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Yin S, Yao DR, Song Y, Heng W, Ma X, Han H, Gao W. Wearable and Implantable Soft Robots. Chem Rev 2024; 124:11585-11636. [PMID: 39392765 DOI: 10.1021/acs.chemrev.4c00513] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/13/2024]
Abstract
Soft robotics presents innovative solutions across different scales. The flexibility and mechanical characteristics of soft robots make them particularly appealing for wearable and implantable applications. The scale and level of invasiveness required for soft robots depend on the extent of human interaction. This review provides a comprehensive overview of wearable and implantable soft robots, including applications in rehabilitation, assistance, organ simulation, surgical tools, and therapy. We discuss challenges such as the complexity of fabrication processes, the integration of responsive materials, and the need for robust control strategies, while focusing on advances in materials, actuation and sensing mechanisms, and fabrication techniques. Finally, we discuss the future outlook, highlighting key challenges and proposing potential solutions.
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Affiliation(s)
- Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California 91125, United States
| | - Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California 91125, United States
| | - Yu Song
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California 91125, United States
| | - Wenzheng Heng
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California 91125, United States
| | - Xiaotian Ma
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California 91125, United States
| | - Hong Han
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California 91125, United States
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California 91125, United States
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2
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Li MS, Stuart HS. AcousTac: Tactile Sensing with Acoustic Resonance for Electronics-Free Soft Skin. Soft Robot 2024. [PMID: 39092483 DOI: 10.1089/soro.2023.0082] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/04/2024] Open
Abstract
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones typically have a sampling rate of over 40 kHz. These accessible acoustic technologies are not yet widely adopted for the explicit purpose of giving robots a sense of touch. Some researchers have used sound to sense tactile information, both monitoring ambient soundscape and with embedded speakers and microphones to measure sounds within structures. However, these options commonly do not provide a direct measure of steady state force or require electronics integrated somewhere near the contact location. In this work, we present AcousTac, an acoustic tactile sensor for electronics-free, force-sensitive soft skin. Compliant silicone caps and plastic tubes compose the resonant chambers that emit pneumatic-driven sound measurable with a conventional off-board microphone. The resulting frequency changes depend on the external loads on the compliant endcaps. The compliant cap vibrates with the resonant pressure waves and is a nonidealized boundary condition, initially producing a nonmonotonic force response. We characterize two solutions-adding a distal hole and mass to the cap-resulting in monotonic and nonhysteretic force readings with this technology. We can tune each AcousTac taxel to specific force and frequency ranges, based on geometric parameters including tube length, and thus uniquely sense each taxel simultaneously in an array. We demonstrate AcousTac's functionality on two robotic systems: a 4-taxel array and a 3-taxel astrictive gripper. Simple to implement with off-the-shelf parts, AcousTac is a promising concept for force sensing on soft robotic surfaces, especially in situations where electronics near the contact are not suitable. Equipping robots with tactile sensing and soft skin provides them with a sense of touch and the ability to safely interact with their surroundings.
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Affiliation(s)
- Monica S Li
- Department of Mechanical Engineering, University of California Berkeley, Berkeley, California, USA
- School of Engineering & Applied Science, Yale University, New Haven, Connecticut, USA
| | - Hannah S Stuart
- Department of Mechanical Engineering, University of California Berkeley, Berkeley, California, USA
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3
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Oh E, Kane AQ, Truby RL. Architected Poly(ionic liquid) Composites with Spatially Programmable Mechanical Properties and Mixed Conductivity. ACS APPLIED MATERIALS & INTERFACES 2024; 16:10736-10745. [PMID: 38354100 DOI: 10.1021/acsami.3c18512] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/16/2024]
Abstract
Structural electrolytes present advantages over liquid varieties, which are critical to myriad applications. In particular, structural electrolytes based on polymerized ionic liquids or poly(ionic liquids) (pILs) provide wide electrochemical windows, high thermal stability, nonvolatility, and modular chemistry. However, current methods of fabricating structural electrolytes from pILs and their composites present limitations. Recent advances have been made in 3D printing pIL electrolytes, but current printing techniques limit the complexity of forms that can be achieved, as well as the ability to control mechanical properties or conductivity. We introduce a method for fabricating architected pIL composites as structural electrolytes via embedded 3D (EMB3D) printing. We present a modular design for formulating ionic liquid (IL) monomer composite inks that can be printed into sparse, lightweight, free-standing lattices with different functionalities. In addition to characterizing the rheological and mechanical behaviors of IL monomer inks and pIL lattices, we demonstrate the self-sensing capabilities of our printed structural electrolytes during cyclic compression. Finally, we use our inks and printing method to spatially program self-sensing capabilities in pIL lattices through heterogeneous architectures as well as ink compositions that provide mixed ionic-electronic conductivity. Our free-form approach to fabricating structural electrolytes in complex, 3D forms with programmable, anisotropic properties has broad potential use in next-generation sensors, soft robotics, bioelectronics, energy storage devices, and more.
