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Persano L, Camposeo A, Matino F, Wang R, Natarajan T, Li Q, Pan M, Su Y, Kar-Narayan S, Auricchio F, Scalet G, Bowen C, Wang X, Pisignano D. Advanced Materials for Energy Harvesting and Soft Robotics: Emerging Frontiers to Enhance Piezoelectric Performance and Functionality. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2405363. [PMID: 39291876 DOI: 10.1002/adma.202405363] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/15/2024] [Revised: 07/24/2024] [Indexed: 09/19/2024]
Abstract
Piezoelectric energy harvesting captures mechanical energy from a number of sources, such as vibrations, the movement of objects and bodies, impact events, and fluid flow to generate electric power. Such power can be employed to support wireless communication, electronic components, ocean monitoring, tissue engineering, and biomedical devices. A variety of self-powered piezoelectric sensors, transducers, and actuators have been produced for these applications, however approaches to enhance the piezoelectric properties of materials to increase device performance remain a challenging frontier of materials research. In this regard, the intrinsic polarization and properties of materials can be designed or deliberately engineered to enhance the piezo-generated power. This review provides insights into the mechanisms of piezoelectricity in advanced materials, including perovskites, active polymers, and natural biomaterials, with a focus on the chemical and physical strategies employed to enhance the piezo-response and facilitate their integration into complex electronic systems. Applications in energy harvesting and soft robotics are overviewed by highlighting the primary performance figures of merits, the actuation mechanisms, and relevant applications. Key breakthroughs and valuable strategies to further improve both materials and device performance are discussed, together with a critical assessment of the requirements of next-generation piezoelectric systems, and future scientific and technological solutions.
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Affiliation(s)
- Luana Persano
- NEST, Istituto Nanoscienze-CNR and Scuola Normale Superiore, Pisa, I-56127, Italy
| | - Andrea Camposeo
- NEST, Istituto Nanoscienze-CNR and Scuola Normale Superiore, Pisa, I-56127, Italy
| | - Francesca Matino
- NEST, Istituto Nanoscienze-CNR and Scuola Normale Superiore, Pisa, I-56127, Italy
| | - Ruoxing Wang
- Department of Materials Science and Engineering, University of Wisconsin-Madison, Madison, 53707, USA
| | - Thiyagarajan Natarajan
- Department of Materials Science, University of Cambridge, 27 Charles Babbage Road, Cambridge, CB3 0FS, UK
| | - Qinlan Li
- State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Min Pan
- Department of Mechanical Engineering, University of Bath, Bath, BA2 7AY, UK
| | - Yewang Su
- State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Sohini Kar-Narayan
- Department of Materials Science, University of Cambridge, 27 Charles Babbage Road, Cambridge, CB3 0FS, UK
| | - Ferdinando Auricchio
- Department of Civil Engineering and Architecture, University of Pavia, via Ferrata 3, Pavia, I-27100, Italy
| | - Giulia Scalet
- Department of Civil Engineering and Architecture, University of Pavia, via Ferrata 3, Pavia, I-27100, Italy
| | - Chris Bowen
- Department of Mechanical Engineering, University of Bath, Bath, BA2 7AY, UK
| | - Xudong Wang
- Department of Materials Science and Engineering, University of Wisconsin-Madison, Madison, 53707, USA
| | - Dario Pisignano
- Dipartimento di Fisica "E. Fermi", Università di Pisa, Largo B. Pontecorvo 3, Pisa, I-56127, Italy
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Xu Q, Zhang K, Ying C, Xie H, Chen J, E S. Origami-Inspired Vacuum-Actuated Foldable Actuator Enabled Biomimetic Worm-like Soft Crawling Robot. Biomimetics (Basel) 2024; 9:541. [PMID: 39329563 PMCID: PMC11430112 DOI: 10.3390/biomimetics9090541] [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: 07/20/2024] [Revised: 08/23/2024] [Accepted: 09/04/2024] [Indexed: 09/28/2024] Open
Abstract
The development of a soft crawling robot (SCR) capable of quick folding and recovery has important application value in the field of biomimetic engineering. This article proposes an origami-inspired vacuum-actuated foldable soft crawling robot (OVFSCR), which is composed of entirely soft foldable mirrored origami actuators with a Kresling crease pattern, and possesses capabilities of realizing multimodal locomotion incorporating crawling, climbing, and turning movements. The OVFSCR is characterized by producing periodically foldable and restorable body deformation, and its asymmetric structural design of low front and high rear hexahedral feet creates a friction difference between the two feet and contact surface to enable unidirectional movement. Combining an actuation control sequence with an asymmetrical structural design, the body deformation and feet in contact with ground can be coordinated to realize quick continuous forward crawling locomotion. Furthermore, an efficient dynamic model is developed to characterize the OVFSCR's motion capability. The robot demonstrates multifunctional characteristics, including crawling on a flat surface at an average speed of 11.9 mm/s, climbing a slope of 3°, carrying a certain payload, navigating inside straight and curved round tubes, removing obstacles, and traversing different media. It is revealed that the OVFSCR can imitate contractile deformation and crawling mode exhibited by soft biological worms. Our study contributes to paving avenues for practical applications in adaptive navigation, exploration, and inspection of soft robots in some uncharted territory.
