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Tirado J, Do CD, Moisson de Vaux J, Jørgensen J, Rafsanjani A. Earthworm-Inspired Soft Skin Crawling Robot. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2400012. [PMID: 38622890 PMCID: PMC11187925 DOI: 10.1002/advs.202400012] [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: 01/03/2024] [Revised: 03/09/2024] [Indexed: 04/17/2024]
Abstract
Earthworms are fascinating animals capable of crawling and burrowing through various terrains using peristaltic motion and the directional friction response of their epidermis. Anisotropic anchoring governed by tiny appendages on their skin called setae is known to enhance the earthworm's locomotion. A multi-material fabrication technique is employed to produce soft skins with bristles inspired by the earthworm epidermis and their setae. The effect of bristles arranged in triangular and square grids at two spatial densities on the locomotion capability of a simple soft crawling robot comprised of an extending soft actuator covered by the soft skin is investigated experimentally. The results suggest that the presence of bristles results in a rostral to caudal friction ratio of µR/µC > 1 with some variations across bristle arrangements and applied elongations. Doubling the number of bristles increases the robot's speed by a factor of 1.78 for the triangular grid while it is less pronounced for the rectangular grid with a small factor of 1.06. Additionally, it is observed that increasing the actuation stroke for the skin with the high-density triangular grid, from 15% to 30%, elevates the speed from 0.5 to 0.9 mm s-1, but further increases in stroke to 45% may compromise the durability of the actuators with less gains in speed (1 mm s-1). Finally, it is demonstrated that a crawling robot equipped with soft skin can traverse both a linear and a curved channel.
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Affiliation(s)
- Jonathan Tirado
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
| | - Cao Danh Do
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
| | - Joséphine Moisson de Vaux
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
- Department of MechanicsÉcole Centrale de MarseilleMarseille13013France
| | - Jonas Jørgensen
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
| | - Ahmad Rafsanjani
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
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2
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Gershon S, Bar-On B, Sonnenreich S, Ayali A, Pinchasik BE. Asymmetry between the dorsal and ventral digging valves of the female locust: function and mechanics. BMC Biol 2024; 22:129. [PMID: 38822347 PMCID: PMC11143638 DOI: 10.1186/s12915-024-01930-0] [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: 01/02/2024] [Accepted: 05/23/2024] [Indexed: 06/02/2024] Open
Abstract
BACKGROUND The female locust is equipped with unique digging tools, namely two pairs of valves-a dorsal and a ventral-utilized for excavating an underground hole in which she lays her eggs. This apparatus ensures that the eggs are protected from potential predators and provides optimal conditions for successful hatching. The dorsal and the ventral valves are assigned distinct roles in the digging process. Specifically, the ventral valves primarily function as anchors during propagation, while the dorsal valves displace soil and shape the underground tunnel. RESULTS In this study, we investigated the noticeable asymmetry and distinct shapes of the valves, using a geometrical model and a finite element method. Our analysis revealed that although the two pairs of valves share morphological similarities, they exhibit different 3D characteristics in terms of absolute size and structure. We introduced a structural characteristic, the skew of the valve cross-section, to quantify the differences between the two pairs of valves. Our findings indicate that these structural variations do not significantly contribute to the valves' load-bearing capabilities under external forces. CONCLUSIONS The evolutionary development of the form of the female locust digging valves is more aligned with fitting their respective functions rather than solely responding to biomechanical support needs. By understanding the intricate features of these locust valves, and using our geometrical model, valuable insights can be obtained for creating more efficient and specialized tools for various digging applications.
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Affiliation(s)
- Shmuel Gershon
- School of Mechanical Engineering, Faculty of Engineering, Tel-Aviv University, Tel-Aviv, 6997801, Israel
| | - Benny Bar-On
- Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, 84105, Israel
| | - Shai Sonnenreich
- School of Mechanical Engineering, Faculty of Engineering, Tel-Aviv University, Tel-Aviv, 6997801, Israel
| | - Amir Ayali
- School of Zoology, Faculty of Life Sciences and Sagol School of Neuroscience, Tel-Aviv University, Tel-Aviv, 6997801, Israel
| | - Bat-El Pinchasik
- School of Mechanical Engineering, Faculty of Engineering, Tel-Aviv University, Tel-Aviv, 6997801, Israel.
