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van Veggel S, Wiertlewski M, Doubrovski EL, Kooijman A, Shahabi E, Mazzolai B, Scharff RBN. Classification and Evaluation of Octopus-Inspired Suction Cups for Soft Continuum Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2400806. [PMID: 38874316 DOI: 10.1002/advs.202400806] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/23/2024] [Revised: 03/19/2024] [Indexed: 06/15/2024]
Abstract
The emergence of the field of soft robotics has led to an interest in suction cups as auxiliary structures on soft continuum arms to support the execution of manipulation tasks. This application poses demanding requirements on suction cups with respect to sensorization, adhesion under non-ideal contact conditions, and integration into fully soft systems. The octopus can serve as an important source of inspiration for addressing these challenges. This review aims to accelerate research in octopus-inspired suction cups by providing a detailed analysis of the octopus sucker, determining meaningful performance metrics for suction cups on the basis of this analysis, and evaluating the state-of-the-art in suction cups according to these performance metrics. In total, 47 records describing suction cups are found, classified according to the deployed actuation method, and evaluated on performance metrics reflecting the level of sensorization, adhesion, and integration. Despite significant advances in recent years, the octopus sucker outperforms all suction cups on all performance metrics. The realization of high resolution tactile sensing in suction cups and the integration of such sensorized suction cups in soft continuum structures are identified as two major hurdles toward the realization of octopus-inspired manipulation strategies in soft continuum robot arms.
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Affiliation(s)
- Stein van Veggel
- Department of Sustainable Design Engineering, Delft University of Technology, Delft, 2628 CE, The Netherlands
- Cognitive Robotics Department, Delft University of Technology, Delft, 2628 CD, The Netherlands
| | - Michaël Wiertlewski
- Cognitive Robotics Department, Delft University of Technology, Delft, 2628 CD, The Netherlands
| | - Eugeni L Doubrovski
- Department of Sustainable Design Engineering, Delft University of Technology, Delft, 2628 CE, The Netherlands
| | - Adrie Kooijman
- Department of Sustainable Design Engineering, Delft University of Technology, Delft, 2628 CE, The Netherlands
| | - Ebrahim Shahabi
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, 16163, Italy
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, 16163, Italy
| | - Rob B N Scharff
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, 16163, Italy
- Division of Integrative Systems and Design, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China
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2
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Guo X, Tang W, Qin K, Zhong Y, Xu H, Qu Y, Li Z, Sheng Q, Gao Y, Yang H, Zou J. Powerful UAV manipulation via bioinspired self-adaptive soft self-contained gripper. SCIENCE ADVANCES 2024; 10:eadn6642. [PMID: 38718123 PMCID: PMC11078182 DOI: 10.1126/sciadv.adn6642] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/20/2023] [Accepted: 04/08/2024] [Indexed: 05/12/2024]
Abstract
Existing grippers for unmanned aerial vehicle (UAV) manipulation have persistent challenges, highlighting a need for grippers that are soft, self-adaptive, self-contained, easy to control, and lightweight. Inspired by tendril plants, we propose a class of soft grippers that are voltage driven and based on winding deformation for self-adaptive grasping. We design two types of U-shaped soft eccentric circular tube actuators (UCTAs) and propose using the liquid-gas phase-transition mechanism to actuate UCTAs. Two types of UCTAs are separately cross-arranged to construct two types of soft grippers, forming self-contained systems that can be directly driven by voltage. One gripper inspired by tendril climbers can be used for delicate grasping, and the other gripper inspired by hook climbers can be used for strong grasping. These grippers are ideal for deployment in UAVs because of their self-adaptability, ease of control, and light weight, paving the way for UAVs to achieve powerful manipulation with low positioning accuracy, no complex grasping planning, self-adaptability, and multiple environments.
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Affiliation(s)
- Xinyu Guo
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Institute of Process Equipment, College of Energy Engineering, Zhejiang University, Hangzhou 310027, China
| | - Kecheng Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huxiu Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yang Qu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Zhaoyang Li
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Qincheng Sheng
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yidan Gao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
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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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4
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Yang D, Feng M, Gu G. High-Stroke, High-Output-Force, Fabric-Lattice Artificial Muscles for Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2306928. [PMID: 37672748 DOI: 10.1002/adma.202306928] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/13/2023] [Revised: 08/25/2023] [Indexed: 09/08/2023]
Abstract
Artificial muscles, providing safe and close interaction between humans and machines, are essential in soft robotics. However, their insufficient deformation, output force, or configurability usually limits their applications. Herein, this work presents a class of lightweight fabric-lattice artificial muscles (FAMs) that are pneumatically actuated with large contraction ratios (up to 87.5%) and considerable output forces (up to a load of 20 kg, force-to-weight ratio of over 250). The developed FAMs consist of a group of active air chambers that are zigzag connected into a lattice through passive connecting layers. The geometry of these fabric components is programmable to convert the in-plane lattice of FAMs into out-of-plane configurations (e.g., arched and cylindrical) capable of linear/radial contraction. This work further demonstrates that FAMs can be configured for various soft robotic applications, including the powerful robotic elbow with large motion range and high load capability, the well-fitting assistive shoulder exosuit that can reduce muscle activity during abduction, and the adaptive soft gripper that can grasp irregular objects. These results show the unique features and broad potential of FAMs for high-performance soft robots.
