1
|
Moran AM, Vo VT, McDonald KJ, Sultania P, Langenbrunner E, Chong JHV, Naik A, Kinnicutt L, Li J, Ranzani T. An electropermanent magnet valve for the onboard control of multi-degree of freedom pneumatic soft robots. COMMUNICATIONS ENGINEERING 2024; 3:117. [PMID: 39179768 PMCID: PMC11344064 DOI: 10.1038/s44172-024-00251-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/17/2023] [Accepted: 07/18/2024] [Indexed: 08/26/2024]
Abstract
To achieve coordinated functions, fluidic soft robots typically rely on multiple input lines for the independent inflation and deflation of each actuator. Fluidic actuators are controlled by rigid electronic pneumatic valves, restricting the mobility and compliance of the soft robot. Recent developments in soft valve designs have shown the potential to achieve a more integrated robotic system, but are limited by high energy consumption and slow response time. In this work, we present an electropermanent magnet (EPM) valve for electronic control of pneumatic soft actuators that is activated through microsecond electronic pulses. The valve incorporates a thin channel made from thermoplastic films. The proposed valve (3 × 3 × 0.8 cm, 2.9 g) can block pressure up to 146 kPa and negative pressures up to -100 kPa with a response time of less than 1 s. Using the EPM valves, we demonstrate the ability to switch between multiple operation sequences in real time through the control of a six-DoF robot capable of grasping and hopping with a single pressure input. Our proposed onboard control strategy simplifies the operation of multi-pressure systems, enabling the development of dynamically programmable soft fluid-driven robots that are versatile in responding to different tasks.
Collapse
Affiliation(s)
- Anna Maria Moran
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Vi T Vo
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Kevin J McDonald
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Pranav Sultania
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Eva Langenbrunner
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | | | - Amartya Naik
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Lorenzo Kinnicutt
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Jingshuo Li
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Tommaso Ranzani
- Department of Mechanical Engineering, Boston University, Boston, MA, USA.
- Department of Biomedical Engineering, Boston University, Boston, MA, USA.
- Materials Science and Engineering Division, Boston University, Boston, MA, USA.
| |
Collapse
|
2
|
Nguyen CC, Hoang TT, Davies J, Phan PT, Thai MT, Nicotra E, Abed AA, Tran HA, Truong TA, Sharma B, Ji A, Zhu K, Wang CH, Phan HP, Lovell NH, Do TN. Soft Fibrous Syringe Architecture for Electricity-Free and Motorless Control of Flexible Robotic Systems. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2405610. [PMID: 39159303 DOI: 10.1002/advs.202405610] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/22/2024] [Revised: 08/05/2024] [Indexed: 08/21/2024]
Abstract
Flexible robotic systems (FRSs) and wearable user interfaces (WUIs) have been widely used in medical fields, offering lower infection risk and shorter recovery, and supporting amiable human-machine interactions (HMIs). Recently, soft electric, thermal, magnetic, and fluidic actuators with enhanced safety and compliance have innovatively boosted the use of FRSs and WUIs across many sectors. Among them, soft hydraulic actuators offer great speed, low noise, and high force density. However, they currently require bulky electric motors/pumps, pistons, valves, rigid accessories, and complex controllers, which inherently result in high cost, low adaptation, and complex setups. This paper introduces a novel soft fibrous syringe architecture (SFSA) consisting of two or more hydraulically connected soft artificial muscles that enable electricity-free actuation, motorless control, and built-in sensing ability for use in FRSs and WUIs. Its capabilities are experimentally demonstrated with various robotic applications including teleoperated flexible catheters, cable-driven continuum robotic arms, and WUIs. In addition, its sensing abilities to detect passive and active touch, surface texture, and object stiffness are also proven. These excellent results demonstrate a high feasibility of using a current-free and motor-less control approach for the FRSs and WUIs, enabling new methods of sensing and actuation across the robotic field.