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Affiliation(s)
| | | | | | | | - Jinxin Chen
- Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology & Equipment of Zhejiang Province, Department of Robotics Engineering, College of Engineering, Zhejiang Normal University, Jinhua 321004, China; (Q.X.); (K.Z.); (C.Y.); (H.X.)
| | - Shiju E
- Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology & Equipment of Zhejiang Province, Department of Robotics Engineering, College of Engineering, Zhejiang Normal University, Jinhua 321004, China; (Q.X.); (K.Z.); (C.Y.); (H.X.)
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3
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Yang H, Li S, Wu Y, Bao X, Xiang Z, Xie Y, Pan L, Chen J, Liu Y, Li RW. Advances in Flexible Magnetosensitive Materials and Devices for Wearable Electronics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2311996. [PMID: 38776537 DOI: 10.1002/adma.202311996] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/11/2023] [Revised: 05/14/2024] [Indexed: 05/25/2024]
Abstract
Emerging fields, such as wearable electronics, digital healthcare, the Internet of Things, and humanoid robots, highlight the need for flexible devices capable of recording signals on curved surfaces and soft objects. In particular, flexible magnetosensitive devices garner significant attention owing to their ability to combine the advantages of flexible electronics and magnetoelectronic devices, such as reshaping capability, conformability, contactless sensing, and navigation capability. Several key challenges must be addressed to develop well-functional flexible magnetic devices. These include determining how to make magnetic materials flexible and even elastic, understanding how the physical properties of magnetic films change under external strain and stress, and designing and constructing flexible magnetosensitive devices. In recent years, significant progress is made in addressing these challenges. This study aims to provide a timely and comprehensive overview of the most recent developments in flexible magnetosensitive devices. This includes discussions on the fabrications and mechanical regulations of flexible magnetic materials, the principles and performances of flexible magnetic sensors, and their applications for wearable electronics. In addition, future development trends and challenges in this field are discussed.
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Affiliation(s)
- Huali Yang
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
| | - Shengbin Li
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
| | - Yuanzhao Wu
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
| | - Xilai Bao
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Ziyin Xiang
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
| | - Yali Xie
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
| | - Lili Pan
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Jinxia Chen
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Yiwei Liu
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Run-Wei Li
- CAS Key Laboratory of Magnetic Materials and Devices, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, P. R. China
- College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
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Guo Q, Sun Y, Zhang T, Xie S, Chen X, Zhang Z, Jiang H, Yang L. Bistable Insect-Scale Jumpers with Tunable Energy Barriers for Multimodal Locomotion. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2404404. [PMID: 38973215 PMCID: PMC11425846 DOI: 10.1002/advs.202404404] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/24/2024] [Revised: 06/04/2024] [Indexed: 07/09/2024]
Abstract
Drawing inspiration from the jumping mechanisms of insects (e.g., click beetles), bistable structures can convert slow deformations of soft actuating material into fast jumping motions (i.e., power amplification). However, bistable jumpers often encounter large energy barriers for energy release/re-storage, posing a challenge in achieving multimodal (i.e., height/distance) and continuous jumps at the insect scale (body length under 20 mm). Here, a new offset-buckling bistable design is introduced that features antisymmetric equilibrium states and tunable energy barriers. Leveraging this design, a Boundary Actuation Tunable Energy-barrier (BATE) jumper (body length down to 15 mm) is developed, and transform BATE jumper from height-jump mode (up to 12.7 body lengths) to distance-jump mode (up to 20 body lengths). BATE jumpers can perform agile continuous jumping (within 300 ms for energy release/re-storage times) and real-time status detection is further demonstrated. This insect-level performance of the proposed BATE jumper showcases its potential toward future applications in exploration, search, and rescue.