- Center for Physics and Chemistry of Living Systems, Tel Aviv University, Tel Aviv, 69978, Israel.
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3
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Wang Y, Wang Y, Mushtaq RT, Wei Q. Advancements in Soft Robotics: A Comprehensive Review on Actuation Methods, Materials, and Applications. Polymers (Basel) 2024; 16:1087. [PMID: 38675005 PMCID: PMC11054840 DOI: 10.3390/polym16081087] [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: 02/19/2024] [Revised: 04/10/2024] [Accepted: 04/11/2024] [Indexed: 04/28/2024] Open
Abstract
The flexibility and adaptability of soft robots enable them to perform various tasks in changing environments, such as flower picking, fruit harvesting, in vivo targeted treatment, and information feedback. However, these fulfilled functions are discrepant, based on the varied working environments, driving methods, and materials. To further understand the working principle and research emphasis of soft robots, this paper summarized the current research status of soft robots from the aspects of actuating methods (e.g., humidity, temperature, PH, electricity, pressure, magnetic field, light, biological, and hybrid drive), materials (like hydrogels, shape-memory materials, and other flexible materials) and application areas (camouflage, medical devices, electrical equipment, and grippers, etc.). Finally, we provided some opinions on the technical difficulties and challenges of soft robots to comprehensively comprehend soft robots, lucubrate their applications, and improve the quality of our lives.
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Affiliation(s)
- Yanmei Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
| | - Yanen Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
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Bo Y, Wang H, Niu H, He X, Xue Q, Li Z, Yang H, Niu F. Advancements in materials, manufacturing, propulsion and localization: propelling soft robotics for medical applications. Front Bioeng Biotechnol 2024; 11:1327441. [PMID: 38260727 PMCID: PMC10800571 DOI: 10.3389/fbioe.2023.1327441] [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: 10/25/2023] [Accepted: 12/04/2023] [Indexed: 01/24/2024] Open
Abstract
Soft robotics is an emerging field showing immense potential for biomedical applications. This review summarizes recent advancements in soft robotics for in vitro and in vivo medical contexts. Their inherent flexibility, adaptability, and biocompatibility enable diverse capabilities from surgical assistance to minimally invasive diagnosis and therapy. Intelligent stimuli-responsive materials and bioinspired designs are enhancing functionality while improving biocompatibility. Additive manufacturing techniques facilitate rapid prototyping and customization. Untethered chemical, biological, and wireless propulsion methods are overcoming previous constraints to access new sites. Meanwhile, advances in tracking modalities like computed tomography, fluorescence and ultrasound imaging enable precision localization and control enable in vivo applications. While still maturing, soft robotics promises more intelligent, less invasive technologies to improve patient care. Continuing research into biocompatibility, power supplies, biomimetics, and seamless localization will help translate soft robots into widespread clinical practice.
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Affiliation(s)
- Yunwen Bo
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Haochen Wang
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Hui Niu
- Department of Pathology, Second Affiliated Hospital of Soochow University, Suzhou, China
| | - Xinyang He
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Quhao Xue
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Zexi Li
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Hao Yang
- Robotics and Microsystems Center, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, China
| | - Fuzhou Niu
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
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Wang M, Yuan J, Bao S, Du L, Ma S. Research on Self-Stiffness Adjustment of Growth-Controllable Continuum Robot (GCCR) Based on Elastic Force Transmission. Biomimetics (Basel) 2023; 8:433. [PMID: 37754184 PMCID: PMC10526793 DOI: 10.3390/biomimetics8050433] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/20/2023] [Revised: 09/14/2023] [Accepted: 09/15/2023] [Indexed: 09/28/2023] Open
Abstract
Continuum robots have good adaptability in unstructured and complex environments. However, affected by their inherent nature of flexibility and slender structure, there are challenges in high-precision motion and load. Thus, stiffness adjustment for continuum robots has consistently attracted the attention of researchers. In this paper, a stiffness adjustment mechanism (SAM) is proposed and built in a growth-controllable continuum robot (GCCR) to improve the motion accuracy in variable scale motion. The self-stiffness adjustment is realized by antagonism through cable force transmission during the length change of the continuum robot. With a simple structure, the mechanism has a scarce impact on the weight and mass distribution of the robot and required no independent actuators for stiffness adjustment. Following this, a static model considering gravity and end load is established. The presented theoretical static model is applicable to predict the shape deformations of robots under different loads. The experimental validations showed that the maximum error ratio is within 5.65%. The stiffness of the robot can be enhanced by nearly 79.6%.