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Affiliation(s)
- EunBi Oh
- Department of Materials Science and Engineering, Northwestern University, Evanston, Illinois 60208, United States
| | - Alexander Q Kane
- Department of Materials Science and Engineering, Northwestern University, Evanston, Illinois 60208, United States
| | - Ryan L Truby
- Department of Materials Science and Engineering, Northwestern University, Evanston, Illinois 60208, United States
- Department of Mechanical Engineering, Northwestern University, Evanston, Illinois 60208, United States
- Center for Robotics and Biosystems, Northwestern University, Evanston, Illinois 60208, United States
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4
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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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5
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Han C, Jeong Y, Ahn J, Kim T, Choi J, Ha J, Kim H, Hwang SH, Jeon S, Ahn J, Hong JT, Kim JJ, Jeong J, Park I. Recent Advances in Sensor-Actuator Hybrid Soft Systems: Core Advantages, Intelligent Applications, and Future Perspectives. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2302775. [PMID: 37752815 PMCID: PMC10724400 DOI: 10.1002/advs.202302775] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/02/2023] [Revised: 08/17/2023] [Indexed: 09/28/2023]
Abstract
The growing demand for soft intelligent systems, which have the potential to be used in a variety of fields such as wearable technology and human-robot interaction systems, has spurred the development of advanced soft transducers. Among soft systems, sensor-actuator hybrid systems are considered the most promising due to their effective and efficient performance, resulting from the synergistic and complementary interaction between their sensor and actuator components. Recent research on integrated sensor and actuator systems has resulted in a range of conceptual and practical soft systems. This review article provides a comprehensive analysis of recent advances in sensor and actuator integrated systems, which are grouped into three categories based on their primary functions: i) actuator-assisted sensors for intelligent detection, ii) sensor-assisted actuators for intelligent movement, and iii) sensor-actuator interactive devices for a hybrid of intelligent detection and movement. In addition, several bottlenecks in current studies are discussed, and prospective outlooks, including potential applications, are presented. This categorization and analysis will pave the way for the advancement and commercialization of sensor and actuator-integrated systems.
