% contraction ratio and an output force of 207.9 Newtons per kilogram per kilopascal with excellent dynamic properties, such as strain rate (1603.0% per second), specific power (5.7 kilowatts per kilogram), and work density (842.9 kilojoules per meter cubed). These properties can overcome the slow actuation of conventional PAMs, providing robotic elbow, jumping robot, and lightweight gripper with fast, powerful performance. The robust design of X-PAMs withstands extreme environments, including high-temperature, underwater, and long-duration actuation, while being scalable to parallel, asymmetric, and ring-shaped configurations for potential applications.
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Affiliation(s)
- Miao Feng
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Department of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester M13 9PL, UK
- School of Science, Engineering and Environment, The University of Salford, Salford M5 4WT, UK
| | - Dezhi Yang
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Lei Ren
- Department of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester M13 9PL, UK
- Key Laboratory of Bionic Engineering, Jilin University, Changchun 130015, China
| | - Guowu Wei
- School of Science, Engineering and Environment, The University of Salford, Salford M5 4WT, UK
| | - Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai 200240, China
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10
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Won D, Bang J, Choi SH, Pyun KR, Jeong S, Lee Y, Ko SH. Transparent Electronics for Wearable Electronics Application. Chem Rev 2023; 123:9982-10078. [PMID: 37542724 PMCID: PMC10452793 DOI: 10.1021/acs.chemrev.3c00139] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/07/2023] [Indexed: 08/07/2023]
Abstract
Recent advancements in wearable electronics offer seamless integration with the human body for extracting various biophysical and biochemical information for real-time health monitoring, clinical diagnostics, and augmented reality. Enormous efforts have been dedicated to imparting stretchability/flexibility and softness to electronic devices through materials science and structural modifications that enable stable and comfortable integration of these devices with the curvilinear and soft human body. However, the optical properties of these devices are still in the early stages of consideration. By incorporating transparency, visual information from interfacing biological systems can be preserved and utilized for comprehensive clinical diagnosis with image analysis techniques. Additionally, transparency provides optical imperceptibility, alleviating reluctance to wear the device on exposed skin. This review discusses the recent advancement of transparent wearable electronics in a comprehensive way that includes materials, processing, devices, and applications. Materials for transparent wearable electronics are discussed regarding their characteristics, synthesis, and engineering strategies for property enhancements. We also examine bridging techniques for stable integration with the soft human body. Building blocks for wearable electronic systems, including sensors, energy devices, actuators, and displays, are discussed with their mechanisms and performances. Lastly, we summarize the potential applications and conclude with the remaining challenges and prospects.
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Affiliation(s)
- Daeyeon Won
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Junhyuk Bang
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Seok Hwan Choi
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Kyung Rok Pyun
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Seongmin Jeong
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Youngseok Lee
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
| | - Seung Hwan Ko
- Applied
Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, Seoul 08826, Korea
- Institute
of Engineering Research/Institute of Advanced Machinery and Design
(SNU-IAMD), Seoul National University, Seoul 08826, South Korea
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11
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Alves S, Babcinschi M, Silva A, Neto D, Fonseca D, Neto P. Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand. CYBORG AND BIONIC SYSTEMS 2023; 4:0051. [PMID: 37559941 PMCID: PMC10408382 DOI: 10.34133/cbsystems.0051] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/13/2023] [Accepted: 07/27/2023] [Indexed: 08/11/2023] Open
Abstract
Machines that mimic humans have inspired scientists for centuries. Bioinspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to unstructured environments. Recent research led to impactful achievements in functional designs, modeling, fabrication, and control of soft robots. Nevertheless, the full realization of life-like movements is still challenging to achieve, often based on trial-and-error considerations from design to fabrication, consuming time and resources. In this study, a soft robotic hand is proposed, composed of soft actuator cores and an exoskeleton, featuring a multimaterial design aided by finite element analysis (FEA) to define the hand geometry and promote finger's bendability. The actuators are fabricated using molding, and the exoskeleton is 3D-printed in a single step. An ON-OFF controller keeps the set fingers' inner pressures related to specific bending angles, even in the presence of leaks. The FEA numerical results were validated by experimental tests, as well as the ability of the hand to grasp objects with different shapes, weights, and sizes. This integrated solution will make soft robotic hands more available to people, at a reduced cost, avoiding the time-consuming design-fabrication trial-and-error processes.