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Affiliation(s)
- Mingyuan Wang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; (M.W.); (J.Y.)
- Shanghai Robotics Institute, Shanghai University, Shanghai 200444, China;
| | - Jianjun Yuan
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; (M.W.); (J.Y.)
- Shanghai Robotics Institute, Shanghai University, Shanghai 200444, China;
| | - Sheng Bao
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; (M.W.); (J.Y.)
- Shanghai Robotics Institute, Shanghai University, Shanghai 200444, China;
| | - Liang Du
- Shanghai Robotics Institute, Shanghai University, Shanghai 200444, China;
| | - Shugen Ma
- Department of Robotics, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu-Shi 525-8577, Japan;
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Hegde C, Su J, Tan JMR, He K, Chen X, Magdassi S. Sensing in Soft Robotics. ACS NANO 2023; 17:15277-15307. [PMID: 37530475 PMCID: PMC10448757 DOI: 10.1021/acsnano.3c04089] [Citation(s) in RCA: 20] [Impact Index Per Article: 20.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/08/2023] [Accepted: 07/26/2023] [Indexed: 08/03/2023]
Abstract
Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. Soft robots can handle delicate objects with care, access remote areas, and offer realistic feedback on their handling performance. However, increased dexterity and mechanical compliance of soft robots come with the need for accurate control of the position and shape of these robots. Therefore, soft robots must be equipped with sensors for better perception of their surroundings, location, force, temperature, shape, and other stimuli for effective usage. This review highlights recent progress in sensing feedback technologies for soft robotic applications. It begins with an introduction to actuation technologies and material selection in soft robotics, followed by an in-depth exploration of various types of sensors, their integration methods, and the benefits of multimodal sensing, signal processing, and control strategies. A short description of current market leaders in soft robotics is also included in the review to illustrate the growing demands of this technology. By examining the latest advancements in sensing feedback technologies for soft robots, this review aims to highlight the potential of soft robotics and inspire innovation in the field.
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Affiliation(s)
- Chidanand Hegde
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Jiangtao Su
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Joel Ming Rui Tan
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Ke He
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Xiaodong Chen
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Shlomo Magdassi
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
- Casali
Center for Applied Chemistry, Institute of Chemistry, The Hebrew University of Jerusalem, Jerusalem 91904, Israel
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7
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Schulz AK, Reidenberg JS, Ning Wu J, Ying Tang C, Seleb B, Mancebo J, Elgart N, Hu DL. Elephant trunks use an adaptable prehensile grip. BIOINSPIRATION & BIOMIMETICS 2023; 18:026008. [PMID: 36652720 DOI: 10.1088/1748-3190/acb477] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/06/2022] [Accepted: 01/18/2023] [Indexed: 06/17/2023]
Abstract
Elephants have long been observed to grip objects with their trunk, but little is known about how they adjust their strategy for different weights. In this study, we challenge a female African elephant at Zoo Atlanta to lift 20-60 kg barbell weights with only its trunk. We measure the trunk's shape and wrinkle geometry from a frozen elephant trunk at the Smithsonian. We observe several strategies employed to accommodate heavier weights, including accelerating less, orienting the trunk vertically, and wrapping the barbell with a greater trunk length. Mathematical models show that increasing barbell weights are associated with constant trunk tensile force and an increasing barbell-wrapping surface area due to the trunk's wrinkles. Our findings may inspire the design of more adaptable soft robotic grippers that can improve grip using surface morphology such as wrinkles.