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Affiliation(s)
- Chankyu Han
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Yongrok Jeong
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
- Radioisotope Research DivisionKorea Atomic Energy Research Institute (KAERI)Daejeon34057Republic of Korea
| | - Junseong Ahn
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
| | - Taehwan Kim
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Jungrak Choi
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Ji‐Hwan Ha
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Hyunjin Kim
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Soon Hyoung Hwang
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
| | - Sohee Jeon
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
| | - Jihyeon Ahn
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
| | - Jin Tae Hong
- Radioisotope Research DivisionKorea Atomic Energy Research Institute (KAERI)Daejeon34057Republic of Korea
| | - Jin Joo Kim
- Radioisotope Research DivisionKorea Atomic Energy Research Institute (KAERI)Daejeon34057Republic of Korea
| | - Jun‐Ho Jeong
- Department of Nano Manufacturing TechnologyKorea Institute of Machinery and Materials (KIMM)Daejeon34103Republic of Korea
| | - Inkyu Park
- Department of Mechanical EngineeringKorea Advanced Institute of Science and Technology (KAIST)Daejeon34141Republic of Korea
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6
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Buchner TJK, Rogler S, Weirich S, Armati Y, Cangan BG, Ramos J, Twiddy ST, Marini DM, Weber A, Chen D, Ellson G, Jacob J, Zengerle W, Katalichenko D, Keny C, Matusik W, Katzschmann RK. Vision-controlled jetting for composite systems and robots. Nature 2023; 623:522-530. [PMID: 37968527 PMCID: PMC10651485 DOI: 10.1038/s41586-023-06684-3] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/13/2022] [Accepted: 09/27/2023] [Indexed: 11/17/2023]
Abstract
Recreating complex structures and functions of natural organisms in a synthetic form is a long-standing goal for humanity1. The aim is to create actuated systems with high spatial resolutions and complex material arrangements that range from elastic to rigid. Traditional manufacturing processes struggle to fabricate such complex systems2. It remains an open challenge to fabricate functional systems automatically and quickly with a wide range of elastic properties, resolutions, and integrated actuation and sensing channels2,3. We propose an inkjet deposition process called vision-controlled jetting that can create complex systems and robots. Hereby, a scanning system captures the three-dimensional print geometry and enables a digital feedback loop, which eliminates the need for mechanical planarizers. This contactless process allows us to use continuously curing chemistries and, therefore, print a broader range of material families and elastic moduli. The advances in material properties are characterized by standardized tests comparing our printed materials to the state-of-the-art. We directly fabricated a wide range of complex high-resolution composite systems and robots: tendon-driven hands, pneumatically actuated walking manipulators, pumps that mimic a heart and metamaterial structures. Our approach provides an automated, scalable, high-throughput process to manufacture high-resolution, functional multimaterial systems.
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Affiliation(s)
| | - Simon Rogler
- Soft Robotics Lab, D-MAVT, ETH Zurich, Zurich, Switzerland
| | - Stefan Weirich
- Soft Robotics Lab, D-MAVT, ETH Zurich, Zurich, Switzerland
| | - Yannick Armati
- Soft Robotics Lab, D-MAVT, ETH Zurich, Zurich, Switzerland
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7
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Hegde C, Su J, Tan JMR, He K, Chen X, Magdassi S. Sensing in Soft Robotics. ACS NANO 2023; 17:15277-15307. [PMID: 37530475 PMCID: PMC10448757 DOI: 10.1021/acsnano.3c04089] [Citation(s) in RCA: 22] [Impact Index Per Article: 22.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/08/2023] [Accepted: 07/26/2023] [Indexed: 08/03/2023]
Abstract
Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. Soft robots can handle delicate objects with care, access remote areas, and offer realistic feedback on their handling performance. However, increased dexterity and mechanical compliance of soft robots come with the need for accurate control of the position and shape of these robots. Therefore, soft robots must be equipped with sensors for better perception of their surroundings, location, force, temperature, shape, and other stimuli for effective usage. This review highlights recent progress in sensing feedback technologies for soft robotic applications. It begins with an introduction to actuation technologies and material selection in soft robotics, followed by an in-depth exploration of various types of sensors, their integration methods, and the benefits of multimodal sensing, signal processing, and control strategies. A short description of current market leaders in soft robotics is also included in the review to illustrate the growing demands of this technology. By examining the latest advancements in sensing feedback technologies for soft robots, this review aims to highlight the potential of soft robotics and inspire innovation in the field.