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Affiliation(s)
- Qingkai Guo
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Yu Sun
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Tianxiang Zhang
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Shiyu Xie
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Xuefeng Chen
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Zhuang Zhang
- School of EngineeringWestlake UniversityHangzhouZhejiang310030China
- Westlake Institute for Advanced StudyHangzhouZhejiang310024China
| | - Hanqing Jiang
- School of EngineeringWestlake UniversityHangzhouZhejiang310030China
- Westlake Institute for Advanced StudyHangzhouZhejiang310024China
- Research Center for Industries of the FutureWestlake UniversityHangzhouZhejiang310030China
| | - Laihao Yang
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
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5
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Yang L, Wang H. High-performance electrically responsive artificial muscle materials for soft robot actuation. Acta Biomater 2024; 185:24-40. [PMID: 39025393 DOI: 10.1016/j.actbio.2024.07.016] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/02/2024] [Revised: 06/24/2024] [Accepted: 07/11/2024] [Indexed: 07/20/2024]
Abstract
Traditional robotic devices are often bulky and rigid, making it difficult for them to adapt to the soft and complex shapes of the human body. In stark contrast, soft robots, as a burgeoning class of robotic technology, showcase exceptional flexibility and adaptability, positioning them as compelling contenders for a diverse array of applications. High-performance electrically responsive artificial muscle materials (ERAMMs), as key driving components of soft robots, can achieve efficient motion and deformation, as well as more flexible and precise robot control, attracting widespread attention. This paper reviews the latest advancements in high-performance ERAMMs and their applications in the field of soft robot actuation, using ionic polymer-metal composites and dielectric elastomers as typical cases. Firstly, the definition, characteristics, and electro-driven working principles of high-performance ERAMMs are introduced. Then, the material design and synthesis, fabrication processes and optimization, as well as characterization and testing methods of the ERAMMs are summarized. Furthermore, various applications of two typical ERAMMs in the field of soft robot actuation are discussed in detail. Finally, the challenges and future directions in current research are analyzed and anticipated. This review paper aims to provide researchers with a reference for understanding the latest research progress in high-performance ERAMMs and to guide the development and application of soft robots. STATEMENT OF SIGNIFICANCE.
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Affiliation(s)
- Liang Yang
- School of Physics and Electronic Information, Yan'an University, Yan'an 716000, China
| | - Hong Wang
- School of Physics and Electronic Information, Yan'an University, Yan'an 716000, China.
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6
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Tang D, Zhang C, Pan C, Hu H, Sun H, Dai H, Fu J, Majidi C, Zhao P. Bistable soft jumper capable of fast response and high takeoff velocity. Sci Robot 2024; 9:eadm8484. [PMID: 39167670 DOI: 10.1126/scirobotics.adm8484] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/10/2023] [Accepted: 07/22/2024] [Indexed: 08/23/2024]
Abstract
In contrast with jumping robots made from rigid materials, soft jumpers composed of compliant and elastically deformable materials exhibit superior impact resistance and mechanically robust functionality. However, recent efforts to create stimuli-responsive jumpers from soft materials were limited in their response speed, takeoff velocity, and travel distance. Here, we report a magnetic-driven, ultrafast bistable soft jumper that exhibits good jumping capability (jumping more than 108 body heights with a takeoff velocity of more than 2 meters per second) and fast response time (less than 15 milliseconds) compared with previous soft jumping robots. The snap-through transitions between bistable states form a repeatable loop that harnesses the ultrafast release of stored elastic energy. On the basis of the dynamic analysis, the multimodal locomotion of the bistable soft jumper can be realized: the interwell mode of jumping and the intrawell mode of hopping. These modes are controlled by adjusting the duration and strength of the magnetic field, which endows the bistable soft jumper with robust locomotion capabilities. In addition, it is capable of jumping omnidirectionally with tunable heights and distances. To demonstrate its capability in complex environments, a realistic pipeline with amphibious terrain was established. The jumper successfully finished a simulative task of cleansing water through a pipeline. The design principle and actuating mechanism of the bistable soft jumper can be further extended for other flexible systems.