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Affiliation(s)
- Andrew K Schulz
- Schools of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, United States of America
- Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Joy S Reidenberg
- Center for Anatomy and Functional Morphology, Icahn School of Medicine at Mount Sinai, New York, NY, United States of America
| | - Jia Ning Wu
- School of Additive Manufacturing, Sun Yat-Sen University, Shenzhen, People's Republic of China
| | - Cheuk Ying Tang
- Radiology, Neuroscience, & Psychiatry Translation and Molecular Imaging Institute, Icahn School of Medicine at Mount Sinai, New York, NY, United States of America
| | - Benjamin Seleb
- Biological Sciences, Georgia Institute of Technology, Atlanta, GA 30332, United States of America
| | - Josh Mancebo
- Zoo Atlanta, Atlanta, GA 30315, United States of America
| | - Nathan Elgart
- Zoo Atlanta, Atlanta, GA 30315, United States of America
| | - David L Hu
- Schools of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, United States of America
- Biological Sciences, Georgia Institute of Technology, Atlanta, GA 30332, United States of America
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8
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Rusu DM, Mândru SD, Biriș CM, Petrașcu OL, Morariu F, Ianosi-Andreeva-Dimitrova A. Soft Robotics: A Systematic Review and Bibliometric Analysis. MICROMACHINES 2023; 14:mi14020359. [PMID: 36838059 PMCID: PMC9961507 DOI: 10.3390/mi14020359] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/27/2022] [Revised: 01/14/2023] [Accepted: 01/23/2023] [Indexed: 05/14/2023]
Abstract
In recent years, soft robotics has developed considerably, especially since the year 2018 when it became a hot field among current research topics. The attention that this field receives from researchers and the public is marked by the substantial increase in both the quantity and the quality of scientific publications. In this review, in order to create a relevant and comprehensive picture of this field both quantitatively and qualitatively, the paper approaches two directions. The first direction is centered on a bibliometric analysis focused on the period 2008-2022 with the exact expression that best characterizes this field, which is "Soft Robotics", and the data were taken from a series of multidisciplinary databases and a specialized journal. The second direction focuses on the analysis of bibliographic references that were rigorously selected following a clear methodology based on a series of inclusion and exclusion criteria. After the selection of bibliographic sources, 111 papers were part of the final analysis, which have been analyzed in detail considering three different perspectives: one related to the design principle (biologically inspired soft robotics), one related to functionality (closed/open-loop control), and one from a biomedical applications perspective.
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Affiliation(s)
- Dan-Mihai Rusu
- Mechatronics and Machine Dynamics Department, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania
- Correspondence:
| | - Silviu-Dan Mândru
- Mechatronics and Machine Dynamics Department, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania
| | - Cristina-Maria Biriș
- Department of Industrial Machines and Equipment, Engineering Faculty, Lucian Blaga University of Sibiu, Victoriei 10, 550024 Sibiu, Romania
| | - Olivia-Laura Petrașcu
- Department of Industrial Machines and Equipment, Engineering Faculty, Lucian Blaga University of Sibiu, Victoriei 10, 550024 Sibiu, Romania
| | - Fineas Morariu
- Department of Industrial Machines and Equipment, Engineering Faculty, Lucian Blaga University of Sibiu, Victoriei 10, 550024 Sibiu, Romania
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9
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Das R, Babu SPM, Visentin F, Palagi S, Mazzolai B. An earthworm-like modular soft robot for locomotion in multi-terrain environments. Sci Rep 2023; 13:1571. [PMID: 36709355 PMCID: PMC9884293 DOI: 10.1038/s41598-023-28873-w] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/25/2022] [Accepted: 01/24/2023] [Indexed: 01/30/2023] Open
Abstract
Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments.
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Affiliation(s)
- Riddhi Das
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy. .,The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy.
| | - Saravana Prashanth Murali Babu
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy. .,Center for Soft Robotics, SDU Biorobotics, The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark.
| | - Francesco Visentin
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.,Department of Computer Science, Università degli Studi di Verona, Verona, Italy
| | - Stefano Palagi
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.,The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.