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Affiliation(s)
- Samuel Alves
- University of Coimbra, CEMMPRE, ARISE, Department of Mechanical Engineering, 3030-788 Coimbra, Portugal
| | - Mihail Babcinschi
- University of Coimbra, CEMMPRE, ARISE, Department of Mechanical Engineering, 3030-788 Coimbra, Portugal
| | - Afonso Silva
- University of Coimbra, CEMMPRE, ARISE, Department of Mechanical Engineering, 3030-788 Coimbra, Portugal
| | - Diogo Neto
- University of Coimbra, CEMMPRE, ARISE, Department of Mechanical Engineering, 3030-788 Coimbra, Portugal
| | - Diogo Fonseca
- University of Coimbra, CEMMPRE, ARISE, Department of Mechanical Engineering, 3030-788 Coimbra, Portugal
| | - Pedro Neto
- University of Coimbra, CEMMPRE, ARISE, Department of Mechanical Engineering, 3030-788 Coimbra, Portugal
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12
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Guo J, Li Z, Low JH, Han Q, Chen CY, Liu J, Liu Z, Yeow CH. Kirigami-Inspired 3D Printable Soft Pneumatic Actuators with Multiple Deformation Modes for Soft Robotic Applications. Soft Robot 2023; 10:737-748. [PMID: 36827310 DOI: 10.1089/soro.2021.0199] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/25/2023] Open
Abstract
Soft robots have received much attention due to their impressive capabilities including high flexibility and inherent safety features for humans or unstructured environments compared with hard-bodied robots. Soft actuators are the crucial components of soft robotic systems. Soft robots require dexterous soft actuators to provide the desired deformation for different soft robotic applications. Most of the existing soft actuators have only one or two deformation modes. In this article, a new soft pneumatic actuator (SPA) is proposed taking inspiration from Kirigami. Kirigami-inspired cuts are applied to the actuator design, which enables the SPA to be equipped with multiple deformation modes. The proposed Kirigami-inspired soft pneumatic actuator (KiriSPA) is capable of producing bending motion, stretching motion, contraction motion, combined motion of bending and stretching, and combined motion of bending and contraction. The KiriSPA can be directly manufactured using 3D printers based on the fused deposition modeling technology. Finite element method is used to analyze and predict the deformation modes of the KiriSPA. We also investigated the step response, creep, hysteresis, actuation speed, stroke, workspace, stiffness, power density, and blocked force of the KiriSPA. Moreover, we demonstrated that KiriSPAs can be combined to expand the capabilities of various soft robotic systems including the soft robotic gripper for delicate object manipulation, the soft planar robotic manipulator for picking objects in the confined environment, the quadrupedal soft crawling robot, and the soft robot with the flipping locomotion.
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Affiliation(s)
- Jin Guo
- School of Life Science, Beijing Institute of Technology, Beijing, China
| | - Zeyu Li
- School of Life Science, Beijing Institute of Technology, Beijing, China
| | - Jin-Huat Low
- Department of Biomedical Engineering, College of Design and Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Center, College of Design and Engineering, National University of Singapore, Singapore, Singapore
| | - Qianqian Han
- Department of Biomedical Engineering, College of Design and Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Center, College of Design and Engineering, National University of Singapore, Singapore, Singapore
| | - Chao-Yu Chen
- Department of Biomedical Engineering, College of Design and Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Center, College of Design and Engineering, National University of Singapore, Singapore, Singapore
| | - Jun Liu
- Institute of High Performance Computing, A*STAR Research Entities, Singapore, Singapore
| | - Zhuangjian Liu
- Institute of High Performance Computing, A*STAR Research Entities, Singapore, Singapore
| | - Chen-Hua Yeow
- Department of Biomedical Engineering, College of Design and Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Center, College of Design and Engineering, National University of Singapore, Singapore, Singapore
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13
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Fang Z, Wu Y, Su Y, Yi J, Liu S, Wang Z. Omnidirectional compliance on cross-linked actuator coordination enables simultaneous multi-functions of soft modular robots. Sci Rep 2023; 13:12116. [PMID: 37495618 PMCID: PMC10372032 DOI: 10.1038/s41598-023-39109-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/20/2023] [Accepted: 07/20/2023] [Indexed: 07/28/2023] Open
Abstract
Earthworms have entirely soft bodies mainly composed of circular and longitudinal muscle bundles but can handle the complexity of unstructured environments with exceptional multifunctionality. Soft robots are naturally appropriate for mimicking soft animal structures thanks to their inherent compliance. Here, we explore the new possibility of using this compliance to coordinate the actuation movements of single-type soft actuators for not only high adaptability but the simultaneous multifunctionality of soft robots. A cross-linked actuator coordination mechanism is proposed and explained with a novel conceptual design of a cross-linked network, characterization of modular coordinated kinematics, and a modular control strategy for multiple functions. We model and analyze the motion patterns for these functions, including grabbing, manipulation, and locomotion. This further enables the combination of simultaneous multi-functions with this very simple actuator network structure. In this way, a soft modular robot is developed with demonstrations of a novel continuous-transportation mode, for which multiple objects could be simultaneously transported in unstructured environments with either mobile manipulation or pick-and-place operation. A comprehensive workflow is presented to elaborate the cross-linked actuator coordination concept, analytical modeling, modular control strategy, experimental validation, and multi-functional applications. Our understanding of actuator coordination inspires new soft robotic designs for wider robotic applications.
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Affiliation(s)
- Zhonggui Fang
- Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Yige Wu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Yinyin Su
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
- Department of Mechanical Engineering, The University of Hong Kong, Central and Western District, Hong Kong, China
| | - Juan Yi
- Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China.
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China.
| | - Sicong Liu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Zheng Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China.