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Affiliation(s)
- Daofan Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Chengqian Zhang
- State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou 310027, China
| | - Chengfeng Pan
- State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Hao Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Haonan Sun
- State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huangzhe Dai
- State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Jianzhong Fu
- State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Carmel Majidi
- Soft Machines Lab, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Peng Zhao
- State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
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7
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He J, Feng Q, Chen Y, Yang T, Li X, Zhou W. High-Resolution Rotation-Measuring System for MEMS Ultrasonic Motors Using Tunneling Magnetoresistance Sensors. MICROMACHINES 2024; 15:1028. [PMID: 39203679 PMCID: PMC11356207 DOI: 10.3390/mi15081028] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/25/2024] [Revised: 08/08/2024] [Accepted: 08/11/2024] [Indexed: 09/03/2024]
Abstract
This study proposes a high-resolution rotation-measuring system for miniaturized MEMS ultrasonic motors using tunneling magnetoresistance (TMR) sensors for the first time. Initially, the architecture and principle of the rotation-measuring system are described in detail. Then, the finite element simulation is implemented to determine the miniaturized permanent magnet's residual magnetization, dimensions, and TMR sensor position. Finally, the experiments are implemented to evaluate the performance. Using calibration based on a high-precision servo motor, it is found that the relationship between the output and rotational angle is highly linear and immune to the rotor's out-of-plane movement. Meanwhile, the angle-detecting resolution is higher than 0.1°. After the calibration, the continuous rotation of the MEMS ultrasonic motor is tested. It is found that the angle testing result varies with a period close to 360°, which indicates that the rotation-measuring system has successfully detected the motor's rotation.
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Affiliation(s)
- Jiangbo He
- School of Mechanical Engineering, Xihua University, Chengdu 610039, China;
| | - Qiuyue Feng
- School of Mechanical Engineering, Xihua University, Chengdu 610039, China;
| | - Yu Chen
- Microsystem and Terahertz Research Center, China Academy of Engineering Physics, Chengdu 610299, China; (T.Y.); (X.L.)
- Institute of Electronic Engineering, China Academy of Engineering Physics, Mianyang 621900, China
| | - Tianyu Yang
- Microsystem and Terahertz Research Center, China Academy of Engineering Physics, Chengdu 610299, China; (T.Y.); (X.L.)
- Institute of Electronic Engineering, China Academy of Engineering Physics, Mianyang 621900, China
| | - Xiaoshi Li
- Microsystem and Terahertz Research Center, China Academy of Engineering Physics, Chengdu 610299, China; (T.Y.); (X.L.)
- Institute of Electronic Engineering, China Academy of Engineering Physics, Mianyang 621900, China
| | - Wu Zhou
- School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;
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Cheng J, Zhang R, Li H, Wang Z, Lin C, Jin P, Nie Y, Lu B, Jiao Y, Ma Y, Feng X. Soft Crawling Microrobot Based on Flexible Optoelectronics Enabling Autonomous Phototaxis in Terrestrial and Aquatic Environments. Soft Robot 2024. [PMID: 39133138 DOI: 10.1089/soro.2023.0112] [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: 08/13/2024] Open
Abstract
Many organisms move directly toward light for prey hunting or navigation, which is called phototaxis. Mimicking this behavior in robots is crucially important in the energy industry and environmental exploration. However, the phototaxis robots with rigid bodies and sensors still face challenges in adapting to unstructured environments, and the soft phototaxis robots often have high requirements for light sources with limited locomotion performance. Here, we report a 3.5 g soft microrobot that can perceive the azimuth angle of light sources and exhibit rapid phototaxis locomotion autonomously enabled by three-dimensional flexible optoelectronics and compliant shape memory alloy (SMA) actuators. The optoelectronics is assembled from a planar patterned flexible circuit with miniature photodetectors, introducing the self-occlusion to light, resulting in high sensing ability (error < 3.5°) compared with the planar counterpart. The actuator produces a straightening motion driven by an SMA wire and is then returned to a curled shape by a prestretched elastomer layer. The actuator exhibits rapid actuation within 0.1 s, a significant degree of deformation (curvature change of ∼87 m-1) and a blocking force of ∼0.4 N, which is 68 times its own weight. Finally, we demonstrated the robot is capable of autonomously crawling toward a moving light source in a hybrid aquatic-terrestrial environment without human intervention. We envision that our microrobot could be widely used in autonomous light tracking applications.