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Affiliation(s)
- Chidanand Hegde
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Jiangtao Su
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Joel Ming Rui Tan
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Ke He
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Xiaodong Chen
- School
of Materials Science and Engineering, Nanyang
Technological University, Singapore 639798, Singapore
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
| | - Shlomo Magdassi
- Singapore-HUJ
alliance for Research and Enterprise (SHARE), Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602, Singapore
- Casali
Center for Applied Chemistry, Institute of Chemistry, The Hebrew University of Jerusalem, Jerusalem 91904, Israel
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8
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Shu J, Wang J, Cheng KCC, Yeung LF, Li Z, Tong RKY. An End-to-End Dynamic Posture Perception Method for Soft Actuators Based on Distributed Thin Flexible Porous Piezoresistive Sensors. SENSORS (BASEL, SWITZERLAND) 2023; 23:6189. [PMID: 37448037 DOI: 10.3390/s23136189] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/23/2023] [Revised: 06/30/2023] [Accepted: 07/03/2023] [Indexed: 07/15/2023]
Abstract
This paper proposes a method for accurate 3D posture sensing of the soft actuators, which could be applied to the closed-loop control of soft robots. To achieve this, the method employs an array of miniaturized sponge resistive materials along the soft actuator, which uses long short-term memory (LSTM) neural networks to solve the end-to-end 3D posture for the soft actuators. The method takes into account the hysteresis of the soft robot and non-linear sensing signals from the flexible bending sensors. The proposed approach uses a flexible bending sensor made from a thin layer of conductive sponge material designed for posture sensing. The LSTM network is used to model the posture of the soft actuator. The effectiveness of the method has been demonstrated on a finger-size 3 degree of freedom (DOF) pneumatic bellow-shaped actuator, with nine flexible sponge resistive sensors placed on the soft actuator's outer surface. The sensor-characterizing results show that the maximum bending torque of the sensor installed on the actuator is 4.7 Nm, which has an insignificant impact on the actuator motion based on the working space test of the actuator. Moreover, the sensors exhibit a relatively low error rate in predicting the actuator tip position, with error percentages of 0.37%, 2.38%, and 1.58% along the x-, y-, and z-axes, respectively. This work is expected to contribute to the advancement of soft robot dynamic posture perception by using thin sponge sensors and LSTM or other machine learning methods for control.
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Affiliation(s)
- Jing Shu
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | - Junming Wang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | - Kenneth Chik-Chi Cheng
- Department of Biomedical Engineering, The Hong Kong Polytechnic University, Hong Kong SAR 999077, China
- Research Institute for Sports Science and Technology, The Hong Kong Polytechnic University, Hong Kong SAR 999077, China
| | - Ling-Fung Yeung
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | - Zheng Li
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | - Raymond Kai-Yu Tong
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
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Wang X, Meng Z, Chen CQ. Robotic Materials Transformable Between Elasticity and Plasticity. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2206637. [PMID: 36793150 PMCID: PMC10161124 DOI: 10.1002/advs.202206637] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/13/2022] [Revised: 01/12/2023] [Indexed: 05/06/2023]
Abstract
Robotic materials, with coupled sensing, actuation, computation, and communication, have attracted increasing attention because they are able to not only tune their conventional passive mechanical property via geometrical transformation or material phase change but also become adaptive and even intelligent to suit varying environments. However, the mechanical behavior of most robotic materials is either reversible (elastic) or irreversible (plastic), but not transformable between them. Here, a robotic material whose behavior is transformable between elastic and plastic is developed, based upon an extended neutrally stable tensegrity structure. The transformation does not depend on conventional phase transition and is fast. By integrating with sensors, the elasticity-plasticity transformable (EPT) material is able to self-sense deformation and decides whether to undergo transformation or not. This work expands the capability of the mechanical property modulation of robotic materials.
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Affiliation(s)
- Xinyuan Wang
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
| | - Zhiqiang Meng
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
| | - Chang Qing Chen
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
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10
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Leber A, Dong C, Laperrousaz S, Banerjee H, Abdelaziz MEMK, Bartolomei N, Schyrr B, Temelkuran B, Sorin F. Highly Integrated Multi-Material Fibers for Soft Robotics. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2204016. [PMID: 36414395 PMCID: PMC9839840 DOI: 10.1002/advs.202204016] [Citation(s) in RCA: 12] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/21/2022] [Revised: 10/11/2022] [Indexed: 06/16/2023]
Abstract
Soft robots are envisioned as the next generation of safe biomedical devices in minimally invasive procedures. Yet, the difficulty of processing soft materials currently limits the size, aspect-ratio, manufacturing throughput, as well as, the design complexity and hence capabilities of soft robots. Multi-material thermal drawing is introduced as a material and processing platform to create soft robotic fibers imparted with multiple actuations and sensing modalities. Several thermoplastic and elastomeric material options for the fibers are presented, which all exhibit the rheological processing attributes for thermal drawing but varying mechanical properties, resulting in adaptable actuation performance. Moreover, numerous different fiber designs with intricate internal architectures, outer diameters of 700 µm, aspect ratios of 103 , and a fabrication at a scale of 10s of meters of length are demonstrated. A modular tendon-driven mechanism enables 3-dimensional (3D) motion, and embedded optical guides, electrical wires, and microfluidic channels give rise to multifunctionality. The fibers can perceive and autonomously adapt to their environments, as well as, probe electrical properties, and deliver fluids and mechanical tools to spatially distributed targets.
