Advanced functional materials for soft robotics: tuning physicochemical properties beyond rigidity control

A Multimodal, Reconfigurable Workspace Soft Gripper for Advanced Grasping Tasks

A new generation of soft functional materials and actuator designs has ushered the development of highly advanced soft grippers as adaptive alternatives to traditional rigid end-effectors for grasping and manipulation applications. While being advantageous over their rigid counterparts, soft gripper capabilities such as contact effort are mostly a consequence of the gripper workspace, which in turn is largely constrained by the gripper design. Moreover, soft grippers designed for highly specific grasping tasks such as scooping grains or wide payloads are usually limited in grasping other payload types or in their manipulation versatility. This article describes a reconfigurable workspace soft (RWS) gripper that exploits compliant structures and pneumatic actuators to reconfigure its workspace to suit a wide range of grasping tasks. To achieve desired kinematics, finite element analysis (FEA) studies are conducted to dictate actuator design and materials used. Various grasping modes and their reconfiguration of the gripper workspace are presented and characterized, including the gripper's capability to reliably scoop granular items with radii as small as 1.5 mm, precisely pick items as thin as 300 μm from flat surfaces, as well as grasp large convex, nonconvex, and deformable items as heavy as 1.4 kg. The RWS gripper can modify and increase its grasping workspace volume by 397%, enabling the widest range of grasping capabilities to date achieved by a single soft gripper.

Freeform Liquid 3D Printing of Soft Functional Components for Soft Robotics

Freeform liquid three-dimensional printing (FL-3DP) is a promising new additive manufacturing process that uses a yield stress gel as a temporary support, enabling the processing of a broader class of inks into complex geometries, including those with low viscosities or long solidification kinetics that were previously not processable. However, the full exploitation of these advantages for the fabrication of complex multilateral structures has been hindered by difficulties in controlling the interfaces between inks and supports. In this work, an in-depth study of the rheological properties and interfacial stabilities between a nanoclay-modified support and silicone-based inks enabled a better understanding of the impact printing parameters have on the extruded filament morphology, and thus on printing resolutions. With these improvements, the fabrication of functional multimaterial pneumatic components applied to soft robotics could be demonstrated, exhibiting superior capabilities compared to casting or traditional extrusion-based additive manufacturing in terms of geometric freedom (overhanging and multimaterial structures), tunability of the component's functionality, and robustness between different phases. Overall, the full exploitation of FL-3DP advantages enables a broader design space for features and functionalities in soft robotic components that require complex and robust combinations of materials.

Materials for Smart Soft Actuator Systems

In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.

Smart Bionic Surfaces with Switchable Wettability and Applications

In order to satisfy the needs of different applications and more complex intelligent devices, smart control of surface wettability will be necessary and desirable, which gradually become a hot spot and focus in the field of interface wetting. Herein, we review interfacial wetting states related to switchable wettability on superwettable materials, including several classical wetting models and liquid adhesive behaviors based on the surface of natural creatures with special wettability. This review mainly focuses on the recent developments of the smart surfaces with switchable wettability and the corresponding regulatory mechanisms under external stimuli, which is mainly governed by the transformation of surface chemical composition and geometrical structures. Among that, various external stimuli such as physical stimulation (temperature, light, electric, magnetic, mechanical stress), chemical stimulation (pH, ion, solvent) and dual or multi-triggered stimulation have been sought out to realize the regulation of surface wettability. Moreover, we also summarize the applications of smart surfaces in different fields, such as oil/water separation, programmable transportation, anti-biofouling, detection and delivery, smart soft robotic etc. Furthermore, current limitations and future perspective in the development of smart wetting surfaces are also given. This review aims to offer deep insights into the recent developments and responsive mechanisms in smart biomimetic surfaces with switchable wettability under external various stimuli, so as to provide a guidance for the design of smart surfaces and expand the scope of both fundamental research and practical applications.

Soft Robots for Ocean Exploration and Offshore Operations: A Perspective

The ocean and human activities related to the sea are under increasing pressure due to climate change, widespread pollution, and growth of the offshore energy sector. Data, in under-sampled regions of the ocean and in the offshore patches where the industrial expansion is taking place, are fundamental to manage successfully a sustainable development and to mitigate climate change. Existing technology cannot cope with the vast and harsh environments that need monitoring and sampling the most. The limiting factors are, among others, the spatial scales of the physical domain, the high pressure, and the strong hydrodynamic perturbations, which require vehicles with a combination of persistent autonomy, augmented efficiency, extreme robustness, and advanced control. In light of the most recent developments in soft robotics technologies, we propose that the use of soft robots may aid in addressing the challenges posed by abyssal and wave-dominated environments. Nevertheless, soft robots also allow for fast and low-cost manufacturing, presenting a new potential problem: marine pollution from ubiquitous soft sampling devices. In this study, the technological and scientific gaps are widely discussed, as they represent the driving factors for the development of soft robotics. Offshore industry supports increasing energy demand and the employment of robots on marine assets is growing. Such expansion needs to be sustained by the knowledge of the oceanic environment, where large remote areas are yet to be explored and adequately sampled. We offer our perspective on the development of sustainable soft systems, indicating the characteristics of the existing soft robots that promote underwater maneuverability, locomotion, and sampling. This perspective encourages an interdisciplinary approach to the design of aquatic soft robots and invites a discussion about the industrial and oceanographic needs that call for their application.