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Zhang Z, Calderon AD, Huang X, Wu G, Liang C. Design and Driving Performance Study of Soft Actuators for Hand Rehabilitation Training. MEDICAL DEVICES-EVIDENCE AND RESEARCH 2024; 17:237-260. [PMID: 38953048 PMCID: PMC11216218 DOI: 10.2147/mder.s476464] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/01/2024] [Accepted: 06/18/2024] [Indexed: 07/03/2024] Open
Abstract
Purpose To address the application requirements of soft actuators in rehabilitation training gloves, and in combination with ergonomic requirements, we designed a segmented soft actuator with bending and elongation modules. This actuator can achieve independent or coupled movements of the finger joints. Methods A finite element model of the joint actuator was established to compare the driving performance of actuators with different structural forms. Numerical calculations were used to analyze the effects of structural size parameters on the bending characteristics and end output force of the actuator. The design was then refined based on these analyses. Results The joint actuator designed in this study demonstrated a 71% increase in bending angle compared to the standard fast pneumatic network structure. Key factors affecting the driving performance include the thickness of the constraint layer, the inner wall thickness of the chamber, chamber height, chamber width, chamber spacing, chamber length, and the number of chambers. After improvements, the bending angle of the joint actuator increased by 60.6%, and the output force increased by 145.9%, indicating significant improvement. Conclusion This study designed and improved a soft actuator for hand rehabilitation training, achieving independent and coupled joint movements. The bending angle, bending shape, and joint driving force of the soft actuator meet the requirements for finger rehabilitation training.
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Affiliation(s)
- Zhilin Zhang
- School of Physics and Telecommunications Engineering, Yulin Normal University, Yulin, People’s Republic of China
- School of Mechanical, Manufacturing and Energy Engineering, Mapua University, Manila, Philippines
- Center for Applied Mathematics of Guangxi, Yulin Normal University, Yulin, People’s Republic of China
- Guangxi Universities Key Laboratory of Complex System Optimization and Big Data Processing, Yulin Normal University, Yulin, People’s Republic of China
| | - Aldrin D Calderon
- School of Mechanical, Manufacturing and Energy Engineering, Mapua University, Manila, Philippines
| | - Xingyu Huang
- School of Information Technology, Mapua University, Manila, Philippines
| | - Guixian Wu
- Yulin Health School of Guangxi Medical University, Yulin, People’s Republic of China
| | - Chuanjian Liang
- School of Physics and Telecommunications Engineering, Yulin Normal University, Yulin, People’s Republic of China
- Center for Applied Mathematics of Guangxi, Yulin Normal University, Yulin, People’s Republic of China
- Guangxi Universities Key Laboratory of Complex System Optimization and Big Data Processing, Yulin Normal University, Yulin, People’s Republic of China
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2
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Feng J, Zhao Y, Kang J, Hu W, Wu R, Zhang W. Interference Morphology of Free-Growing Tendrils and Application of Self-Locking Structures. Soft Robot 2024; 11:392-409. [PMID: 38285476 DOI: 10.1089/soro.2023.0052] [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: 01/30/2024] Open
Abstract
Organisms can adapt to various complex environments by obtaining optimal morphologies. Plant tendrils evolve an extraordinary and stable spiral morphology in the free-growing stage. By combining apical and asymmetrical growth strategies, the tendrils can adjust their morphology to wrap around and grab different supports. This phenomenon of changing tendril morphology through the movement of growth inspires a thoughtful consideration of the laws of growth that underlie it. In this study, tendril growth is modeled based on the Kirchhoff rod theory to obtain the exact morphological equations. Based on this, the movement patterns of the tendrils are investigated under different growth strategies. It is shown that the self-interference phenomenon appears as the tendril grows, allowing it to hold onto its support more firmly. In addition, a finite element model is constructed using continuum media mechanics and following the finite growth theory to simulate tendril growth. The growth morphology and self-interference phenomenon of tendrils are observed visually. Furthermore, an innovative class of fluid elastic actuators is designed to verify the growth phenomena of tendrils, which can realize the wrapping and locking functions. Several experiments are conducted to measure the end output force and the smallest size that can be clamped, and the output efficiency of the elastic actuator and the optimal working pressure are verified. The results presented in this study could reveal the formation law of free tendril spiral morphology and provide an inspiring idea for the programmability and motion control of bionic soft robots, with promising applications in the fields of underwater rescue and underwater picking.
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Affiliation(s)
- Jingjing Feng
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Yiwei Zhao
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Jiquan Kang
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Wenhua Hu
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Ruiqin Wu
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Department of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
| | - Wei Zhang
- Department of Mechanics, Guangxi University, Nanning, Guangxi, China
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3
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Nie S, Huo L, Ji H, Nie S, Gao P, Li H. Deformation Characteristics of Three-Dimensional Spiral Soft Actuator Driven by Water Hydraulics for Underwater Manipulator. Soft Robot 2024; 11:410-422. [PMID: 38011608 DOI: 10.1089/soro.2023.0085] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2023] Open
Affiliation(s)
- Songlin Nie
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Linfeng Huo
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Hui Ji
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Shuang Nie
- Faculty of Applied Science and Engineering, University of Toronto, Toronto, Canada
| | - Pengwang Gao
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Hanyu Li
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
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4
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Gunawardane PDSH, Cheung P, Zhou H, Alici G, de Silva CW, Chiao M. A Versatile 3D-Printable Soft Pneumatic Actuator Design for Multi-Functional Applications in Soft Robotics. Soft Robot 2024. [PMID: 38598719 DOI: 10.1089/soro.2023.0102] [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: 04/12/2024] Open
Abstract
Soft pneumatic actuators (SPAs) play a crucial role in generating movements and forces in soft robotic systems. However, existing SPA designs require significant structural modifications to be used in applications other than their original design. The present article proposes an omni-purpose fully 3D-printable SPA design inspired by membrane type mold and cast SPAs. The design features a spring-like zig-zag structure 3D-printed using an affordable 3D printer with thermoplastic polyurethane and a minimum wall thickness between 0.4 and 0.6 mm. The new SPA can perform unidirectional extension (30% extension) and bidirectional (rotation around same axis) bending (100°), with the ability to exert 10 N blocking force for 350 kPa pressure input. In addition, the design exhibits the capability to be scaled down for the purpose of accommodating limited spaces, while simultaneously enabling the reconfigurable interconnection of multiple SPAs to adapt to larger areas and navigate intricate trajectories that were not originally intended. The SPA's ability to be used in multiple applications without structural modification was validated through testing as a robot end-effector (gripper), artificial muscles in a soft tendon-driven prosthetic hand, a tube/tunnel navigator, and a robot crawler.