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Liu J, Li P, Zuo S. Actuation and design innovations in earthworm-inspired soft robots: A review. Front Bioeng Biotechnol 2023; 11:1088105. [PMID: 36896011 PMCID: PMC9989016 DOI: 10.3389/fbioe.2023.1088105] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/03/2022] [Accepted: 02/06/2023] [Indexed: 02/23/2023] Open
Abstract
Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot's segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.
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Affiliation(s)
- Jianbin Liu
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
| | - Pengcheng Li
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
| | - Siyang Zuo
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
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11
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Zhu S, Xie G, Cui H, Li Q, Forth J, Yuan S, Tian J, Pan Y, Guo W, Chai Y, Zhang Y, Yang Z, Yu RWH, Yu Y, Liu S, Chao Y, Shen Y, Zhao S, Russell TP, Shum HC. Aquabots. ACS NANO 2022; 16:13761-13770. [PMID: 35904791 DOI: 10.1021/acsnano.2c00619] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Soft robots, made from elastomers, easily bend and flex, but deformability constraints severely limit navigation through and within narrow, confined spaces. Using aqueous two-phase systems we print water-in-water constructs that, by aqueous phase-separation-induced self-assembly, produce ultrasoft liquid robots, termed aquabots, comprised of hierarchical structures that span in length scale from the nanoscopic to microsciopic, that are beyond the resolution limits of printing and overcome the deformability barrier. The exterior of the compartmentalized membranes is easily functionalized, for example, by binding enzymes, catalytic nanoparticles, and magnetic nanoparticles that impart sensitive magnetic responsiveness. These ultrasoft aquabots can adapt their shape for gripping and transporting objects and can be used for targeted photocatalysis, delivery, and release in confined and tortuous spaces. These biocompatible, multicompartmental, and multifunctional aquabots can be readily applied to medical micromanipulation, targeted cargo delivery, tissue engineering, and biomimetics.
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Affiliation(s)
- Shipei Zhu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Ganhua Xie
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- College of Chemistry and Chemical Engineering, Hunan University, Changsha 410082, P. R. China
| | - Huanqing Cui
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Qingchuan Li
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- School of Chemistry & Chemical Engineering, National Engineering Research Center for Colloidal Materials, Shandong University, Jinan 250100, P. R. China
| | - Joe Forth
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- Department of Chemistry, University College London, London WC1H 0AJ, United Kingdom
| | - Shuai Yuan
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Jingxuan Tian
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Yi Pan
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Wei Guo
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Yu Chai
- Department of Physics, The City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong 999077, P. R. China
| | - Yage Zhang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Zhenyu Yang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Ryan Wing Hei Yu
- Department of Engineering, University of Cambridge, Trumpington Street, Cambridge CB2 1PZ, U.K
| | - Yafeng Yu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Sihan Liu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- Department of Electrical and Electronics Engineering, Southern University of Science and Technology, Shenzhen 518055, P. R. China
| | - Youchuang Chao
- Max Planck Institute for Dynamics and Self-Organization, Göttingen 37077, Germany
| | - Yinan Shen
- Department of Physics, Harvard University, Cambridge 02138, Massachusetts, United States
| | - Sai Zhao
- Department of Physics, The City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong 999077, P. R. China
| | - Thomas P Russell
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- Polymer Science and Engineering Department, University of Massachusetts, Amherst 01003, Massachusetts, United States
- Beijing Advanced Innovation Center for Soft Matter Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, P. R. China
- WPI-Advanced Institute for Materials Research, Tohoku University, Sendai 980-8577, Japan
| | - Ho Cheung Shum
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- Advanced Biomedical Instrumentation Centre, Hong Kong Science Park, Shatin, New Territories, Hong Kong 999077, (SAR), Hong Kong, P. R. China
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12
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Ozkan-Aydin Y, Liu B, Ferrero AC, Seidel M, Hammond FL, Goldman DI. Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion. BIOINSPIRATION & BIOMIMETICS 2021; 17:016001. [PMID: 34496355 DOI: 10.1088/1748-3190/ac24bf] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/02/2021] [Accepted: 09/08/2021] [Indexed: 06/13/2023]
Abstract