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14
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Zhang Z, Long Y, Chen G, Wu Q, Wang H, Jiang H. Soft and lightweight fabric enables powerful and high-range pneumatic actuation. SCIENCE ADVANCES 2023; 9:eadg1203. [PMID: 37043577 PMCID: PMC10096572 DOI: 10.1126/sciadv.adg1203] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Accepted: 03/14/2023] [Indexed: 06/19/2023]
Abstract
Soft structures and actuation allow robots, conventionally consisting of rigid components, to perform more compliant, adaptive interactions similar to living creatures. Although numerous functions of these types of actuators have been demonstrated in the literature, their hyperelastic designs generally suffer from limited workspaces and load-carrying capabilities primarily due to their structural stretchability factor. Here, we describe a series of pneumatic actuators based on soft but less stretchable fabric that can simultaneously perform tunable workspace and bear a high payload. The motion mode of the actuator is programmable, combinable, and predictable and is informed by rapid response to low input pressure. A robotic gripper using three fabric actuators is also presented. The gripper demonstrates a grasping force of over 150 N and a grasping range from 70 to 350 millimeters. The design concept and comprehensive guidelines presented would provide design and analysis foundations for applying less stretchable yet soft materials in soft robots to further enhance their practicality.
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Affiliation(s)
- Zhuang Zhang
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
| | - Yongzhou Long
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Genliang Chen
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
- Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Qichen Wu
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Hao Wang
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Research Center for Industries of the Future, Westlake University, Hangzhou, Zhejiang 310030, China
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15
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Tanaka M, Montgomery SM, Yue L, Wei Y, Song Y, Nomura T, Qi HJ. Turing pattern-based design and fabrication of inflatable shape-morphing structures. SCIENCE ADVANCES 2023; 9:eade4381. [PMID: 36763653 PMCID: PMC9916983 DOI: 10.1126/sciadv.ade4381] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/16/2022] [Accepted: 01/10/2023] [Indexed: 06/18/2023]
Abstract
Turing patterns are self-organizing stripes or spots widely found in biological systems and nature. Although inspiring, their applications are limited. Inflatable shape-morphing structures have attracted substantial research attention. Traditional inflatable structures use isotropic materials with geometrical features to achieve shape morphing. Recently, gradient-based optimization methods have been used to design these structures. These methods assume anisotropic materials whose orientation can vary freely. However, this assumption makes fabrication a considerable challenge by methods such as additive manufacturing, which print isotropic materials. Here, we present a methodology of using Turing patterns to bridge this gap. Specifically, we use Turing patterns to convert a design with distributed anisotropic materials to a distribution with two materials, which can be fabricated by grayscale digital light processing 3D printing. This work suggests that it is possible to apply patterns in biological systems and nature to engineering composites and offers new concepts for future material design.
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Affiliation(s)
- Masato Tanaka
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI 48105, USA
| | - S. Macrae Montgomery
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Liang Yue
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Yaochi Wei
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Yuyang Song
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI 48105, USA
| | - Tsuyoshi Nomura
- Toyota Central R&D Laboratories Inc. , Bunkyo-ku, Tokyo 112-0004, Japan
| | - H. Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
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16
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Liao W, Yang Z. 3D printing programmable liquid crystal elastomer soft pneumatic actuators. MATERIALS HORIZONS 2023; 10:576-584. [PMID: 36468657 DOI: 10.1039/d2mh01001a] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Soft pneumatic actuators (SPAs) rely on anisotropic mechanical properties to generate specific motions after inflation. To achieve mechanical anisotropy, additional stiff materials or heterogeneous structures are typically introduced in isotropic base materials. However, the inherent limitations of these strategies may lead to potential interfacial problems or inefficient material usage. Herein, we develop a new strategy for fabricating SPAs based on an aligned liquid crystal elastomer (LCE) by a modified 3D printing technology. A rotating substrate enables the one-step fabrication of tubular LCE-SPAs with designed alignments in three dimensions. The alignment can be precisely programmed through printing, resulting in intrinsic mechanical anisotropy of the LCE. With a specially designed alignment, LCE-SPAs can achieve basic motions-contraction, elongation, bending, and twisting-and accomplish diverse tasks, e.g., grabbing objects and mixing water. This study provides a new perspective for the design and fabrication of SPAs.
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Affiliation(s)
- Wei Liao
- Key Laboratory of Organic Optoelectronics & Molecular Engineering of the Ministry of Education, Department of Chemistry, Tsinghua University, Beijing, China.
| | - Zhongqiang Yang
- Key Laboratory of Organic Optoelectronics & Molecular Engineering of the Ministry of Education, Department of Chemistry, Tsinghua University, Beijing, China.
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
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17
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Oh N, Rodrigue H. Toward the Development of Large-Scale Inflatable Robotic Arms Using Hot Air Welding. Soft Robot 2023; 10:88-96. [PMID: 35483085 DOI: 10.1089/soro.2021.0134] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/18/2022] Open
Abstract
The manufacturing method of soft pneumatic robots affects their ability to maintain their impermeability when pressurized. Pressurizing them beyond their limits results in leaks or ruptures of the structure. Increasing their size simultaneously increases the tension forces within their structure and reduces their ability to withstand the pressures necessary for them to operate. This article introduces the use of hot air welding to manufacture three-dimensional inflatable elements containing only lap seals which can sustain larger tension forces than the fin seals used in most other inflatable robotic arms. This manufacturing technique is then used to form inflatable joints with 2-degrees of freedom (DOFs), which can be assembled to form 6-DOFs robotic arms. A dual-arm inflatable robot was built using two arms each with a length of 85 cm, was capable of lifting payloads up to 3 kg, had a large range of motion, and was able to lift misaligned boxes using its two arms relying only on friction force by pushing on both sides of the box. The arm concept was then scaled to form a robotic arm with a length of nearly 5 m, which was able to pickup and place a basketball in a basketball hoop from the free-throw line several meters away. The present work advances the state of the art in building large-scale soft robotic arms.