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Affiliation(s)
| | - Phoebe Cheung
- Department of Mechanical Engineering, The University of British Columbia, Vancouver, Canada
| | - Hao Zhou
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, The University of Wollongong, Wollongong, Australia
| | - Gursel Alici
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, The University of Wollongong, Wollongong, Australia
| | - Clarence W de Silva
- Department of Mechanical Engineering, The University of British Columbia, Vancouver, Canada
| | - Mu Chiao
- Department of Mechanical Engineering, The University of British Columbia, Vancouver, Canada
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5
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Ou Yang CW, Yu SY, Chan CW, Tseng CY, Cai JF, Huang HP, Juang JY. Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints. Soft Robot 2024. [PMID: 38387016 DOI: 10.1089/soro.2023.0111] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/24/2024] Open
Abstract
Soft robotic grippers and hands offer adaptability, lightweight construction, and enhanced safety in human-robot interactions. In this study, we introduce vacuum-actuated soft robotic finger joints to overcome their limitations in stiffness, response, and load-carrying capability. Our design-optimized through parametric design and three-dimensional (3D) printing-achieves high stiffness using vacuum pressure and a buckling mechanism for large bending angles (>90°) and rapid response times (0.24 s). We develop a theoretical model and nonlinear finite-element simulations to validate the experimental results and provide valuable insights into the underlying mechanics and visualization of the deformation and stress field. We showcase versatile applications of the buckling joints: a three-finger gripper with a large lifting ratio (∼96), a five-finger robotic hand capable of replicating human gestures and adeptly grasping objects of various characteristics in static and dynamic scenarios, and a planar-crawling robot carrying loads 30 times its weight at 0.89 body length per second (BL/s). In addition, a jellyfish-inspired robot crawls in circular pipes at 0.47 BL/s. By enhancing soft robotic grippers' functionality and performance, our study expands their applications and paves the way for innovation through 3D-printed multifunctional buckling joints.
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Affiliation(s)
- Chih-Wen Ou Yang
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Shao-Yi Yu
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
- Department of Mechanical Engineering, University of California at Berkeley, Berkeley, California, USA
| | - Che-Wei Chan
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Chien-Yao Tseng
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Jing-Fang Cai
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Han-Pang Huang
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Jia-Yang Juang
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
- Program in Nanoengineering and Nanoscience, Graduate School of Advanced Technology, National Taiwan University, Taipei, Taiwan
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6
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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.
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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.
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7
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Bhat A, Jaipurkar SS, Low LT, Yeow RCH. Reconfigurable Soft Pneumatic Actuators Using Extensible Fabric-Based Skins. Soft Robot 2023; 10:923-936. [PMID: 37042707 DOI: 10.1089/soro.2022.0089] [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: 04/13/2023] Open
Abstract
The development of the field of soft robotics has led to the exploration of novel techniques to manufacture soft actuators, which provide distinct advantages for wearable assistive robotics. One subset of these soft pneumatic actuators is conventionally developed from silicone, fabrics, and thermoplastic polyurethane (TPU). Each of these materials in isolation possesses limitations of low-stress capacity, low-design complexity, and high-input pressure requirements, respectively. Combining these materials can overcome some limitations and maintain their desirable properties. In this article, we explore one such composite design scheme using a combination of silicone polymer-based bladder and reconfigurable fabric skin made from an anisotropic extensible fabric. The silicone polymer bladder acts as the hermetic seal, while this skin acts as the constraint. Bending and torsional actuators were designed utilizing the anisotropy of these fabrics. The torsional actuator designs can achieve over 540° of twist, significantly larger than previously reported in the literature, owing to the lower mechanical impedance of the extensible fabrics. Actuators with 360° of bending were also fabricated using this method. In addition, the lack of TPU-backed or inextensible fabrics reduces the actuator's stiffness, leading to lower actuation pressures. Skin-based designs also confer the advantage of modularity, reconfigurability, and the ability to achieve complex motions by tuning the properties of the bladder and the skin. For applications with high-force requirements, such as wearable exoskeletons, we demonstrate the utility of multilayer design schemes. A multilayer bending actuator generated 190 N of force at 100 kPa and was shown to be a candidate for wearable assistive devices. In addition, torsional designs were shown to have utility in practical scenarios such as screwing on a bottle cap and turning knobs. Thus, we present a novel fabric-skin-based design concept that is highly versatile and customizable for various application requirements.
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Affiliation(s)
- Ajinkya Bhat
- Evolution Innovation Laboratory, National University of Singapore, Singapore, Singapore
- Integrated Science and Engineering Program (ISEP), National University of Singapore, Singapore, Singapore
| | - Shobhit Sandeep Jaipurkar
- Evolution Innovation Laboratory, National University of Singapore, Singapore, Singapore
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | - Li Ting Low
- Evolution Innovation Laboratory, National University of Singapore, Singapore, Singapore
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | - Raye Chen-Hua Yeow
- Evolution Innovation Laboratory, National University of Singapore, Singapore, Singapore
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
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8
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Liu Y, Lin G, Medina-Sánchez M, Guix M, Makarov D, Jin D. Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots. ACS NANO 2023; 17:8899-8917. [PMID: 37141496 DOI: 10.1021/acsnano.3c01609] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
With the development of advanced biomedical theragnosis and bioengineering tools, smart and soft responsive microstructures and nanostructures have emerged. These structures can transform their body shape on demand and convert external power into mechanical actions. Here, we survey the key advances in the design of responsive polymer-particle nanocomposites that led to the development of smart shape-morphing microscale robotic devices. We overview the technological roadmap of the field and highlight the emerging opportunities in programming magnetically responsive nanomaterials in polymeric matrixes, as magnetic materials offer a rich spectrum of properties that can be encoded with various magnetization information. The use of magnetic fields as a tether-free control can easily penetrate biological tissues. With the advances in nanotechnology and manufacturing techniques, microrobotic devices can be realized with the desired magnetic reconfigurability. We emphasize that future fabrication techniques will be the key to bridging the gaps between integrating sophisticated functionalities of nanoscale materials and reducing the complexity and footprints of microscale intelligent robots.