Earthworms (Lumbricus terrestris) are characterized by soft, highly flexible and extensible bodies, and are capable of locomoting in most terrestrial environments. Previous studies of earthworm movement focused on the use of retrograde peristaltic gaits in which controlled contraction of longitudinal and circular muscles results in waves of shortening/thickening and thinning/lengthening of the hydrostatic skeleton. These waves can propel the animal across ground as well as into soil. However, worms benefit from axial body bends during locomotion. Such lateral bending and buckling dynamics can aid locomotor function via hooking/anchoring (to provide propulsion), modify travel orientation (to avoid obstacles and generate turns) and even generate snake-like undulatory locomotion in environments where peristaltic locomotion results in poor performance. To the best of our knowledge, lateral bending and buckling of an earthworm's body has not yet been systematically investigated. In this study, we observed that within confined environments, worms use lateral bending and buckling to anchor their body to the walls of their burrows and tip (anterior end) bending to search the environment. This locomotion strategy improved the performance of our soft-bodied robophysical model of the earthworm both in a confined (in an acrylic tube) and above-ground heterogeneous environment (rigid pegs), where present peristaltic robots are relatively limited in terradynamic capabilities. In summary, lateral bending and buckling facilitates the mobility of earthworm locomotion in diverse terrain and can play an important role in the creation of low cost soft robotic devices capable of traversing a variety of environments.
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Affiliation(s)
- Yasemin Ozkan-Aydin
- Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, United States of America
| | - Bangyuan Liu
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, United States of America
| | | | - Max Seidel
- School of Physics, Georgia Institute of Technology, Atlanta, GA, United States of America
- Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, United States of America
| | - Frank L Hammond
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, United States of America
| | - Daniel I Goldman
- School of Physics, Georgia Institute of Technology, Atlanta, GA, United States of America
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13
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Light-Responsive Soft Actuators: Mechanism, Materials, Fabrication, and Applications. ACTUATORS 2021. [DOI: 10.3390/act10110298] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/19/2023]
Abstract
Soft robots are those that can move like living organisms and adapt to the surrounding environment. Compared with traditional rigid robots, the advantages of soft robots, in terms of material flexibility, human–computer interaction, and biological adaptability, have received extensive attention. Flexible actuators based on light response are one of the most promising ways to promote the field of cordless soft robots, and they have attracted the attention of scientists in bionic design, actuation implementation, and application. First, the three working principles and the commonly used light-responsive materials for light-responsive actuators are introduced. Then, the characteristics of light-responsive soft actuators are sequentially presented, emphasizing the structure strategy, actuation performance, and emerging applications. Finally, this review is concluded with a perspective on the existing challenges and future opportunities in this nascent research frontier.
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14
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Zhang Q, Fang H, Xu J. Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability. Front Robot AI 2021; 8:738214. [PMID: 34490358 PMCID: PMC8417593 DOI: 10.3389/frobt.2021.738214] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/08/2021] [Accepted: 08/09/2021] [Indexed: 12/03/2022] Open
Abstract
Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.
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Affiliation(s)
- Qiwei Zhang
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China
| | - Hongbin Fang
- Institute of AI and Robotics, Fudan University, Shanghai, China.,Engineering Research Center of AI & Robotics, Ministry of Education, Fudan University, Shanghai, China.,Shanghai Engineering Research Center of AI & Robotics, Fudan University, Shanghai, China
| | - Jian Xu
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China
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15
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Gough E, Conn AT, Rossiter J. Planning for a Tight Squeeze: Navigation of Morphing Soft Robots in Congested Environments. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3067594] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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16
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Bhovad P, Li S. Physical reservoir computing with origami and its application to robotic crawling. Sci Rep 2021; 11:13002. [PMID: 34155251 PMCID: PMC8217268 DOI: 10.1038/s41598-021-92257-1] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/05/2021] [Accepted: 06/04/2021] [Indexed: 12/17/2022] Open
Abstract
A new paradigm called physical reservoir computing has recently emerged, where the nonlinear dynamics of high-dimensional and fixed physical systems are harnessed as a computational resource to achieve complex tasks. Via extensive simulations based on a dynamic truss-frame model, this study shows that an origami structure can perform as a dynamic reservoir with sufficient computing power to emulate high-order nonlinear systems, generate stable limit cycles, and modulate outputs according to dynamic inputs. This study also uncovers the linkages between the origami reservoir's physical designs and its computing power, offering a guideline to optimize the computing performance. Comprehensive parametric studies show that selecting optimal feedback crease distribution and fine-tuning the underlying origami folding designs are the most effective approach to improve computing performance. Furthermore, this study shows how origami's physical reservoir computing power can apply to soft robotic control problems by a case study of earthworm-like peristaltic crawling without traditional controllers. These results can pave the way for origami-based robots with embodied mechanical intelligence.