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Affiliation(s)
- Namsoo Oh
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
| | - Hugo Rodrigue
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
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18
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Gollob SD, Mendoza MJ, Koo BHB, Centeno E, Vela EA, Roche ET. A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants. Front Robot AI 2023; 10:1190387. [PMID: 37213243 PMCID: PMC10192875 DOI: 10.3389/frobt.2023.1190387] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2023] [Accepted: 04/20/2023] [Indexed: 05/23/2023] Open
Abstract
Soft pneumatic artificial muscles are increasingly popular in the field of soft robotics due to their light-weight, complex motions, and safe interfacing with humans. In this paper, we present a Vacuum-Powered Artificial Muscle (VPAM) with an adjustable operating length that offers adaptability throughout its use, particularly in settings with variable workspaces. To achieve the adjustable operating length, we designed the VPAM with a modular structure consisting of cells that can be clipped in a collapsed state and unclipped as desired. We then conducted a case study in infant physical therapy to demonstrate the capabilities of our actuator. We developed a dynamic model of the device and a model-informed open-loop control system, and validated their accuracy in a simulated patient setup. Our results showed that the VPAM maintains its performance as it grows. This is crucial in applications such as infant physical therapy where the device must adapt to the growth of the patient during a 6-month treatment regime without actuator replacement. The ability to adjust the length of the VPAM on demand offers a significant advantage over traditional fixed-length actuators, making it a promising solution for soft robotics. This actuator has potential for various applications that can leverage on demand expansion and shrinking, including exoskeletons, wearable devices, medical robots, and exploration robots.
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Affiliation(s)
- Samuel Dutra Gollob
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
| | - Bon Ho Brandon Koo
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Esteban Centeno
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
- *Correspondence: Ellen T. Roche, ; Emir A. Vela,
| | - Ellen T. Roche
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
- Institute for Medical Engineering and Science, Massachusetts Institute of Technology, Cambridge, MA, United States
- *Correspondence: Ellen T. Roche, ; Emir A. Vela,
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19
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Son H, Park Y, Na Y, Yoon C. 4D Multiscale Origami Soft Robots: A Review. Polymers (Basel) 2022; 14:polym14194235. [PMID: 36236182 PMCID: PMC9571758 DOI: 10.3390/polym14194235] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/18/2022] [Revised: 09/29/2022] [Accepted: 10/06/2022] [Indexed: 11/06/2022] Open
Abstract
Time-dependent shape-transferable soft robots are important for various intelligent applications in flexible electronics and bionics. Four-dimensional (4D) shape changes can offer versatile functional advantages during operations to soft robots that respond to external environmental stimuli, including heat, pH, light, electric, or pneumatic triggers. This review investigates the current advances in multiscale soft robots that can display 4D shape transformations. This review first focuses on material selection to demonstrate 4D origami-driven shape transformations. Second, this review investigates versatile fabrication strategies to form the 4D mechanical structures of soft robots. Third, this review surveys the folding, rolling, bending, and wrinkling mechanisms of soft robots during operation. Fourth, this review highlights the diverse applications of 4D origami-driven soft robots in actuators, sensors, and bionics. Finally, perspectives on future directions and challenges in the development of intelligent soft robots in real operational environments are discussed.
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Affiliation(s)
- Hyegyo Son
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Yunha Park
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Youngjin Na
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence: (Y.N.); (C.Y.)
| | - ChangKyu Yoon
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Institute of Advanced Materials and Systems, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence: (Y.N.); (C.Y.)
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20
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Rajappan A, Jumet B, Shveda RA, Decker CJ, Liu Z, Yap TF, Sanchez V, Preston DJ. Logic-enabled textiles. Proc Natl Acad Sci U S A 2022; 119:e2202118119. [PMID: 35994641 PMCID: PMC9436326 DOI: 10.1073/pnas.2202118119] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/09/2022] [Accepted: 07/14/2022] [Indexed: 11/18/2022] Open
Abstract
Textiles hold great promise as a soft yet durable material for building comfortable robotic wearables and assistive devices at low cost. Nevertheless, the development of smart wearables composed entirely of textiles has been hindered by the lack of a viable sheet-based logic architecture that can be implemented using conventional fabric materials and textile manufacturing processes. Here, we develop a fully textile platform for embedding pneumatic digital logic in wearable devices. Our logic-enabled textiles support combinational and sequential logic functions, onboard memory storage, user interaction, and direct interfacing with pneumatic actuators. In addition, they are designed to be lightweight, easily integrable into regular clothing, made using scalable fabrication techniques, and durable enough to withstand everyday use. We demonstrate a textile computer capable of input-driven digital logic for controlling untethered wearable robots that assist users with functional limitations. Our logic platform will facilitate the emergence of future wearables powered by embedded fluidic logic that fully leverage the innate advantages of their textile construction.