Collapse
Affiliation(s)
- Chi Cong Nguyen
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Trung Thien Hoang
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - James Davies
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Phuoc Thien Phan
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Mai Thanh Thai
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
- College of Engineering and Computer Science, VinUniversity, Hanoi, 100000, Vietnam
| | - Emanuele Nicotra
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Amr Al Abed
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Hien A Tran
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Thanh An Truong
- School of Mechanical and Manufacturing Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Bibhu Sharma
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Adrienne Ji
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Kefan Zhu
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Chun Hui Wang
- School of Mechanical and Manufacturing Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Hoang-Phuong Phan
- School of Mechanical and Manufacturing Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Nigel Hamilton Lovell
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| | - Thanh Nho Do
- Graduate School of Biomedical Engineering, Faculty of Engineering and Tyree Institute of Health Engineering (IHealthE), UNSW Sydney, Kensington Campus, Sydney, NSW, 2052, Australia
| |
Collapse
|
3
|
Wang S, Zhang P, He L, Maiolino P. Toward Onboard Proportional Control of Multi-Chamber Soft Pneumatic Robots: A Magnetorheological Elastomer Valve Array. Soft Robot 2024; 11:617-627. [PMID: 39178399 DOI: 10.1089/soro.2023.0049] [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: 08/25/2024] Open
Abstract
Soft pneumatic actuators (SPAs) are commonly used in various applications because of their structural compliance, low cost, ease of manufacture, high adaptability, and safe human-robot interaction. The traditional approach for achieving proportional control of soft pneumatic robots requires the use of industrial proportional valves or syringe drivers, which are not only rigid and bulky but also hard to be integrated into the body of soft robots. In our previous research, we developed a Magnetorheological elastomer (MRE)-based soft valve that showed advantages for controlling SPAs due to its compliance, compactness, robustness, and compatibility for continuous pressure modulation. Modern soft robots with multiple chambers require more MRE valves onboard for their control. However, merely packing more MRE valves for soft robots can cause problems like magnetic interference, flow rate deviation, and overheating. Therefore, in this study, we proposed a two-dimensional MRE valve array design to solve issues of magnetic interference and overheating when expanding from a single MRE proportional valve into an integrated array. The magnetic interference and the overheating problem were investigated through multiphysics simulation, bringing the optimal choice of valve spacing (1.2 times the single valve diameter), magnetic coil pole arrangement (same pole), and the cooling system design (internal cooling chamber with flowing water). Physical experiments showed that our MRE valve array maintained its original flowrate performance with low magnetic interference (0.89 mT) and low coil temperature (under 73.9°C for 5 min).
Collapse
Affiliation(s)
- Sihan Wang
- Department of Engineering Science, University of Oxford, Oxford, United Kingdom
| | - Peizhi Zhang
- Department of Modern Mechanical Engineering, Graduate Program for Embodiment Informatics for Leading Graduate Schools, Waseda University, Shinjuku, Japan
| | - Liang He
- Department of Engineering Science, University of Oxford, Oxford, United Kingdom
| | - Perla Maiolino
- Department of Engineering Science, University of Oxford, Oxford, United Kingdom
- Department of Mechanics and Machine Design, University of Genova, Genova, Italy
| |
Collapse
|
4
|
Luo Y, Patel DK, Li Z, Hu Y, Luo H, Yao L, Majidi C. Intrinsically Multistable Soft Actuator Driven by Mixed-Mode Snap-Through Instabilities. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307391. [PMID: 38447200 PMCID: PMC11095224 DOI: 10.1002/advs.202307391] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/04/2023] [Revised: 12/07/2023] [Indexed: 03/08/2024]
Abstract
Actuators utilizing snap-through instabilities are widely investigated for high-performance fast actuators and shape reconfigurable structures owing to their rapid response and limited reliance on continuous energy input. However, prevailing approaches typically involve a combination of multiple bistable actuator units and achieving multistability within a single actuator unit still remains an open challenge. Here, a soft actuator is presented that uses shape memory alloy (SMA) and mixed-mode elastic instabilities to achieve intrinsically multistable shape reconfiguration. The multistable actuator unit consists of six stable states, including two pure bending states and four bend-twist states. The actuator is composed of a pre-stretched elastic membrane placed between two elastomeric frames embedded with SMA coils. By controlling the sequence and duration of SMA activation, the actuator is capable of rapid transition between all six stable states within hundreds of milliseconds. Principles of energy minimization are used to identify actuation sequences for various types of stable state transitions. Bending and twisting angles corresponding to various prestretch ratios are recorded based on parameterizations of the actuator's geometry. To demonstrate its application in practical conditions, the multistable actuator is used to perform visual inspection in a confined space, light source tracking during photovoltaic energy harvesting, and agile crawling.