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Affiliation(s)
- Andreas Leber
- Institute of MaterialsÉcole Polytechnique Fédérale de LausanneLausanne1015Switzerland
| | - Chaoqun Dong
- Institute of MaterialsÉcole Polytechnique Fédérale de LausanneLausanne1015Switzerland
| | - Stella Laperrousaz
- Institute of MaterialsÉcole Polytechnique Fédérale de LausanneLausanne1015Switzerland
| | - Hritwick Banerjee
- Institute of MaterialsÉcole Polytechnique Fédérale de LausanneLausanne1015Switzerland
| | | | - Nicola Bartolomei
- Institute of MaterialsÉcole Polytechnique Fédérale de LausanneLausanne1015Switzerland
| | - Bastien Schyrr
- Institute of MaterialsÉcole Polytechnique Fédérale de LausanneLausanne1015Switzerland
| | - Burak Temelkuran
- The Hamlyn Centre for Robotic SurgeryImperial College LondonLondonSW7 2AZUK
- Department of MetabolismDigestion and ReproductionFaculty of MedicineImperial College LondonLondonSW7 2AZUK
| | - Fabien Sorin
- Institute of MaterialsÉcole Polytechnique Fédérale de LausanneLausanne1015Switzerland
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11
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Kaarthik P, Sanchez FL, Avtges J, Truby RL. Motorized, untethered soft robots via 3D printed auxetics. SOFT MATTER 2022; 18:8229-8237. [PMID: 36111862 DOI: 10.1039/d2sm00779g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Untethered operation remains a fundamental challenge in soft robotics. Soft robotic actuators are generally unable to produce the forces required for carrying essential power and control hardware on-board. Moreover, current untethered soft robots often have low operating times given soft actuators' limited efficiency and lifetime. Here, we 3D print cylindrical handed shearing auxetics (HSAs) from single-cure polyurethane resins for use as scalable, motorized soft robotic actuators for untethered machines. Mechanical characterization of individual HSAs confirms their auxetic behaviors and suitability as actuators. HSA pairs of opposite handedness are assembled to form multi-degree-of-freedom legs for untethered quadrupeds. We explore several leg designs to understand the role of length and auxetic pattern density on overall motion and blocked force generated. Finally, we demonstrate untethered locomotion with two soft robotic quadrupeds. We find that our taller soft robot is capable of walking at 2 body lengths per min (BL min-1) for 65 min, all while carrying a payload of at least 1.5 kg. We compare our soft robots' capabilities to those of previously reported untethered, terrestrial systems and find that our motorized HSAs lead to the second highest operating time with an above average velocity. We anticipate that these methods will open new avenues for designing untethered soft robots with the robustness, operating times, and payload capacities required for future fundamental investigations in embodied intelligence and adaptive, physical learning.
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Affiliation(s)
- Pranav Kaarthik
- Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA.
| | - Francesco L Sanchez
- Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA.
| | - James Avtges
- Center for Robotics and Biosystems, Northwestern University, Evanston, IL 60208, USA
| | - Ryan L Truby
- Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA.
- Center for Robotics and Biosystems, Northwestern University, Evanston, IL 60208, USA
- Department of Materials Science and Engineering, Northwestern University, Evanston, IL 60208, USA
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