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Affiliation(s)
- Yuan Liu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen, 518055 Guangdong Province, P. R. China
| | - Gungun Lin
- Institute for Biomedical Materials and Devices, School of Mathematical and Physical Sciences, Faculty of Science, University of Technology Sydney, 15 Broadway, Ultimo, NSW 2007, Australia
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069 Dresden, Germany
- Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, 01062 Dresden, Germany
| | - Maria Guix
- Universitat de Barcelona, Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional Barcelona, 08028 Barcelona, Spain
| | - Denys Makarov
- Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Ion Beam Physics and Materials Research, Bautzner Landstrasse 400, 01328 Dresden, Germany
| | - Dayong Jin
- Institute for Biomedical Materials and Devices, School of Mathematical and Physical Sciences, Faculty of Science, University of Technology Sydney, 15 Broadway, Ultimo, NSW 2007, Australia
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9
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Liao W, Yang Z. 3D printing programmable liquid crystal elastomer soft pneumatic actuators. MATERIALS HORIZONS 2023; 10:576-584. [PMID: 36468657 DOI: 10.1039/d2mh01001a] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Soft pneumatic actuators (SPAs) rely on anisotropic mechanical properties to generate specific motions after inflation. To achieve mechanical anisotropy, additional stiff materials or heterogeneous structures are typically introduced in isotropic base materials. However, the inherent limitations of these strategies may lead to potential interfacial problems or inefficient material usage. Herein, we develop a new strategy for fabricating SPAs based on an aligned liquid crystal elastomer (LCE) by a modified 3D printing technology. A rotating substrate enables the one-step fabrication of tubular LCE-SPAs with designed alignments in three dimensions. The alignment can be precisely programmed through printing, resulting in intrinsic mechanical anisotropy of the LCE. With a specially designed alignment, LCE-SPAs can achieve basic motions-contraction, elongation, bending, and twisting-and accomplish diverse tasks, e.g., grabbing objects and mixing water. This study provides a new perspective for the design and fabrication of SPAs.
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Affiliation(s)
- Wei Liao
- Key Laboratory of Organic Optoelectronics & Molecular Engineering of the Ministry of Education, Department of Chemistry, Tsinghua University, Beijing, China.
| | - Zhongqiang Yang
- Key Laboratory of Organic Optoelectronics & Molecular Engineering of the Ministry of Education, Department of Chemistry, Tsinghua University, Beijing, China.
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
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10
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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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11
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Ding J, Ma H, Xiao X, Li Q, Liu K, Zhang X. Flexible Torsional Photoactuators Based on MXene-Carbon Nanotube-Paraffin Wax Films. ACS APPLIED MATERIALS & INTERFACES 2022; 14:57171-57179. [PMID: 36515685 DOI: 10.1021/acsami.2c16838] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
A flexible actuator, which can convert external stimuli to mechanical motion, is an essential component of every soft robot and determines its performance. As a novel two-dimensional material, MXene has been used to fabricate flexible actuators due to its excellent physical properties. Although MXene-based actuators exhibit excellent actuation performance, their bending deformation is solely due to the in-plane isotropy of the MXene film, and an MXene torsional actuator has not been reported. This study presents a flexible torsional actuator based on an MXene-carbon nanotube (CNT)-paraffin wax (PW) film. In this actuator, the MXene thin film acts as a light absorption layer with wavelength selectivity, superaligned CNT provides structural anisotropy for the composite film, and PW acts as the active layer. The chirality and helical structure of the actuator could be tuned by the orientation of the CNT film. Such an actuator delivers excellent actuation performance, including high work density (∼1.2 J/cm3), low triggering power (77 mW/cm2), high rotational speed (320°/s), long lifetime (30,000 cycles), and wavelength selectivity. Inspired by vines, we used the torsional actuator as a spiral grabber, which lifted an object that weighs 20 times more than the actuator. The high-performance torsional actuator would be potentially used as a noncontact sensor, rotary motor, and grabbing tool in the soft robot system.
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Affiliation(s)
- Jun Ding
- Institute of Information Photonics Technology and Faculty of Sciences, Beijing University of Technology, Beijing100124, China
| | - He Ma
- Institute of Information Photonics Technology and Faculty of Sciences, Beijing University of Technology, Beijing100124, China
| | - Xiao Xiao
- Institute of Information Photonics Technology and Faculty of Sciences, Beijing University of Technology, Beijing100124, China
| | - Qingwei Li
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing100081, China
| | - Kai Liu
- State Key Laboratory of New Ceramics and Fine Processing, School of Material Science and Engineering, Tsinghua University, Beijing100084, China
| | - Xinping Zhang
- Institute of Information Photonics Technology and Faculty of Sciences, Beijing University of Technology, Beijing100124, China
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12
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Ma B, Zhang J, Chen G, Chen Y, Xu C, Lei L, Liu H. Shape-Programmable Liquid Metal Fibers. BIOSENSORS 2022; 13:bios13010028. [PMID: 36671863 PMCID: PMC9856024 DOI: 10.3390/bios13010028] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/28/2022] [Revised: 12/21/2022] [Accepted: 12/23/2022] [Indexed: 05/28/2023]
Abstract
Conductive and stretchable fibers are the cornerstone of intelligent textiles and imperceptible electronics. Among existing fiber conductors, gallium-based liquid metals (LMs) featuring high conductivity, fluidity, and self-healing are excellent candidates for highly stretchable fibers with sensing, actuation, power generation, and interconnection functionalities. However, current LM fibers fabricated by direct injection or surface coating have a limitation in shape programmability. This hinders their applications in functional fibers with tunable electromechanical response and miniaturization. Here, we reported a simple and efficient method to create shape-programmable LM fibers using the phase transition of gallium. Gallium metal wires in the solid state can be easily shaped into a 3D helical structure, and the structure can be preserved after coating the wire with polyurethane and liquifying the metal. The 3D helical LM fiber offered enhanced stretchability with a high breaking strain of 1273% and showed invariable conductance over 283% strain. Moreover, we can reduce the fiber diameter by stretching the fiber during the solidification of polyurethane. We also demonstrated applications of the programmed fibers in self-powered strain sensing, heart rate monitoring, airflow, and humidity sensing. This work provided simple and facile ways toward functional LM fibers, which may facilitate the broad applications of LM fibers in e-skins, wearable computation, soft robots, and smart fabrics.