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Affiliation(s)
- Dezhi Yang
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Miao Feng
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
- Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, 200240, China
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5
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Zhang K, Fan Y, Shen S, Yang X, Li T. Tunable Folding Assembly Strategy for Soft Pneumatic Actuators. Soft Robot 2023; 10:1099-1114. [PMID: 37437102 DOI: 10.1089/soro.2022.0166] [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: 07/14/2023] Open
Abstract
With intrinsic compliance, soft pneumatic actuators are widely utilized in delicate tasks. However, complex fabrication approaches and limited tunability are still problems. Here, we propose a tunable folding assembly strategy to design and fabricate soft pneumatic actuators called FASPAs (folding assembly soft pneumatic actuators). A FASPA consists only of a folded silicone tube constrained by rubber bands. By designing local stiffness and folding manner, the FASPA can be designed to achieve four configurations, pure bending, discontinuous-curvature bending, helix, and discontinuous-curvature helix. Analytical models are developed to predict the deformation and the tip trajectory of different configurations. Meanwhile, experiments are performed to verify the models. The stiffness, load capacity, output force, and step response are measured, and fatigue tests are performed. Further, grippers with single, double, and triple fingers are assembled by utilizing different types of FASPAs. As such, objects with different shapes, sizes, and weights can be easily grasped. The folding assembly strategy is a promising method to design and fabricate soft robots with complex configurations to complete tough tasks in harsh environments.
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Affiliation(s)
- Kaihang Zhang
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Yaowei Fan
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Shiming Shen
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Xuxu Yang
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Tiefeng Li
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, China
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, China
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6
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Tang W, Zhong Y, Xu H, Qin K, Guo X, Hu Y, Zhu P, Qu Y, Yan D, Li Z, Jiao Z, Fan X, Yang H, Zou J. Self-protection soft fluidic robots with rapid large-area self-healing capabilities. Nat Commun 2023; 14:6430. [PMID: 37833280 PMCID: PMC10576050 DOI: 10.1038/s41467-023-42214-5] [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: 05/12/2023] [Accepted: 10/04/2023] [Indexed: 10/15/2023] Open
Abstract
Soft fluidic robots have attracted a lot of attention and have broad application prospects. However, poor fluidic power source and easy to damage have been hindering their development, while the lack of intelligent self-protection also brings inconvenience to their applications. Here, we design diversified self-protection soft fluidic robots that integrate soft electrohydrodynamic pumps, actuators, healing electrofluids, and E-skins. We develop high-performance soft electrohydrodynamic pumps, enabling high-speed actuation and large deformation of untethered soft fluidic robots. A healing electrofluid that can form a self-healed film with excellent stretchability and strong adhesion is synthesized, which can achieve rapid and large-areas-damage self-healing of soft materials. We propose multi-functional E-skins to endow robots intelligence, making robots realize a series of self-protection behaviors. Moreover, our robots allow their functionality to be enhanced by the combination of electrodes or actuators. This design strategy enables soft fluidic robots to achieve their high-speed actuation and intelligent self-protection, opening a door for soft robots with physical intelligence.
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Affiliation(s)
- Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- Institute of Process Equipment, College of Energy Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Huxiu Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Kecheng Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Xinyu Guo
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yu Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Pingan Zhu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yang Qu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Dong Yan
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Zhaoyang Li
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Xujun Fan
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China.
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China.