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Affiliation(s)
- Anoop Rajappan
- Department of Mechanical Engineering, Rice University, Houston, TX 77005
| | - Barclay Jumet
- Department of Mechanical Engineering, Rice University, Houston, TX 77005
| | - Rachel A. Shveda
- Department of Mechanical Engineering, Rice University, Houston, TX 77005
| | - Colter J. Decker
- Department of Mechanical Engineering, Rice University, Houston, TX 77005
| | - Zhen Liu
- Department of Mechanical Engineering, Rice University, Houston, TX 77005
| | - Te Faye Yap
- Department of Mechanical Engineering, Rice University, Houston, TX 77005
| | - Vanessa Sanchez
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138
- Wyss Institute for Biologically Inspired Engineering, Boston, MA 02115
| | - Daniel J. Preston
- Department of Mechanical Engineering, Rice University, Houston, TX 77005
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21
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Shveda RA, Rajappan A, Yap TF, Liu Z, Bell MD, Jumet B, Sanchez V, Preston DJ. A wearable textile-based pneumatic energy harvesting system for assistive robotics. SCIENCE ADVANCES 2022; 8:eabo2418. [PMID: 36001663 PMCID: PMC9401630 DOI: 10.1126/sciadv.abo2418] [Citation(s) in RCA: 17] [Impact Index Per Article: 8.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/22/2022] [Accepted: 07/12/2022] [Indexed: 06/15/2023]
Abstract
Wearable assistive, rehabilitative, and augmentative devices currently require bulky power supplies, often making these tools more of a burden than an asset. This work introduces a soft, low-profile, textile-based pneumatic energy harvesting system that extracts power directly from the foot strike of a user during walking. Energy is harvested with a textile pump integrated into the insole of the user's shoe and stored in a wearable textile bladder to operate pneumatic actuators on demand, with system performance optimized based on a mechano-fluidic model. The system recovered a maximum average power of nearly 3 W with over 20% conversion efficiency-outperforming electromagnetic, piezoelectric, and triboelectric alternatives-and was used to power a wearable arm-lift device that assists shoulder motion and a supernumerary robotic arm, demonstrating its capability as a lightweight, low-cost, and comfortable solution to support adults with upper body functional limitations in activities of daily living.
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Affiliation(s)
- Rachel A. Shveda
- Department of Mechanical Engineering, William Marsh Rice University, Houston, TX 77005, USA
| | - Anoop Rajappan
- Department of Mechanical Engineering, William Marsh Rice University, Houston, TX 77005, USA
| | - Te Faye Yap
- Department of Mechanical Engineering, William Marsh Rice University, Houston, TX 77005, USA
| | - Zhen Liu
- Department of Mechanical Engineering, William Marsh Rice University, Houston, TX 77005, USA
| | - Marquise D. Bell
- Department of Mechanical Engineering, William Marsh Rice University, Houston, TX 77005, USA
| | - Barclay Jumet
- Department of Mechanical Engineering, William Marsh Rice University, Houston, TX 77005, USA
| | - Vanessa Sanchez
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA
- Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA 02115, USA
| | - Daniel J. Preston
- Department of Mechanical Engineering, William Marsh Rice University, Houston, TX 77005, USA
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22
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Jen N, Bessa GM, Nicolson K, Xiao J, Nobes DS, Chung HJ. Elastomeric tubes with self-regulated distension. iScience 2022; 25:104369. [PMID: 35620432 PMCID: PMC9126797 DOI: 10.1016/j.isci.2022.104369] [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: 03/14/2022] [Revised: 04/25/2022] [Accepted: 05/03/2022] [Indexed: 11/26/2022] Open
Abstract
Compliant elastomer tubing with a fabric "jacket" has been essential in various applications as soft robotic actuators, such as in biomedical exomuscles and massage therapy implements. Here, our study shows that a similar design concept can be an effective strategy in realizing passive regulation in the tube's distension, as well as in preventing aneurysm-like asymmetric rupture of the tube. A custom hydraulic pressure testing rig was built to perform experiments. The jacketed tubes initially deform rapidly as pressure increases, but a self-regulation behavior suppresses the tube's continued distension by strain-stiffening of the "jacket". In addition, highly asymmetric distension, common to elastomeric tubes due to imperfection in fabrication, is prevented dramatically by the "jacket". A three-dimensional finite element model predicts the distension of all tested tubes quantitatively across the entire experimental pressure ranges and beyond. Incorporating custom-designed kirigami relief patterns in the "jackets" expands the potential of the elastomeric tubes.