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13
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Zhang P, Chen W, Tang B. From Two-Dimensional to Three-Dimensional: Diversified Bending Modality of a Cable-Driven Actuator and Its Grasping Characteristics. Soft Robot 2022; 9:1154-1166. [PMID: 35073198 DOI: 10.1089/soro.2021.0102] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/16/2022] Open
Abstract
Cable-driven actuators are widely studied and utilized in soft robotics, and cable-driven is a traditional, advanced, and practical driving method. While limited by the uniaxial force transfer of the driving cable in previous researches, the cable-driven actuator can only bend in a two-dimensional (2D) plane. To further expand their scope of utilization, a new design scheme of an actuator is proposed to realize the transition from 2D bending to three-dimensional motion. A zigzag cable routing (ZCR) mode is presented to improve the helical motion. Compared with the straight cable routing mode, the ZCR actuator has better smooth movement characteristics and expanded functionality. Furthermore, we experimentally investigated the contact force and holding ability. The results show that the contact force is evenly acting on the cylinder target, and the grab weight is greater than 1950 g.
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Affiliation(s)
- Ping Zhang
- Key Laboratory of Ocean Energy Utilization and Energy Conservation of Ministry of Education, Dalian University of Technology, Dalian, China.,Institute of Internal Combustion Engine, Dalian University of Technology, Dalian, China
| | - Weichun Chen
- Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing, China
| | - Bin Tang
- Key Laboratory of Ocean Energy Utilization and Energy Conservation of Ministry of Education, Dalian University of Technology, Dalian, China.,Institute of Internal Combustion Engine, Dalian University of Technology, Dalian, China
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14
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Wang T, Jiao W, Sun Z, Zhang X. Design and Gesture Optimization of a Soft-Rigid Robotic Hand for Adaptive Grasping. Soft Robot 2022. [DOI: 10.1089/soro.2021.0208] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/03/2022] Open
Affiliation(s)
- Tianlei Wang
- College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China
| | - Wenhua Jiao
- College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China
| | - Zhenxing Sun
- College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China
| | - Xinghua Zhang
- College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China
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15
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Saga N, Shimada K, Inamori D, Saito N, Satoh T, Nagase JY. Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle. SENSORS (BASEL, SWITZERLAND) 2022; 22:8975. [PMID: 36433570 PMCID: PMC9694766 DOI: 10.3390/s22228975] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/09/2022] [Revised: 10/03/2022] [Accepted: 11/17/2022] [Indexed: 06/16/2023]
Abstract
Shortage of labor and increased work of young people are causing problems in terms of care and welfare of a growing proportion of elderly people. This is a looming social problem because people of advanced ages are increasing. Necessary in the fields of care and welfare, pneumatic artificial muscles in actuators of robots are being examined. Pneumatic artificial muscles have a high output per unit of weight, and they are soft, similarly to human muscles. However, in previous research of robots using pneumatic artificial muscles, rigid sensors were often installed at joints and other locations due to the robots' structures. Therefore, we developed a smart actuator that integrates a bending sensor that functions as a human muscle spindle; it can be externally attached to the pneumatic artificial muscle. This paper reports a smart artificial muscle actuator that can sense contraction, which can be applied to developed self-monitoring and robot posture control.
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Affiliation(s)
- Norihiko Saga
- School of Engineering, Kwansei Gakuin University, 1 Gakuenuegahara, Sanda 669-1330, Japan
| | - Kunio Shimada
- Faculty of Symbiotic Systems Sciences, Fukushima University, 1 Kanayagawa, Fukushima 960-1296, Japan
| | - Douhaku Inamori
- Engineering Department, Strain Gage Engineering Section, Minebeamitsumi Inc., 1-1-1, Katase, Fujisawa 251-8531, Japan
| | - Naoki Saito
- Department of Intelligent Mechatronics, Akita Prefectural University, 84-4Aza-Ebinokuchi, Yurihonjo 015-0055, Japan
| | - Toshiyuki Satoh
- Department of Intelligent Mechatronics, Akita Prefectural University, 84-4Aza-Ebinokuchi, Yurihonjo 015-0055, Japan
| | - Jun-ya Nagase
- Faculty of Advanced Science and Technology, Ryukoku University, 1-5 Yokotani, Seta Oe-cho, Otsu 520-2194, Japan
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16
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Tang Y, Li M, Wang T, Dong X, Hu W, Sitti M. Wireless Miniature Magnetic Phase-Change Soft Actuators. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2204185. [PMID: 35975467 PMCID: PMC7613683 DOI: 10.1002/adma.202204185] [Citation(s) in RCA: 26] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/09/2022] [Revised: 08/09/2022] [Indexed: 05/28/2023]
Abstract
Wireless miniature soft actuators are promising for various potential high-impact applications in medical, robotic grippers, and artificial muscles. However, these miniature soft actuators are currently constrained by a small output force and low work capacity. To address such challenges, a miniature magnetic phase-change soft composite actuator is reported. This soft actuator exhibits an expanding deformation and enables up to a 70 N output force and 175.2 J g-1 work capacity under remote magnetic radio frequency heating, which are 106 -107 times that of traditional magnetic soft actuators. To demonstrate its capabilities, a wireless soft robotic device is first designed that can withstand 0.24 m s-1 fluid flows in an artery phantom. By integrating it with a thermally-responsive shape-memory polymer and bistable metamaterial sleeve, a wireless reversible bistable stent is designed toward future potential angioplasty applications. Moreover, it can additionally locomote inside and jump out of granular media. At last, the phase-change actuator can realize programmable bending deformations when a specifically designed magnetization profile is encoded, enhancing its shape-programming capability. Such a miniature soft actuator provides an approach to enhance the mechanical output and versatility of magnetic soft robots and devices, extending their medical and other potential applications.