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7
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Guan Q, Liu L, Sun J, Wang J, Guo J, Liu Y, Leng J. Multifunctional Soft Stackable Robots by Netting-Rolling-Splicing Pneumatic Artificial Muscles. Soft Robot 2023; 10:1001-1014. [PMID: 37074447 DOI: 10.1089/soro.2022.0104] [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: 04/20/2023] Open
Abstract
Soft robots equipped with multifunctionalities have been increasingly needed for secure, adaptive, and autonomous functioning in unknown and unpredictable environments. Robotic stacking is a promising solution to increase the functional diversity of soft robots, which are required for safe human-machine interactions and adapting in unstructured environments. However, most existing multifunctional soft robots have a limited number of functions or have not fully shown the superiority of the robotic stacking method. In this study, we present a novel robotic stacking strategy, Netting-Rolling-Splicing (NRS) stacking, based on a dimensional raising method via 2D-to-3D rolling-and-splicing of netted stackable pneumatic artificial muscles to quickly and efficiently fabricate multifunctional soft robots based on the same, simple, and cost-effective elements. To demonstrate it, we developed a TriUnit robot that can crawl 0.46 ± 0.022 body length per second (BL/s) and climb 0.11 BL/s, and can carry a 3 kg payload while climbing. Also, the TriUnit can be used to achieve novel omnidirectional pipe climbing including rotating climbing, and conduct bionic swallowing-and-regurgitating, multi-degree-of-freedom manipulation based on their multimodal combinations. Apart from these, steady rolling, with a speed of 0.19 BL/s, can be achieved by using a pentagon unit. Furthermore, we applied the TriUnit pipe climbing robot in panoramic shooting and cargo transferring to demonstrate the robot's adaptability for different tasks. The NRS stacking-driven soft robot here has demonstrated the best overall performance among existing stackable soft robots, representing a new and effective way for building multifunctional and multimodal soft robots in a cost-effective and efficient way.
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Affiliation(s)
- Qinghua Guan
- Centre for Composite Materials and Structures, Harbin Institute of Technology (HIT), Harbin, People's Republic of China
| | - Liwu Liu
- Department of Astronautical Science and Mechanics, Harbin Institute of Technology (HIT), Harbin, People's Republic of China
| | - Jian Sun
- Centre for Composite Materials and Structures, Harbin Institute of Technology (HIT), Harbin, People's Republic of China
| | - Jiale Wang
- Department of Astronautical Science and Mechanics, Harbin Institute of Technology (HIT), Harbin, People's Republic of China
| | - Jianglong Guo
- School of Science, Harbin Institute of Technology (Shenzhen), Shenzhen, People's Republic of China
| | - Yanju Liu
- Department of Astronautical Science and Mechanics, Harbin Institute of Technology (HIT), Harbin, People's Republic of China
| | - Jinsong Leng
- Centre for Composite Materials and Structures, Harbin Institute of Technology (HIT), Harbin, People's Republic of China
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8
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Jin T, Wang T, Xiong Q, Tian Y, Li L, Zhang Q, Yeow CH. Modular Soft Robot with Origami Skin for Versatile Applications. Soft Robot 2023; 10:785-796. [PMID: 36951665 DOI: 10.1089/soro.2022.0064] [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: 03/24/2023] Open
Abstract
Recent advances in soft robotics demonstrate the requirement of modular actuation to enable the rapid replacement of actuators for maintenance and functionality extension. There remain challenges to designing soft actuators capable of different motions with a consistent appearance for simplifying fabrication and modular connection. Origami structures reshaping along with their unique creases became a powerful tool to provide compact constraint layers for soft pneumatic actuators. Inspired by Waterbomb and Kresling origami, this article presents three types of vacuum-driven soft actuators with a cubic shape and different origami skins, featuring contraction, bending, and twisting-contraction combined motions, respectively. In addition, these modular actuators with diversified motion patterns can be directly fabricated by molding silicone shell and constraint layers together. Actuators with different geometrical parameters are characterized to optimize the structure and maximize output properties after establishing a theoretical model to predict the deformation. Owing to the shape consistency, our actuators can be further modularized to achieve modular actuation via mortise and tenon-based structures, promoting the possibility and efficiency of module connection for versatile tasks. Eventually, several types of modular soft robots are created to achieve fragile object manipulation and locomotion in various environments to show their potential applications.
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Affiliation(s)
- Tao Jin
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
| | - Tianhong Wang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
| | - Quan Xiong
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
| | - Yingzhong Tian
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Long Li
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China
| | - Quan Zhang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
| | - Chen-Hua Yeow
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
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9
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Hu Z, Zhang Y, Jiang H, Lv JA. Bioinspired helical-artificial fibrous muscle structured tubular soft actuators. SCIENCE ADVANCES 2023; 9:eadh3350. [PMID: 37352358 PMCID: PMC10289666 DOI: 10.1126/sciadv.adh3350] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/24/2023] [Accepted: 05/19/2023] [Indexed: 06/25/2023]
Abstract
Biological tubular actuators show diverse deformations, which allow for sophisticated deformations with well-defined degrees of freedom (DOF). Nonetheless, synthetic active tubular soft actuators largely only exhibit few simple deformations with limited and undesignable DOF. Inspired by 3D fibrous architectures of tubular muscular hydrostats, we devised conceptually new helical-artificial fibrous muscle structured tubular soft actuators (HAFMS-TSAs) with locally tunable molecular orientations, materials, mechanics, and actuation via a modular fabrication platform using a programmable filament winding technique. Unprecedentedly, HAFMS-TSAs can be endowed with 11 different morphing modes through programmable regulation of their 3D helical fibrous architectures. We demonstrate a single "living" artificial plant rationally structured by HAFMS-TSAs exhibiting diverse photoresponsive behaviors that enable adaptive omnidirectional reorientation of its hierarchical 3D structures in the response to environmental irradiation, resembling morphing intelligence of living plants in reacting to changing environments. Our methodology would be significantly beneficial for developing sophisticated soft actuators with designable and tunable DOF.