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Affiliation(s)
- Nathan Jen
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton, AB, Canada
| | - Guilherme M. Bessa
- Department of Mechanical Engineering, University of Alberta, Edmonton, AB, Canada
| | - Kaelyn Nicolson
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton, AB, Canada
| | - Jianliang Xiao
- Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, United States
| | - David S. Nobes
- Department of Mechanical Engineering, University of Alberta, Edmonton, AB, Canada
| | - Hyun-Joong Chung
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton, AB, Canada
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23
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Wu S, Dong T, Li Y, Sun M, Qi Y, Liu J, Kuss MA, Chen S, Duan B. State-of-the-art review of advanced electrospun nanofiber yarn-based textiles for biomedical applications. APPLIED MATERIALS TODAY 2022; 27:101473. [PMID: 35434263 PMCID: PMC8994858 DOI: 10.1016/j.apmt.2022.101473] [Citation(s) in RCA: 49] [Impact Index Per Article: 24.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/04/2022] [Revised: 03/23/2022] [Accepted: 03/31/2022] [Indexed: 05/02/2023]
Abstract
The pandemic of the coronavirus disease 2019 (COVID-19) has made biotextiles, including face masks and protective clothing, quite familiar in our daily lives. Biotextiles are one broad category of textile products that are beyond our imagination. Currently, biotextiles have been routinely utilized in various biomedical fields, like daily protection, wound healing, tissue regeneration, drug delivery, and sensing, to improve the health and medical conditions of individuals. However, these biotextiles are commonly manufactured with fibers with diameters on the micrometer scale (> 10 μm). Recently, nanofibrous materials have aroused extensive attention in the fields of fiber science and textile engineering because the fibers with nanoscale diameters exhibited obviously superior performances, such as size and surface/interface effects as well as optical, electrical, mechanical, and biological properties, compared to microfibers. A combination of innovative electrospinning techniques and traditional textile-forming strategies opens a new window for the generation of nanofibrous biotextiles to renew and update traditional microfibrous biotextiles. In the last two decades, the conventional electrospinning device has been widely modified to generate nanofiber yarns (NYs) with the fiber diameters less than 1000 nm. The electrospun NYs can be further employed as the primary processing unit for manufacturing a new generation of nano-textiles using various textile-forming strategies. In this review, starting from the basic information of conventional electrospinning techniques, we summarize the innovative electrospinning strategies for NY fabrication and critically discuss their advantages and limitations. This review further covers the progress in the construction of electrospun NY-based nanotextiles and their recent applications in biomedical fields, mainly including surgical sutures, various scaffolds and implants for tissue engineering, smart wearable bioelectronics, and their current and potential applications in the COVID-19 pandemic. At the end, this review highlights and identifies the future needs and opportunities of electrospun NYs and NY-based nanotextiles for clinical use.
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Key Words
- CNT, carbon nanotube
- COVID-19, coronavirus disease 2019
- ECM, extracellular matrix
- Electrospinning
- FDA, food and drug administration
- GF, gauge factor
- GO, graphene oxide
- HAVIC, human aortic valve interstitial cell
- HAp, hydroxyapatite
- MSC, mesenchymal stem cell
- MSC-SC, MSC derived Schwann cell-like cell
- MWCNT, multiwalled carbon nanotube
- MY, microfiber yarn
- MeGel, methacrylated gelatin
- NGC, nerve guidance conduit
- NHMR, neutral hollow metal rod
- NMD, neutral metal disc
- NY, nanofiber yarn
- Nanoyarns
- PA6, polyamide 6
- PA66, polyamide 66
- PAN, polyacrylonitrile
- PANi, polyaniline
- PCL, polycaprolactone
- PEO, polyethylene oxide
- PGA, polyglycolide
- PHBV, poly(3-hydroxybutyrate-co-3-hydroxyvalerate)
- PLCL, poly(L-lactide-co-ε-caprolactone)
- PLGA, poly(lactic-co-glycolic acid)
- PLLA, poly(L-lactic acid)
- PMIA, poly(m-phenylene isophthalamide)
- PPDO, polydioxanone
- PPy, polypyrrole
- PSA, poly(sulfone amide)
- PU, polyurethane
- PVA, poly(vinyl alcohol)
- PVAc, poly(vinyl acetate)
- PVDF, poly(vinylidene difluoride)
- PVDF-HFP, poly(vinylidene floride-co-hexafluoropropylene)
- PVDF-TrFE, poly(vinylidene fluoride trifluoroethylene)
- PVP, poly(vinyl pyrrolidone)
- SARS-CoV-2, severe acute respiratory syndrome coronavirus 2
- SC, Schwann cell
- SF, silk fibroin
- SWCNT, single-walled carbon nanotube
- TGF-β1, transforming growth factor-β1
- Textile-forming technique
- Tissue scaffolds
- VEGF, vascular endothelial growth factor
- Wearable bioelectronics
- bFGF, basic fibroblast growth factor
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Affiliation(s)
- Shaohua Wu
- College of Textiles & Clothing, Qingdao University, Qingdao, China
| | - Ting Dong
- College of Textiles & Clothing, Qingdao University, Qingdao, China
| | - Yiran Li
- College of Textiles & Clothing, Qingdao University, Qingdao, China
| | - Mingchao Sun
- College of Textiles & Clothing, Qingdao University, Qingdao, China
| | - Ye Qi
- College of Textiles & Clothing, Qingdao University, Qingdao, China
| | - Jiao Liu
- College of Textiles & Clothing, Qingdao University, Qingdao, China
| | - Mitchell A Kuss
- Mary & Dick Holland Regenerative Medicine Program and Division of Cardiology, Department of Internal Medicine, University of Nebraska Medical Center, Omaha, NE, USA
- Department of Surgery, College of Medicine, University of Nebraska Medical Center, Omaha, NE, USA
| | - Shaojuan Chen
- College of Textiles & Clothing, Qingdao University, Qingdao, China
| | - Bin Duan
- Mary & Dick Holland Regenerative Medicine Program and Division of Cardiology, Department of Internal Medicine, University of Nebraska Medical Center, Omaha, NE, USA
- Department of Surgery, College of Medicine, University of Nebraska Medical Center, Omaha, NE, USA