Collapse
Affiliation(s)
- Yichi Luo
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Dinesh K. Patel
- Human‐Computer Interaction Institute, School of Computer ScienceCarnegie Mellon UniversityPittsburghPA15213USA
| | - Zefang Li
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Yafeng Hu
- Department of Materials Science and EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Hao Luo
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Lining Yao
- Human‐Computer Interaction Institute, School of Computer ScienceCarnegie Mellon UniversityPittsburghPA15213USA
| | - Carmel Majidi
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
- Department of Materials Science and EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| |
Collapse
|
5
|
Martínez-Calvo A, Biviano MD, Christensen AH, Katifori E, Jensen KH, Ruiz-García M. The fluidic memristor as a collective phenomenon in elastohydrodynamic networks. Nat Commun 2024; 15:3121. [PMID: 38600060 PMCID: PMC11006656 DOI: 10.1038/s41467-024-47110-0] [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: 05/25/2023] [Accepted: 03/19/2024] [Indexed: 04/12/2024] Open
Abstract
Fluid flow networks are ubiquitous and can be found in a broad range of contexts, from human-made systems such as water supply networks to living systems like animal and plant vasculature. In many cases, the elements forming these networks exhibit a highly non-linear pressure-flow relationship. Although we understand how these elements work individually, their collective behavior remains poorly understood. In this work, we combine experiments, theory, and numerical simulations to understand the main mechanisms underlying the collective behavior of soft flow networks with elements that exhibit negative differential resistance. Strikingly, our theoretical analysis and experiments reveal that a minimal network of nonlinear resistors, which we have termed a 'fluidic memristor', displays history-dependent resistance. This new class of element can be understood as a collection of hysteresis loops that allows this fluidic system to store information, and it can be directly used as a tunable resistor in fluidic setups. Our results provide insights that can inform other applications of fluid flow networks in soft materials science, biomedical settings, and soft robotics, and may also motivate new understanding of the flow networks involved in animal and plant physiology.
Collapse
Affiliation(s)
- Alejandro Martínez-Calvo
- Princeton Center for Theoretical Science, Princeton University, Princeton, NJ, 08544, USA
- Department of Chemical and Biological Engineering, Princeton University, Princeton, NJ, USA
| | - Matthew D Biviano
- Department of Physics, Technical University of Denmark, DK 2800, Kgs. Lyngby, Denmark
| | | | - Eleni Katifori
- Department of Physics and Astronomy, University of Pennsylvania, Philadelphia, PA, 19104, USA
- Center for Computational Biology, Flatiron Institute, New York, NY, 10010, USA
| | - Kaare H Jensen
- Department of Physics, Technical University of Denmark, DK 2800, Kgs. Lyngby, Denmark
| | - Miguel Ruiz-García
- Departamento de Estructura de la Materia, Física Térmica y Electrónica, Universidad Complutense Madrid, 28040, Madrid, Spain.
- GISC - Grupo Interdisciplinar de Sistemas Complejos, Universidad Complutense Madrid, 28040, Madrid, Spain.