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Affiliation(s)
- Zhiming Hu
- Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province, School of Engineering, Westlake University, Hangzhou 310024, Zhejiang, China
- School of Engineering, Westlake University, Hangzhou 310030, Zhejiang, China
- Westlake Institute for Advanced Study, Hangzhou 310024, Zhejiang, China
| | - Yanlin Zhang
- School of Engineering, Westlake University, Hangzhou 310030, Zhejiang, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou 310030, Zhejiang, China
- Research Center for Industries of the Future, Westlake University, Hangzhou 310030, Zhejiang, China
| | - Jiu-an Lv
- Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province, School of Engineering, Westlake University, Hangzhou 310024, Zhejiang, China
- School of Engineering, Westlake University, Hangzhou 310030, Zhejiang, China
- Westlake Institute for Advanced Study, Hangzhou 310024, Zhejiang, China
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10
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Zhang Z, Long Y, Chen G, Wu Q, Wang H, Jiang H. Soft and lightweight fabric enables powerful and high-range pneumatic actuation. SCIENCE ADVANCES 2023; 9:eadg1203. [PMID: 37043577 PMCID: PMC10096572 DOI: 10.1126/sciadv.adg1203] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Accepted: 03/14/2023] [Indexed: 06/19/2023]
Abstract
Soft structures and actuation allow robots, conventionally consisting of rigid components, to perform more compliant, adaptive interactions similar to living creatures. Although numerous functions of these types of actuators have been demonstrated in the literature, their hyperelastic designs generally suffer from limited workspaces and load-carrying capabilities primarily due to their structural stretchability factor. Here, we describe a series of pneumatic actuators based on soft but less stretchable fabric that can simultaneously perform tunable workspace and bear a high payload. The motion mode of the actuator is programmable, combinable, and predictable and is informed by rapid response to low input pressure. A robotic gripper using three fabric actuators is also presented. The gripper demonstrates a grasping force of over 150 N and a grasping range from 70 to 350 millimeters. The design concept and comprehensive guidelines presented would provide design and analysis foundations for applying less stretchable yet soft materials in soft robots to further enhance their practicality.
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Affiliation(s)
- Zhuang Zhang
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
| | - Yongzhou Long
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Genliang Chen
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
- Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Qichen Wu
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Hao Wang
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Research Center for Industries of the Future, Westlake University, Hangzhou, Zhejiang 310030, China
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Zhang S, Ke X, Jiang Q, Chai Z, Wu Z, Ding H. Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200671. [PMID: 35732070 DOI: 10.1002/adma.202200671] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/21/2022] [Revised: 06/12/2022] [Indexed: 06/15/2023]
Abstract
Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.
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Affiliation(s)
- Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Xingxing Ke
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhiping Chai
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
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Textiles in soft robots: Current progress and future trends. Biosens Bioelectron 2021; 196:113690. [PMID: 34653713 DOI: 10.1016/j.bios.2021.113690] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2021] [Revised: 09/29/2021] [Accepted: 10/03/2021] [Indexed: 12/19/2022]
Abstract
Soft robotics have substantial benefits of safety, adaptability, and cost efficiency compared to conventional rigid robotics. Textiles have applications in soft robotics either as an auxiliary material to reinforce the conventional soft material or as an active soft material. Textiles of various types and configurations have been fabricated into key components of soft robotics in adaptable formats. Despite significant advancements, the efficiency and characteristics of textile actuators in practical applications remain unsatisfactory. To address these issues, novel structural and material designs as well as new textile technologies have been introduced. Herein, we aim at giving an insight into the current state of the art in textile technology for soft robotic manufacturing. We firstly discuss the fundamental actuation mechanisms for soft robotics. We then provide a critical review on the recently developed functional textiles as reinforcements, sensors, and actuators in soft robotics. Finally, the future trends and current strategies that can be employed in textile-based actuator manufacturing process have been explored to address the critical challenges in soft robotics.
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