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Kim W, Seo B, Yu SY, Cho KJ. Deployable Soft Pneumatic Networks (D-PneuNets) Actuator With Dual-Morphing Origami Chambers for High-Compactness. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2021.3137504] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Specifying Inputs for the Computational Structure of a Surgical System via Optical Method and DLT Algorithm Based on In Vitro Experiments on Cardiovascular Tissue in Minimally Invasive and Robotic Surgery. SENSORS 2022; 22:s22062335. [PMID: 35336506 PMCID: PMC8955807 DOI: 10.3390/s22062335] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/26/2021] [Revised: 03/10/2022] [Accepted: 03/15/2022] [Indexed: 12/04/2022]
Abstract
With the application of four optical CMOS sensors, it was possible to capture the trajectory of an endoscopic tool during an in vitro surgical experiment on a cardiovascular preparation. This was due to the possibility of obtaining a path when a reflective marker was attached. In the work, APAS (Ariel Performance Analysis System) software and DLT (direct linear transformation) algorithm were used. This made it possible to acquire kinematic inputs to the computational model of dynamics, which enabled, regardless of the type of surgical robot structure, derivation of the analogous motion of an endoscopic effector due to the mathematical transformation of the trajectory to joints coordinates. Experiments were carried out with the participation of a practiced cardiac surgeon employing classic endoscopic instruments and robot surgical systems. The results indicated by the experiment showed that the inverse task of kinematics of position for the surgical robot with RCM (remote center of motion) structure was solved. The achieved results from the experiment were used as inputs for deriving a numerical dynamics model of surgical robot during transient states that was obtained by applying the finite element method and by driving dynamics moments acquired through the block diagrams method using a steering system with DC (direct current) motor and PID (proportional–integral–derivative) controller. The results section illustrates the course of kinematic values of endoscopic tools which were employed to apply numerical models as inputs, the course of the driving torque of the model of the surgical robot that enabled the selection of the drive system and the strength values, stresses and displacements according to von Mises hypothesis in its structure during the analysis of transient states that made it possible to establish the strength safety of the surgical robot. For the conducted experiments, the accuracy was ±2 [mm]. In the paper, the employment of optical CMOS sensors in surgical robotics and endoscopy is discussed. The paper concludes that the usage of optical sensors for determining inputs for numerical models of dynamics of surgical robots provides the basis for setting the course of physical quantities that appear in their real object structure, in manners close to reality.
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Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications. ACTUATORS 2021. [DOI: 10.3390/act10110299] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
We present an inflatable soft robotic arm made of fabric that leverages state-of-the-art manufacturing techniques, leading to a robust and reliable manipulator. Three bellow-type actuators are used to control two rotational degrees of freedom, as well as the joint stiffness that is coupled to a longitudinal elongation of the movable link used to grasp objects. The design is motivated by a safety analysis based on first principles. It shows that the interaction forces during an unexpected collision are primarily caused by the attached payload mass, but can be reduced by a lightweight design of the robot arm. A control allocation strategy is employed that simplifies the modeling and control of the robot arm and we show that a particular property of the allocation strategy ensures equal usage of the actuators and valves. The modeling and control approach systematically incorporates the effect of changing joint stiffness and the presence of a payload mass. An investigation of the valve flow capacity reveals that a proper timescale separation between the pressure and arm dynamics is only given for sufficient flow capacity. Otherwise, the applied cascaded control approach can introduce oscillatory behavior, degrading the overall control performance. A closed form feed forward strategy is derived that compensates errors induced by the longitudinal elongation of the movable link and allows the realization of different object manipulation applications. In one of the applications, the robot arm hands an object over to a human, emphasizing the safety aspect of the soft robotic system. Thereby, the intrinsic compliance of the robot arm is leveraged to detect the time when the robot should release the object.
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Textiles in soft robots: Current progress and future trends. Biosens Bioelectron 2021; 196:113690. [PMID: 34653713 DOI: 10.1016/j.bios.2021.113690] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2021] [Revised: 09/29/2021] [Accepted: 10/03/2021] [Indexed: 12/19/2022]
Abstract
Soft robotics have substantial benefits of safety, adaptability, and cost efficiency compared to conventional rigid robotics. Textiles have applications in soft robotics either as an auxiliary material to reinforce the conventional soft material or as an active soft material. Textiles of various types and configurations have been fabricated into key components of soft robotics in adaptable formats. Despite significant advancements, the efficiency and characteristics of textile actuators in practical applications remain unsatisfactory. To address these issues, novel structural and material designs as well as new textile technologies have been introduced. Herein, we aim at giving an insight into the current state of the art in textile technology for soft robotic manufacturing. We firstly discuss the fundamental actuation mechanisms for soft robotics. We then provide a critical review on the recently developed functional textiles as reinforcements, sensors, and actuators in soft robotics. Finally, the future trends and current strategies that can be employed in textile-based actuator manufacturing process have been explored to address the critical challenges in soft robotics.