- Department of Mathematics, Universidad Carlos III de Madrid, 28911, Leganés, Spain.
| |
Collapse
|
6
|
Stanley AA, Roby ES, Keller SJ. High-speed fluidic processing circuits for dynamic control of haptic and robotic systems. SCIENCE ADVANCES 2024; 10:eadl3014. [PMID: 38569043 PMCID: PMC10990265 DOI: 10.1126/sciadv.adl3014] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/11/2023] [Accepted: 02/27/2024] [Indexed: 04/05/2024]
Abstract
Fluidic logic circuits simplify system design for soft robotics by eliminating bulky components while enabling operation in a range of hostile environments that are incompatible with electronics but at the expense of limited computational capabilities and response times on the order of seconds. This paper presents a four-terminal fluidic transistor optimized for fast switching times, reduced component count, low unit cost, and high reproducibility to achieve complex fluidic control circuits while maintaining flow rates of liters per minute. A ring oscillator using three fluidic transistors achieves oscillation frequencies up to a kilohertz with full signal propagation, tolerating billions of cycles without failure. Fundamental processor circuits like a full adder and a 3-bit analog-to-digital converter require just seven transistors each. A decode circuit drives a high-resolution soft haptic display with refresh times below the human perception threshold for latency, and an electronics-free control circuit performs closed-loop position control of a pneumatic actuator with disturbance rejection, demonstrating the value across domains.
Collapse
Affiliation(s)
| | - Erik S. Roby
- Meta Platforms Inc., Reality Labs Research, Redmond, WA, USA
| | - Sean J. Keller
- Meta Platforms Inc., Reality Labs Research, Redmond, WA, USA
| |
Collapse
|
7
|
Zou S, Picella S, de Vries J, Kortman VG, Sakes A, Overvelde JTB. A retrofit sensing strategy for soft fluidic robots. Nat Commun 2024; 15:539. [PMID: 38225274 PMCID: PMC10789869 DOI: 10.1038/s41467-023-44517-z] [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: 05/23/2023] [Accepted: 12/15/2023] [Indexed: 01/17/2024] Open
Abstract
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces. However, sensory feedback is still required for higher level decisions. Most sensing technologies integrate separate sensing elements in soft actuators, which presents a considerable challenge for both the fabrication and robustness of soft robots. Here we present a versatile sensing strategy that can be retrofitted to existing soft fluidic devices without the need for design changes. We achieve this by measuring the fluidic input that is required to activate a soft actuator during interaction with the environment, and relating this input to its deformed state. We demonstrate the versatility of our strategy by tactile sensing of the size, shape, surface roughness and stiffness of objects. We furthermore retrofit sensing to a range of existing pneumatic soft actuators and grippers. Finally, we show the robustness of our fluidic sensing strategy in closed-loop control of a soft gripper for sorting, fruit picking and ripeness detection. We conclude that as long as the interaction of the actuator with the environment results in a shape change of the interval volume, soft fluidic actuators require no embedded sensors and design modifications to implement useful sensing.
Collapse
Affiliation(s)
- Shibo Zou
- Autonomous Matter Department, AMOLF, Amsterdam, 1098 XG, The Netherlands
| | - Sergio Picella
- Autonomous Matter Department, AMOLF, Amsterdam, 1098 XG, The Netherlands
- Institute for Complex Molecular Systems and Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, 5600 MB, The Netherlands
| | - Jelle de Vries
- Autonomous Matter Department, AMOLF, Amsterdam, 1098 XG, The Netherlands
| | - Vera G Kortman
- Department of Marine and Transport Technology, Delft University of Technology, Delft, 2628 CD, The Netherlands
- Bio-Inspired Technology Group, Department of BioMechanical Engineering, Delft University of Technology, Delft, 2628 CD, The Netherlands
| | - Aimée Sakes
- Bio-Inspired Technology Group, Department of BioMechanical Engineering, Delft University of Technology, Delft, 2628 CD, The Netherlands
| | - Johannes T B Overvelde
- Autonomous Matter Department, AMOLF, Amsterdam, 1098 XG, The Netherlands.