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Affiliation(s)
- Priyanka Bhovad
- Department of Mechanical Engineering, Clemson University, Clemson, SC, USA.
| | - Suyi Li
- Department of Mechanical Engineering, Clemson University, Clemson, SC, USA
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17
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Stachew E, Houette T, Gruber P. Root Systems Research for Bioinspired Resilient Design: A Concept Framework for Foundation and Coastal Engineering. Front Robot AI 2021; 8:548444. [PMID: 33981727 PMCID: PMC8107439 DOI: 10.3389/frobt.2021.548444] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/09/2020] [Accepted: 04/08/2021] [Indexed: 01/12/2023] Open
Abstract
The continuous increase in population and human migration to urban and coastal areas leads to the expansion of built environments over natural habitats. Current infrastructure suffers from environmental changes and their impact on ecosystem services. Foundations are static anchoring structures dependent on soil compaction, which reduces water infiltration and increases flooding. Coastal infrastructure reduces wave action and landward erosion but alters natural habitat and sediment transport. On the other hand, root systems are multifunctional, resilient, biological structures that offer promising strategies for the design of civil and coastal infrastructure, such as adaptivity, multifunctionality, self-healing, mechanical and chemical soil attachment. Therefore, the biomimetic methodology is employed to abstract root strategies of interest for the design of building foundations and coastal infrastructures that prevent soil erosion, anchor structures, penetrate soils, and provide natural habitat. The strategies are described in a literature review on root biology, then these principles are abstracted from their biological context to show their potential for engineering transfer. After a review of current and developing technologies in both application fields, the abstracted strategies are translated into conceptual designs for foundation and coastal engineering. In addition to presenting the potential of root-inspired designs for both fields, this paper also showcases the main steps of the biomimetic methodology from the study of a biological system to the development of conceptual technical designs. In this way the paper also contributes to the development of a more strategic intersection between biology and engineering and provides a framework for further research and development projects.
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Affiliation(s)
- Elena Stachew
- Biomimicry Research and Innovation Center BRIC, Department of Biology, The University of Akron, Akron, OH, United States
| | - Thibaut Houette
- Biomimicry Research and Innovation Center BRIC, Department of Biology, The University of Akron, Akron, OH, United States
| | - Petra Gruber
- Biomimicry Research and Innovation Center BRIC, Myers School of Art and Department of Biology, The University of Akron, Akron, OH, United States
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18
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Zhao W, Zhang Y, Wang N. Soft Robotics: Research, Challenges, and Prospects. JOURNAL OF ROBOTICS AND MECHATRONICS 2021. [DOI: 10.20965/jrm.2021.p0045] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
The soft robot is a kind of continuum robot, which is mainly made of soft elastic material or malleable material. It can be continuously deformed in a limited space, and can obtain energy in large bending or high curvature distortion. It has obvious advantages such as high security of human-computer interaction, strong adaptability of unstructured environment, high driving efficiency, low maintenance cost, etc. It has wide application prospects in the fields of industrial production, defense military, medical rehabilitation, exploration, and so on. From the perspective of the bionic mechanism, this paper introduces the soft robots corresponding to insect crawling, snake crawling, fish swimming, elephant trunk, arm, etc. According to different driving modes, the soft robots can be classified into pneumatic-hydraulic driven, intelligent material driven, chemical reaction driven, and so on. The mechanical modeling, control strategy, material, and manufacturing methods of soft robot are summarized, and the application fields of soft robot are introduced. This paper analyzes the main challenges faced by the research on the key technologies of soft robots, summarizes and analyzes them, and puts forward the prospects for the future research of soft robots. The development trend of the future is to develop the soft robot with the characteristics of micro-scale, rigid-flexible coupling, variable stiffness, multi-functional, high integration, and intelligence of driving sensor control.