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Mendoza MJ, Gollob SD, Lavado D, Koo BHB, Cruz S, Roche ET, Vela EA. A Vacuum-Powered Artificial Muscle Designed for Infant Rehabilitation. MICROMACHINES 2021; 12:971. [PMID: 34442593 PMCID: PMC8400328 DOI: 10.3390/mi12080971] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/19/2021] [Revised: 07/26/2021] [Accepted: 08/09/2021] [Indexed: 11/17/2022]
Abstract
The majority of soft pneumatic actuators for rehabilitation exercises have been designed for adult users. Specifically, there is a paucity of soft rehabilitative devices designed for infants with upper and lower limb motor disabilities. We present a low-profile vacuum-powered artificial muscle (LP-VPAM) with dimensions suitable for infants. The actuator produced a maximum force of 26 N at vacuum pressures of -40 kPa. When implemented in an experimental model of an infant leg in an antagonistic-agonist configuration to measure resultant knee flexion, the actuator generated knee flexion angles of 43° and 61° in the prone and side-lying position, respectively.
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Affiliation(s)
- Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
| | - Samuel Dutra Gollob
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
| | - Diego Lavado
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
| | - Bon Ho Brandon Koo
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
| | - Segundo Cruz
- Instituto Nacional de Salud del Niño de San Borja, Lima 15037, Peru;
| | - Ellen T. Roche
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
- Institute for Medical Engineering and Science, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
- Research Centre in Bioengineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru
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Paez-Granados D, Yamamoto T, Kadone H, Suzuki K. Passive Flow Control for Series Inflatable Actuators: Application on a Wearable Soft-Robot for Posture Assistance. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3070297] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/28/2023]
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Gollob SD, Park C, Koo BHB, Roche ET. A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators. Front Robot AI 2021; 8:606938. [PMID: 33763454 PMCID: PMC7983108 DOI: 10.3389/frobt.2021.606938] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/16/2020] [Accepted: 01/15/2021] [Indexed: 11/18/2022] Open
Abstract
In this paper, we present a generalized modeling tool for predicting the output force profile of vacuum-powered soft actuators using a simplified geometrical approach and the principle of virtual work. Previous work has derived analytical formulas to model the force-contraction profile of specific actuators. To enhance the versatility and the efficiency of the modelling process we propose a generalized numerical algorithm based purely on geometrical inputs, which can be tailored to the desired actuator, to estimate its force-contraction profile quickly and for any combination of varying geometrical parameters. We identify a class of linearly contracting vacuum actuators that consists of a polymeric skin guided by a rigid skeleton and apply our model to two such actuators-vacuum bellows and Fluid-driven Origami-inspired Artificial Muscles-to demonstrate the versatility of our model. We perform experiments to validate that our model can predict the force profile of the actuators using its geometric principles, modularly combined with design-specific external adjustment factors. Our framework can be used as a versatile design tool that allows users to perform parametric studies and rapidly and efficiently tune actuator dimensions to produce a force-contraction profile to meet their needs, and as a pre-screening tool to obviate the need for multiple rounds of time-intensive actuator fabrication and testing.
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Affiliation(s)
- Samuel Dutra Gollob
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Clara Park
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Bon Ho Brandon Koo
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Ellen T Roche
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States.,Institute for Medical Engineering and Science, Massachusetts Institute of Technology, Cambridge, MA, United States
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Wang Y, Xu Q. Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation. Sci Rep 2021; 11:1273. [PMID: 33446771 PMCID: PMC7809151 DOI: 10.1038/s41598-020-80411-0] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/09/2020] [Accepted: 12/21/2020] [Indexed: 01/01/2023] Open
Abstract
Wrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper presents the design and implementation of a soft parallel robot for automated wrist rehabilitation. The presented wrist rehabilitation robot integrates the advantages of both soft robot and parallel robot structures. Unlike traditional rigid-body based rehabilitation robots, this soft parallel robot exhibits a compact structure, which is highly secure, adaptable, and flexible and thus a low-cost solution for personalized treatment. The proposed soft wrist-rehabilitation robot is driven by six evenly distributed linear actuators using pneumatic artificial muscles and one central linear electric motor. The introduced parallel-kinematic mechanism design enables the enhancement of the output stiffness of the soft robot for practical use. An electromyography sensor is adopted to provide feedback signals for evaluating the rehabilitation training process. A kinematic model of the designed robot is derived, and a prototype is fabricated for experimental testing. The results demonstrate that the developed soft rehabilitation robot can assist the wrist to realize all the required training motions, including abduction-adduction, flexion-extension, and supination-pronation. The compact and lightweight structure of this novel robot makes it convenient to use, and suitable rehabilitation training modes can be chosen for tailored rehabilitation at home or in a hospital.
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Affiliation(s)
- Yaxi Wang
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China.
- Zhuhai UM Science & Technology Research Institute, Zhuhai, Guangdong, China.
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