- Institute for Complex Molecular Systems and Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, 5600 MB, The Netherlands.
| |
Collapse
|
8
|
Jiao Z, Hu Z, Shi Y, Xu K, Lin F, Zhu P, Tang W, Zhong Y, Yang H, Zou J. Reprogrammable, intelligent soft origami LEGO coupling actuation, computation, and sensing. Innovation (N Y) 2024; 5:100549. [PMID: 38192379 PMCID: PMC10772819 DOI: 10.1016/j.xinn.2023.100549] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/11/2023] [Accepted: 11/28/2023] [Indexed: 01/10/2024] Open
Abstract
Tightly integrating actuation, computation, and sensing in soft materials allows soft robots to respond autonomously to their environments. However, fusing these capabilities within a single soft module in an efficient, programmable, and compatible way is still a significant challenge. Here, we introduce a strategy for integrating actuation, computation, and sensing capabilities in soft origami. Unified and plug-and-play soft origami modules can be reconfigured into diverse morphologies with specific functions or reprogrammed into a variety of soft logic circuits, similar to LEGO bricks. We built an untethered autonomous soft turtle that is able to sense stimuli, store data, process information, and perform swimming movements. The function multiplexing and signal compatibility of the origami minimize the number of soft devices, thereby reducing the complexity and redundancy of soft robots. Moreover, this origami also exhibits strong damage resistance and high durability. We envision that this work will offer an effective way to readily create on-demand soft robots that can operate in unknown environments.
Collapse
Affiliation(s)
- Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Zhenhan Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Yuhao Shi
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Kaichen Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Fangye Lin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Pingan Zhu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| |
Collapse
|
9
|
Kim TY, Hong SH, Jeong SH, Bae H, Cheong S, Choi H, Hahn SK. Multifunctional Intelligent Wearable Devices Using Logical Circuits of Monolithic Gold Nanowires. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2303401. [PMID: 37499253 DOI: 10.1002/adma.202303401] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/12/2023] [Revised: 07/25/2023] [Indexed: 07/29/2023]
Abstract
Although multifunctional wearable devices have been widely investigated for healthcare systems, augmented/virtual realities, and telemedicines, there are few reports on multiple signal monitoring and logical signal processing by using one single nanomaterial without additional algorithms or rigid application-specific integrated circuit chips. Here, multifunctional intelligent wearable devices are developed using monolithically patterned gold nanowires for both signal monitoring and processing. Gold bulk and hollow nanowires show distinctive electrical properties with high chemical stability and high stretchability. In accordance, the monolithically patterned gold nanowires can be used to fabricate the robust interfaces, programmable sensors, on-demand heating systems, and strain-gated logical circuits. The stretchable sensors show high sensitivity for strain and temperature changes on the skin. Furthermore, the micro-wrinkle structures of gold nanowires exhibit the negative gauge factor, which can be used for strain-gated logical circuits. Taken together, this multifunctional intelligent wearable device would be harnessed as a promising platform for futuristic electronic and biomedical applications.
Collapse
Affiliation(s)
- Tae Yeon Kim
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| | - Sang Hoon Hong
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| | - Sang Hoon Jeong
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| | - Hanseo Bae
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| | - Sunah Cheong
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| | - Hyunsik Choi
- Institute for Bioengineering of Catalonia (IBEC), The Barcelona Institute of Science and Technology (BIST), Baldiri i Reixac 10-12, Barcelona, 08028, Spain
| | - Sei Kwang Hahn
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| |
Collapse
|
10
|
Choe JK, Kim J, Song H, Bae J, Kim J. A soft, self-sensing tensile valve for perceptive soft robots. Nat Commun 2023; 14:3942. [PMID: 37402707 PMCID: PMC10319868 DOI: 10.1038/s41467-023-39691-z] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/13/2022] [Accepted: 06/26/2023] [Indexed: 07/06/2023] Open
Abstract
Soft inflatable robots are a promising paradigm for applications that benefit from their inherent safety and adaptability. However, for perception, complex connections of rigid electronics both in hardware and software remain the mainstay. Although recent efforts have created soft analogs of individual rigid components, the integration of sensing and control systems is challenging to achieve without compromising the complete softness, form factor, or capabilities. Here, we report a soft self-sensing tensile valve that integrates the functional capabilities of sensors and control valves to directly transform applied tensile strain into distinctive steady-state output pressure states using only a single, constant pressure source. By harnessing a unique mechanism, "helical pinching", we derive physical sharing of both sensing and control valve structures, achieving all-in-one integration in a compact form factor. We demonstrate programmability and applicability of our platform, illustrating a pathway towards fully soft, electronics-free, untethered, and autonomous robotic systems.