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Thermopneumatic Soft Micro Bellows Actuator for Standalone Operation. MICROMACHINES 2021; 12:mi12010046. [PMID: 33401505 PMCID: PMC7823825 DOI: 10.3390/mi12010046] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/30/2020] [Revised: 12/29/2020] [Accepted: 12/29/2020] [Indexed: 12/17/2022]
Abstract
Typical pneumatic soft micro actuators can be manufactured without using heavy driving components such as pumps and power supplies by adopting an independent battery-powered mechanism. In this study, a thermopneumatically operated soft micro bellows actuator was manufactured, and the standalone operation of the actuator was experimentally validated. Thermopneumatic actuation is based on heating a sealed cavity inside the elastomer of the actuator to raise the pressure, leading to deflection of the elastomer. The bellows actuator was fabricated by casting polydimethylsiloxane (PDMS) using the 3D-printed soluble mold technique to prevent leakage, which is inherent in conventional soft lithography due to the bonding of individual layers. The heater, manufactured separately using winding copper wire, was inserted into the cavity of the bellows actuator, which together formed the thermopneumatic actuator. The 3D coil heater and bellows allowed immediate heat transfer and free movement in the intended direction, which is unachievable for conventional microfabrication. The fabricated actuator produced a stroke of 2184 μm, equivalent to 62% of the body, and exerted a force of 90.2 mN at a voltage of 0.55 V. A system in which the thermopneumatic actuator was driven by alkaline batteries and a control circuit also demonstrated a repetitive standalone operation.
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20
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Filogna S, Iacovacci V, Vecchi F, Musco L, Menciassi A. Protrusion mechanism study in sipunculid worms as model for developing bio-inspired linear actuators. BIOINSPIRATION & BIOMIMETICS 2020; 16:026008. [PMID: 33126225 DOI: 10.1088/1748-3190/abc671] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/31/2020] [Accepted: 10/30/2020] [Indexed: 06/11/2023]
Abstract
The invertebrates ability to adapt to the environment during motion represents an intriguing feature to inspire robotic systems. We analysed the sipunculid speciesPhascolosoma stephensoni(Sipunculidae, Annelida), and quantitatively studied the motion behaviour of this unsegmented worm. The hydrostatic skeleton and the muscle activity make the infaunalP.stephensoniable to extrude part of its body (the introvert) from its burrow to explore the environment by remaining hidden within the rocky substrate where it settled. The introvert protrusion is associated with changes in the body shape while keeping the overall volume constant. In this study, we employed a marker-less optical tracking strategy to quantitatively study introvert protrusion (i.e. kinematics, elongation percentage and forces exerted) in different navigation media. WhenP.stephensonispecimens were free in sea water (outside from the burrow), the worms reached lengths up to three times their initial ones after protrusion. Moreover, they were able to elongate their introvert inside a viscous medium such as agar-based hydrogel. In this case, the organisms were able to break the hydrogel material, exerting forces up to 3 N and then to navigate easily inside it, producing stresses of some tens of kPa. Our measurements can be used as guidelines and specifications to design and develop novel smart robotic systems.
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Affiliation(s)
- Silvia Filogna
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Veronica Iacovacci
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | | | - Luigi Musco
- Stazione Zoologica Anton Dohrn, Napoli, Italy
| | - Arianna Menciassi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
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21
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Nguyen XT, Calderon AA, Rigo A, Ge JZ, Perez-Arancibia NO. SMALLBug: A 30-mg Crawling Robot Driven by a High-Frequency Flexible SMA Microactuator. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.3015457] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/31/2022]
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22
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Xu K, Perez-Arancibia NO. Electronics-Free Logic Circuits for Localized Feedback Control of Multi-Actuator Soft Robots. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2982866] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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