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Affiliation(s)
- Yichao Tang
- School of Mechanical Engineering Tongji University Shanghai 201804, China; Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany
| | - Mingtong Li
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute of Functional Nano & Soft Materials (FUNSOM) Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices Soochow University Suzhou, Jiangsu 215123, China
| | - Tianlu Wang
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute for Biomedical Engineering ETH Zurich Zurich 8092, Switzerland
| | - Xiaoguang Dong
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; of Mechanical Engineering Vanderbilt University Nashville, TN 37215, USA; Vanderbilt Institute for Surgery and Engineering Vanderbilt University Nashville, TN 37215, USA
| | - Wenqi Hu
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute for Biomedical Engineering ETH Zurich Zurich 8092, Switzerland; School of Medicine and College of Engineering Koç University Istanbul 34450, Turkey
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17
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Ko UH, Kumar V, Rosen B, Varghese S. Characterization of bending balloon actuators. Front Robot AI 2022; 9:991748. [PMID: 36199389 PMCID: PMC9528995 DOI: 10.3389/frobt.2022.991748] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/11/2022] [Accepted: 08/25/2022] [Indexed: 11/13/2022] Open
Abstract
The emerging field of soft robotics often relies on soft actuators powered by pressurized fluids to obtain a variety of movements. Strategic incorporation of soft actuators can greatly increase the degree of freedom of soft robots thereby bestowing them with a range of movements. Balloon actuators are extensively used to achieve various motions such as bending, twisting, and expanding. A detailed understanding of how material properties and architectural designs of balloon actuators influence their motions will greatly enable the application of these soft actuators. In this study, we developed a framework involving experimental and theoretical analyses, including computational analysis, delineating material and geometrical parameters of balloon actuators to their bending motions. Furthermore, we provide a simple analytical model to predict and control the degree of bending of these actuators. The described analytical tool could be used to predict the actuating function of balloon actuators and thereby help generate optimal actuators for functions which require control over the extent and direction of actuation.
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Affiliation(s)
- Ung Hyun Ko
- Department of Orthopaedics Surgery, Duke University School of Medicine, Duke University, Durham, NC, United States
| | - Vardhman Kumar
- Department of Biomedical Engineering, Pratt School of Engineering, Duke University, Durham, NC, United States
| | - Benjamin Rosen
- Department of Biomedical Engineering, Pratt School of Engineering, Duke University, Durham, NC, United States
| | - Shyni Varghese
- Department of Orthopaedics Surgery, Duke University School of Medicine, Duke University, Durham, NC, United States
- Department of Biomedical Engineering, Pratt School of Engineering, Duke University, Durham, NC, United States
- Department of Mechanical Engineering and Material Science, Pratt School of Engineering, Duke University, Durham, NC, United States
- *Correspondence: Shyni Varghese,
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18
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Zhang J, Kan Z, Li Y, Wu Z, Wu J, Peng H. Novel Design of a Cable-Driven Continuum Robot With Multiple Motion Patterns. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3166547] [Citation(s) in RCA: 4] [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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19
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Twisting for soft intelligent autonomous robot in unstructured environments. Proc Natl Acad Sci U S A 2022; 119:e2200265119. [PMID: 35605115 DOI: 10.1073/pnas.2200265119] [Citation(s) in RCA: 47] [Impact Index Per Article: 23.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Abstract
SignificanceAutonomy is crucial for soft robotics that are constructed of soft materials. It remains challenging to create autonomous soft robots that can intelligently interact with and adapt to changing environments without external controls. To do so, it often requires an analogical soft "brain" that integrates on-board sensing, control, computation, and decision-making. Here, we report an autonomous soft robot embodied with physical intelligence for decision-making via adaptive soft body-environment interactions and snap-through instability, without integrated sensing and external controls. This study harnesses physical intelligence as a new paradigm for designing autonomous soft robots that can interact intelligently with their environments, thus potentially reducing the burdens on the conventional integrated sensing, control, computations, and decision-making systems in designing intelligent soft robots.
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20
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Jin T, Li L, Wang T, Wang G, Cai J, Tian Y, Zhang Q. Origami-Inspired Soft Actuators for Stimulus Perception and Crawling Robot Applications. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3096644] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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21
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Heng W, Solomon S, Gao W. Flexible Electronics and Devices as Human-Machine Interfaces for Medical Robotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2107902. [PMID: 34897836 PMCID: PMC9035141 DOI: 10.1002/adma.202107902] [Citation(s) in RCA: 107] [Impact Index Per Article: 53.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/02/2021] [Revised: 12/08/2021] [Indexed: 05/02/2023]
Abstract
Medical robots are invaluable players in non-pharmaceutical treatment of disabilities. Particularly, using prosthetic and rehabilitation devices with human-machine interfaces can greatly improve the quality of life for impaired patients. In recent years, flexible electronic interfaces and soft robotics have attracted tremendous attention in this field due to their high biocompatibility, functionality, conformability, and low-cost. Flexible human-machine interfaces on soft robotics will make a promising alternative to conventional rigid devices, which can potentially revolutionize the paradigm and future direction of medical robotics in terms of rehabilitation feedback and user experience. In this review, the fundamental components of the materials, structures, and mechanisms in flexible human-machine interfaces are summarized by recent and renowned applications in five primary areas: physical and chemical sensing, physiological recording, information processing and communication, soft robotic actuation, and feedback stimulation. This review further concludes by discussing the outlook and current challenges of these technologies as a human-machine interface in medical robotics.
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Affiliation(s)
- Wenzheng Heng
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Samuel Solomon
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
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22
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Tawk C, Mutlu R, Alici G. A 3D Printed Modular Soft Gripper Integrated With Metamaterials for Conformal Grasping. Front Robot AI 2022; 8:799230. [PMID: 35071336 PMCID: PMC8782332 DOI: 10.3389/frobt.2021.799230] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/21/2021] [Accepted: 12/16/2021] [Indexed: 12/30/2022] Open
Abstract
A single universal robotic gripper with the capacity to fulfill a wide variety of gripping and grasping tasks has always been desirable. A three-dimensional (3D) printed modular soft gripper with highly conformal soft fingers that are composed of positive pressure soft pneumatic actuators along with a mechanical metamaterial was developed. The fingers of the soft gripper along with the mechanical metamaterial, which integrates a soft auxetic structure and compliant ribs, was 3D printed in a single step, without requiring support material and postprocessing, using a low-cost and open-source fused deposition modeling (FDM) 3D printer that employs a commercially available thermoplastic poly (urethane) (TPU). The soft fingers of the gripper were optimized using finite element modeling (FEM). The FE simulations accurately predicted the behavior and performance of the fingers in terms of deformation and tip force. Also, FEM was used to predict the contact behavior of the mechanical metamaterial to prove that it highly decreases the contact pressure by increasing the contact area between the soft fingers and the grasped objects and thus proving its effectiveness in enhancing the grasping performance of the gripper. The contact pressure can be decreased by up to 8.5 times with the implementation of the mechanical metamaterial. The configuration of the highly conformal gripper can be easily modulated by changing the number of fingers attached to its base to tailor it for specific manipulation tasks. Two-dimensional (2D) and 3D grasping experiments were conducted to assess the grasping performance of the soft modular gripper and to prove that the inclusion of the metamaterial increases its conformability and reduces the out-of-plane deformations of the soft monolithic fingers upon grasping different objects and consequently, resulting in the gripper in three different configurations including two, three and four-finger configurations successfully grasping a wide variety of objects.