Collapse
Affiliation(s)
- Jun Kyu Choe
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Junsoo Kim
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hyeonseo Song
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Joonbum Bae
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea.
| | - Jiyun Kim
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea.
- Center for Multidimensional Programmable Matter, Ulsan National Institute of Science and Technology, Ulsan, 44919, South Korea.
| |
Collapse
|
11
|
Tauber F, Desmulliez M, Piccin O, Stokes AA. Perspective for soft robotics: the field's past and future. BIOINSPIRATION & BIOMIMETICS 2023; 18:035001. [PMID: 36764003 DOI: 10.1088/1748-3190/acbb48] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/12/2022] [Accepted: 02/10/2023] [Indexed: 06/18/2023]
Abstract
Since its beginnings in the 1960s, soft robotics has been a steadily growing field that has enjoyed recent growth with the advent of rapid prototyping and the provision of new flexible materials. These two innovations have enabled the development of fully flexible and untethered soft robotic systems. The integration of novel sensors enabled by new manufacturing processes and materials shows promise for enabling the production of soft systems with 'embodied intelligence'. Here, four experts present their perspectives for the future of the field of soft robotics based on these past innovations. Their focus is on finding answers to the questions of: how to manufacture soft robots, and on how soft robots can sense, move, and think. We highlight industrial production techniques, which are unused to date for manufacturing soft robots. They discuss how novel tactile sensors for soft robots could be created to enable better interaction of the soft robot with the environment. In conclusion this article highlights how embodied intelligence in soft robots could be used to make soft robots think and to make systems that can compute, autonomously, from sensory inputs.
Collapse
Affiliation(s)
- Falk Tauber
- Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
| | - Marc Desmulliez
- Research Institute of Sensors, Signals and Systems (ISSS), School of Engineering & Physical Sciences, Heriot-Watt University, Edinburgh, United Kingdom
| | - Olivier Piccin
- ICube-INSA Strasbourg, University of Strasbourg, Strasbourg, France
| | - Adam A Stokes
- School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
| |
Collapse
|
12
|
Tauber FJ, Slesarenko V. Early career scientists converse on the future of soft robotics. Front Robot AI 2023; 10:1129827. [PMID: 36909362 PMCID: PMC9994530 DOI: 10.3389/frobt.2023.1129827] [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: 12/22/2022] [Accepted: 02/09/2023] [Indexed: 02/24/2023] Open
Abstract
During the recent decade, we have witnessed an extraordinary flourishing of soft robotics. Rekindled interest in soft robots is partially associated with the advances in manufacturing techniques that enable the fabrication of sophisticated multi-material robotic bodies with dimensions ranging across multiple length scales. In recent manuscripts, a reader might find peculiar-looking soft robots capable of grasping, walking, or swimming. However, the growth in publication numbers does not always reflect the real progress in the field since many manuscripts employ very similar ideas and just tweak soft body geometries. Therefore, we unreservedly agree with the sentiment that future research must move beyond "soft for soft's sake." Soft robotics is an undoubtedly fascinating field, but it requires a critical assessment of the limitations and challenges, enabling us to spotlight the areas and directions where soft robots will have the best leverage over their traditional counterparts. In this perspective paper, we discuss the current state of robotic research related to such important aspects as energy autonomy, electronic-free logic, and sustainability. The goal is to critically look at perspectives of soft robotics from two opposite points of view provided by early career researchers and highlight the most promising future direction, that is, in our opinion, the employment of soft robotic technologies for soft bio-inspired artificial organs.
Collapse
Affiliation(s)
- Falk J. Tauber
- Cluster of Excellence livMatS, FIT—Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany
- Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Freiburg im Breisgau, Germany
| | - Viacheslav Slesarenko
- Cluster of Excellence livMatS, FIT—Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany
| |
Collapse
|
13
|
Exploring tasty fluidics for designing food as computational artifact. Int J Gastron Food Sci 2022. [DOI: 10.1016/j.ijgfs.2022.100630] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 11/27/2022]
|