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Affiliation(s)
- Charbel Tawk
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering and Applied Mechatronics and Biomedical Engineering Research (AMBER) Group, University of Wollongong, Wollongong, NSW, Australia
- ARC Centre of Excellence for Electromaterials Science, University of Wollongong Innovation Campus, North Wollongong, NSW, Australia
- Faculty of Engineering and Information Sciences, Dubai Knowledge Park, University of Wollongong in Dubai, Dubai Knowledge Park, Dubai, United Arab Emirates
| | | | - Gursel Alici
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering and Applied Mechatronics and Biomedical Engineering Research (AMBER) Group, University of Wollongong, Wollongong, NSW, Australia
- ARC Centre of Excellence for Electromaterials Science, University of Wollongong Innovation Campus, North Wollongong, NSW, Australia
- *Correspondence: Gursel Alici,
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23
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A Pneumatic Novel Combined Soft Robotic Gripper with High Load Capacity and Large Grasping Range. ACTUATORS 2021. [DOI: 10.3390/act11010003] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/01/2023]
Abstract
Pneumatic soft grippers have been widely studied. However, the structures and material properties of existing pneumatic soft grippers limit their load capacity and manipulation range. In this article, inspired by sea lampreys, we present a pneumatic novel combined soft gripper to achieve a high load capacity and a large grasping range. This soft gripper consists of a cylindrical soft actuator and a detachable sucker. Three internal air chambers of the cylindrical soft actuator are inflated, which enables them to hold objects. Under vacuum pressure, the cylindrical soft actuator and the detachable sucker can both adsorb objects. A finite element model was constructed to simulate three inflation chambers for predicting the grasping range of the cylindrical soft actuator. The validity of the finite element model was established by an experiment. The mechanism of holding force and adsorption force were analyzed. Several groups of experiments were conducted to determine adsorption range, holding force, and adsorption force. In addition, practical applications further indicated that the novel combined soft gripper has a high load capacity (10.85 kg) at a low pressure (16 kPa) and a large grasping range (minimum diameter of the object: d = 6 mm), being able to lift a variety of objects with different weights, material properties, and shapes.
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24
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Yuan P, Tsukagoshi H. Double Helical Soft Pneumatic Actuator Capable of Generating Complex 3D Torsional Motions. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3102940] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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25
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Abstract
Abstract
Advances in material science in recent years have had such a tremendous impact on the field of soft robotics that has fostered the development of many bio-inspired devices. One such device, which has been subject to extensive study in recent times, is soft pneumatic-network (pneu-net) actuators (SPAs). In this study, we present a new SPA structure whose chamber configuration mimics the fish bone (herringbone) structure to facilitate simultaneous bending deformations in both longitudinal and transverse directions. Such as cannot be obtained from the regular pneu-net structure – which bends only lengthwise, the coupled bending curvatures allow for gripping with maximized contact area, a property which facilitates firmness, security, and stability in gripping. Using the corresponding chamber inclination angle of the configuration as key parameter, the combined transverse and longitudinal deformation feature is studied through finite element simulation as well as experiments. Also, the functional behavior of the actuator/gripper prototypes is experimentally investigated using a series of approaches including blocked (or tip) force test, grip strength test, and stability (or sustained grasping force) test. Furthermore, the viability of the said conformal gripping characteristic is demonstrated by subjecting the structure to a couple of gripping tests. This utility-enhancing design approach could really guide into the development of more sophisticated application-custom soft robotic capabilities.
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26
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Conrad S, Speck T, Tauber FJ. Tool changing 3D printer for rapid prototyping of advanced soft robotic elements. BIOINSPIRATION & BIOMIMETICS 2021; 16:055010. [PMID: 34102629 DOI: 10.1088/1748-3190/ac095a] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/19/2021] [Accepted: 06/08/2021] [Indexed: 06/12/2023]
Abstract
In the field of soft robotics, pneumatic elements play an important role due to their sensitive and adaptive behavior. Nevertheless, the rapid prototyping of such actuators is still challenging since conventional 3D printers are not designed to fabricate airtight objects or to specify their bending behavior by combining materials of different stiffness. In order to address this challenge, a tool changing multi-material 3D printer has been constructed, which can be equipped with various print-heads fitted to the specific application. By alternately processing filaments with varying mechanical properties, a series of pneumatic elements was produced. The actuators were printed in thermoplastic polyurethane with shore hardness A70 for flexible parts and D65 for stiff parts. A novel procedure for the feature adaptation of the flow rate allowed the fabrication of vertically printed flexible membranes with a thickness of just 500μm. This way the bending and expanding printed structures can all be actuated with a pressure of 100 kPa or less. Furthermore, a new kind of generic actuator that is customizable to specific tasks and can perform complex motion behavior was designed. All together, these actuators demonstrate the high potential of the developed platform for further research on and production of soft robotic elements and complex pressurized systems.
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Affiliation(s)
- Stefan Conrad
- Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Germany
- Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Germany
| | - Thomas Speck
- Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Germany
- Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Germany
- Freiburg Center for Interactive Materials and Bioinspired Technologies (FIT), University of Freiburg, Germany
| | - Falk J Tauber
- Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Germany
- Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Germany
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27
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Mendoza MJ, Gollob SD, Lavado D, Koo BHB, Cruz S, Roche ET, Vela EA. A Vacuum-Powered Artificial Muscle Designed for Infant Rehabilitation. MICROMACHINES 2021; 12:971. [PMID: 34442593 PMCID: PMC8400328 DOI: 10.3390/mi12080971] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/19/2021] [Revised: 07/26/2021] [Accepted: 08/09/2021] [Indexed: 11/17/2022]
Abstract
The majority of soft pneumatic actuators for rehabilitation exercises have been designed for adult users. Specifically, there is a paucity of soft rehabilitative devices designed for infants with upper and lower limb motor disabilities. We present a low-profile vacuum-powered artificial muscle (LP-VPAM) with dimensions suitable for infants. The actuator produced a maximum force of 26 N at vacuum pressures of -40 kPa. When implemented in an experimental model of an infant leg in an antagonistic-agonist configuration to measure resultant knee flexion, the actuator generated knee flexion angles of 43° and 61° in the prone and side-lying position, respectively.
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Affiliation(s)
- Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
| | - Samuel Dutra Gollob
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
| | - Diego Lavado
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
| | - Bon Ho Brandon Koo
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
| | - Segundo Cruz
- Instituto Nacional de Salud del Niño de San Borja, Lima 15037, Peru;
| | - Ellen T. Roche
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
- Institute for Medical Engineering and Science, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
- Research Centre in Bioengineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru
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28
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Soliman M, Mousa MA, Saleh MA, Elsamanty M, Radwan AG. Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators. Sci Rep 2021; 11:12076. [PMID: 34103571 PMCID: PMC8187634 DOI: 10.1038/s41598-021-91136-z] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/22/2021] [Accepted: 05/04/2021] [Indexed: 11/21/2022] Open
Abstract
Advances of soft robotics enabled better mimicking of biological creatures and closer realization of animals' motion in the robotics field. The biological creature's movement has morphology and flexibility that is problematic deportation to a bio-inspired robot. This paper aims to study the ability to mimic turtle motion using a soft pneumatic actuator (SPA) as a turtle flipper limb. SPA's behavior is simulated using finite element analysis to design turtle flipper at 22 different geometrical configurations, and the simulations are conducted on a large pressure range (0.11-0.4 Mpa). The simulation results are validated using vision feedback with respect to varying the air pillow orientation angle. Consequently, four SPAs with different inclination angles are selected to build a bio-mimetic turtle, which is tested at two different driving configurations. The nonlinear dynamics of soft actuators, which is challenging to model the motion using traditional modeling techniques affect the turtle's motion. Conclusively, according to kinematics behavior, the turtle motion path is modeled using the Echo State Network (ESN) method, one of the reservoir computing techniques. The ESN models the turtle path with respect to the actuators' rotation motion angle with maximum root-mean-square error of [Formula: see text]. The turtle is designed to enhance the robot interaction with living creatures by mimicking their limbs' flexibility and the way of their motion.
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Affiliation(s)
- MennaAllah Soliman
- Mechanical Engineering Program, School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City, 12588, Egypt.
| | - Mostafa A Mousa
- Nanoelectronics Integrated Systems Center (NISC), Nile University, Sheikh Zayed City, 12588, Egypt
| | - Mahmood A Saleh
- Mechanical Engineering Program, School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City, 12588, Egypt
| | - Mahmoud Elsamanty
- Smart Engineering Systems Research Center (SESC), Nile University, Sheikh Zayed City, 12588, Egypt
- Mechanical Department, Faculty of Engineering at Shoubra, Benha University, Cairo, 11672, Egypt
| | - Ahmed G Radwan
- Department of Engineering Mathematics and Physics, Cairo University, Giza, 12613, Egypt
- School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City, 12588, Egypt
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29
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Zhang P, Chen W, Tang B. Design and Feasibility Tests of a Lightweight Soft Gripper for Compliant and Flexible Envelope Grasping. Soft Robot 2021; 9:376-385. [PMID: 34097551 DOI: 10.1089/soro.2020.0156] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
A lightweight soft gripper for envelope grasping is proposed. The main component of the gripper is a spherical latex superelastic membrane whose material properties allow a grabbing function to be realized. The grasping process includes the expansion and tightening of the membrane, and it does not require a constant supply of energy. The geometric relationship between the actuator and the target object are analyzed, from which a gripping force model is deduced to estimate the grasping ability. A test-rig was designed to verify the gripping force model experimentally. The gripper can inherently realize shape adaptability and safety. It is easy to manipulate and control for beginners. Moreover, an actuator of only 50 g can grasp and lift various objects, including fragile and irregularly shaped items with a maximum mass >650 g.
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Affiliation(s)
- Ping Zhang
- Key Laboratory of Ocean Energy Utilization and Energy Conservation of Ministry of Education, Dalian University of Technology, Dalian, China.,Institute of Internal Combustion Engine, Dalian University of Technology, Dalian, China
| | - Weichun Chen
- Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing, China
| | - Bin Tang
- Key Laboratory of Ocean Energy Utilization and Energy Conservation of Ministry of Education, Dalian University of Technology, Dalian, China.,Institute of Internal Combustion Engine, Dalian University of Technology, Dalian, China
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30
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Zhou L, Ren L, Chen Y, Niu S, Han Z, Ren L. Bio-Inspired Soft Grippers Based on Impactive Gripping. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:2002017. [PMID: 33977041 PMCID: PMC8097330 DOI: 10.1002/advs.202002017] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/28/2020] [Revised: 12/17/2020] [Indexed: 05/23/2023]
Abstract
Grasping and manipulation are fundamental ways for many creatures to interact with their environments. Different morphologies and grasping methods of "grippers" are highly evolved to adapt to harsh survival conditions. For example, human hands and bird feet are composed of rigid frames and soft joints. Compared with human hands, some plants like Drosera do not have rigid frames, so they can bend at arbitrary points of the body to capture their prey. Furthermore, many muscular hydrostat animals and plant tendrils can implement more complex twisting motions in 3D space. Recently, inspired by the flexible grasping methods present in nature, increasingly more bio-inspired soft grippers have been fabricated with compliant and soft materials. Based on this, the present review focuses on the recent research progress of bio-inspired soft grippers based on impactive gripping. According to their types of movement and a classification model inspired by biological "grippers", soft grippers are classified into three types, namely, non-continuum bending-type grippers, continuum bending-type grippers, and continuum twisting-type grippers. An exhaustive and updated analysis of each type of gripper is provided. Moreover, this review offers an overview of the different stiffness-controllable strategies developed in recent years.
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Affiliation(s)
- Liang Zhou
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - Lili Ren
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - You Chen
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - Shichao Niu
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - Zhiwu Han
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - Luquan Ren
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
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Programmable Stimuli-Responsive Actuators for Complex Motions in Soft Robotics: Concept, Design and Challenges. ACTUATORS 2020. [DOI: 10.3390/act9040131] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/15/2022]
Abstract
During the last years, great progress was made in material science in terms of concept, design and fabrication of new composite materials with conferred properties and desired functionalities. The scientific community paid particular interest to active soft materials, such as soft actuators, for their potential as transducers responding to various stimuli aiming to produce mechanical work. Inspired by this, materials engineers today are developing multidisciplinary approaches to produce new active matters, focusing on the kinematics allowed by the material itself more than on the possibilities offered by its design. Traditionally, more complex motions beyond pure elongation and bending are addressed by the robotics community. The present review targets encompassing and rationalizing a framework which will help a wider scientific audience to understand, sort and design future soft actuators and methods enabling complex motions. Special attention is devoted to recent progress in developing innovative stimulus-responsive materials and approaches for complex motion programming for soft robotics. In this context, a challenging overview of the new materials as well as their classification and comparison (performances and characteristics) are proposed. In addition, the great potential of soft transducers are outlined in terms of kinematic capabilities, illustrated by the related application. Guidelines are provided to design actuators and to integrate asymmetry enabling motions along any of the six basic degrees of freedom (translations and rotations), and strategies towards the programming of more complex motions are discussed. As a final note, a series of manufacturing methods are described and compared, from molding to 3D and 4D printing. The review ends with a Perspectives section, from material science and microrobotic points of view, on the soft materials’ future and close future challenges to be overcome.
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32
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Design Methodology for a Novel Bending Pneumatic Soft Actuator for Kinematically Mirroring the Shape of Objects. ACTUATORS 2020. [DOI: 10.3390/act9040113] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
In the landscape of Industry 4.0, advanced robotics awaits a growing use of bioinspired adaptive and flexible robots. Collaborative robotics meets this demand. Due to human–robot coexistence and interaction, the safety, the first requirement to be satisfied, also depends on the end effectors. End effectors made of soft actuators satisfy this requirement. A novel pneumatic bending soft actuator with high compliance, low cost, high versatility and easy production is here proposed. Conceived to be used as a finger of a collaborative robot, it is made of a hyper-elastic inner tube wrapped in a gauze. The bending is controlled by cuts in the gauze: the length and the angular extension of them, the pressure value and the dimensions of the inner tube determine the bending amplitude and avoid axial elongation. A design methodology, oriented to kinematically mirror the shape of the object to be grasped, was defined. Firstly, it consists of the development of a non-linear parametric numerical model of a bioinspired finger; then, the construction of a prototype for the experimental validation of the numerical model was performed. Hence, a campaign of simulations led to the definition of a qualitatively predictive formula, the basis for the design methodology. The effectiveness of the latter was evaluated for a real case: an actuator for the grasping of a light bulb was designed and experimentally tested.
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33
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Chandler JH, Chauhan M, Garbin N, Obstein KL, Valdastri P. Parallel Helix Actuators for Soft Robotic Applications. Front Robot AI 2020; 7:119. [PMID: 33501285 PMCID: PMC7805886 DOI: 10.3389/frobt.2020.00119] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/19/2020] [Accepted: 07/29/2020] [Indexed: 12/16/2022] Open
Abstract
Fabrication of soft pneumatic bending actuators typically involves multiple steps to accommodate the formation of complex internal geometry and the alignment and bonding between soft and inextensible materials. The complexity of these processes intensifies when applied to multi-chamber and small-scale (~10 mm diameter) designs, resulting in poor repeatability. Designs regularly rely on combining multiple prefabricated single chamber actuators or are limited to simple (fixed cross-section) internal chamber geometry, which can result in excessive ballooning and reduced bending efficiency, compelling the addition of constraining materials. In this work, we address existing limitations by presenting a single material molding technique that uses parallel cores with helical features. We demonstrate that through specific orientation and alignment of these internal structures, small diameter actuators may be fabricated with complex internal geometry in a single material-without- additional design-critical steps. The helix design produces wall profiles that restrict radial expansion while allowing compact designs through chamber interlocking, and simplified demolding. We present and evaluate three-chambered designs with varied helical features, demonstrating appreciable bending angles (>180°), three-dimensional workspace coverage, and three-times bodyweight carrying capability. Through application and validation of the constant curvature assumption, forward kinematic models are presented for the actuator and calibrated to account for chamber-specific bending characteristics, resulting in a mean model tip error of 4.1 mm. This simple and inexpensive fabrication technique has potential to be scaled in size and chamber numbers, allowing for application-specific designs for soft, high-mobility actuators especially for surgical, or locomotion applications.
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Affiliation(s)
- James H. Chandler
- Science and Technology of Robotics in Medicine (STORM) Laboratory, School of Electronics and Electrical Engineering, University of Leeds, Leeds, United Kingdom
| | - Manish Chauhan
- Science and Technology of Robotics in Medicine (STORM) Laboratory, School of Electronics and Electrical Engineering, University of Leeds, Leeds, United Kingdom
| | - Nicolo Garbin
- Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, United States
| | - Keith L. Obstein
- Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, United States
- Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN, United States
| | - Pietro Valdastri
- Science and Technology of Robotics in Medicine (STORM) Laboratory, School of Electronics and Electrical Engineering, University of Leeds, Leeds, United Kingdom
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Gu G, Wang D, Ge L, Zhu X. Analytical Modeling and Design of Generalized Pneu-Net Soft Actuators with Three-Dimensional Deformations. Soft Robot 2020; 8:462-477. [PMID: 32822253 DOI: 10.1089/soro.2020.0039] [Citation(s) in RCA: 16] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022] Open
Abstract
Pneu-net soft actuators, consisting of pneumatic networks of small chambers embedded in elastomeric structures, are particularly promising candidates in the society of soft robotics. However, there are few studies on the analytical modeling of pneu-net soft actuators, especially in the three-dimensional space. In this article, based on the minimum potential energy method and the continuum rod theory, we propose an analytical model and corresponding design approach for a class of generalized pneu-net soft actuators (gPNSAs) with both bending and twisting deformations by combining the geometric complexity and material elasticity. We experimentally verify our modeling approach and finally investigate the effects of geometric parameters, material properties, and external force on the deformations of gPNSAs, which can be used as a tool for the design of gPNSAs. We further demonstrate that our developed model can predict the deformations of gPNSAs made of multiple materials.
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Affiliation(s)
- Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.,State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China
| | - Dong Wang
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Lisen Ge
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Xiangyang Zhu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.,State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China
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