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Affiliation(s)
- Jiahui Cheng
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Ruiping Zhang
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Haibo Li
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
- Jiaxing Key Laboratory of Flexible Electronics based Intelligent Sensing and Advanced Manufacturing Technology, Institute of Flexible Electronics Technology of Tsinghua, Zhejiang, Jiaxing, China
| | - Zhouheng Wang
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Chen Lin
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Peng Jin
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Yunmeng Nie
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Bingwei Lu
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Yang Jiao
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Yinji Ma
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Xue Feng
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing, China
- AML, Department of Engineering Mechanics, Tsinghua University, Beijing, China
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9
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Wang X, Li S, Chang JC, Liu J, Axinte D, Dong X. Multimodal locomotion ultra-thin soft robots for exploration of narrow spaces. Nat Commun 2024; 15:6296. [PMID: 39060231 PMCID: PMC11282246 DOI: 10.1038/s41467-024-50598-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/12/2023] [Accepted: 07/12/2024] [Indexed: 07/28/2024] Open
Abstract
From power plants on land to bridges over the sea, safety-critical built environments require periodic inspections for detecting issues to avoid functional discontinuities of these installations. However, navigation paths in these environments are usually challenging as they often contain difficult-to-access spaces (near-millimetre and submillimetre-high gaps) and multiple domains (solid, liquid and even aerial). In this paper, we address these challenges by developing a class of Thin Soft Robots (TS-Robot: thickness, 1.7 mm) that can access narrow spaces and perform cross-domain multimodal locomotion. We adopted a dual-actuation sandwich structure with a tuneable Poisson's ratio tensioning mechanism for developing the TS-Robots driven by dielectric elastomers, providing them with two types of gaits (linear and undulating), remarkable output force ( ~ 41 times their weight) and speed (1.16 times Body Length/s and 13.06 times Body Thickness/s). Here, we demonstrated that TS-Robots can crawl, climb, swim and collaborate for transitioning between domains in environments with narrow entries.
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Affiliation(s)
- Xi Wang
- Rolls-Royce University Technology Centre in Manufacturing and On-Wing Technology, Faculty of Engineering, University of Nottingham, NG7 2GX, Nottingham, UK
| | - Siqian Li
- Rolls-Royce University Technology Centre in Manufacturing and On-Wing Technology, Faculty of Engineering, University of Nottingham, NG7 2GX, Nottingham, UK
| | - Jung-Che Chang
- Rolls-Royce University Technology Centre in Manufacturing and On-Wing Technology, Faculty of Engineering, University of Nottingham, NG7 2GX, Nottingham, UK
| | - Jing Liu
- Rolls-Royce University Technology Centre in Manufacturing and On-Wing Technology, Faculty of Engineering, University of Nottingham, NG7 2GX, Nottingham, UK
| | - Dragos Axinte
- Rolls-Royce University Technology Centre in Manufacturing and On-Wing Technology, Faculty of Engineering, University of Nottingham, NG7 2GX, Nottingham, UK
| | - Xin Dong
- Rolls-Royce University Technology Centre in Manufacturing and On-Wing Technology, Faculty of Engineering, University of Nottingham, NG7 2GX, Nottingham, UK.
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10
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Luo B, Lu H, Zhong Y, Zhu K, Wang Y. Carbon Nanotube-Doped 3D-Printed Silicone Electrode for Manufacturing Multilayer Porous Plasticized Polyvinyl Chloride Gel Artificial Muscles. Gels 2024; 10:416. [PMID: 39057440 PMCID: PMC11275437 DOI: 10.3390/gels10070416] [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: 06/05/2024] [Revised: 06/15/2024] [Accepted: 06/20/2024] [Indexed: 07/28/2024] Open
Abstract
Plasticized polyvinyl chloride (PVC) gel has large deformation under an applied external electrical field and high driving stability in air and is a candidate artificial muscle material for manufacturing a flexible actuator. A porous PVC gel actuator consists of a mesh positive pole, a planar negative pole, and a PVC gel core layer. The current casting method is only suitable for manufacturing simple 2D structures, and it is difficult to produce multilayer porous structures. This study investigated the feasibility of a 3D-printed carbon nanotube-doped silicone electrode for manufacturing multilayer porous PVC gel artificial muscle. Carbon nanotube-doped silicone (CNT-PDMS) composite inks were developed for printing electrode layers of PVC gel artificial muscles. The parameters for the printing plane and mesh electrodes were explored theoretically and experimentally. We produced a CNT-PDMS electrode and PVC gel via integrated printing to manufacture multilayer porous PVC artificial muscle and verified its good performance.
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Affiliation(s)
- Bin Luo
- School of Mechanics and Materials, Hohai University, Nanjing 211100, China;
- School of Mechanical and Energy Engineering, Shaoyang University, Shaoyang 422000, China; (H.L.); (K.Z.)
- State Key Laboratory for Strength and Vibration of Mechanical Structures, Xi’an Jiaotong University, Xi’an 710049, China;
| | - Hanjing Lu
- School of Mechanical and Energy Engineering, Shaoyang University, Shaoyang 422000, China; (H.L.); (K.Z.)
| | - Yiding Zhong
- State Key Laboratory for Strength and Vibration of Mechanical Structures, Xi’an Jiaotong University, Xi’an 710049, China;
| | - Kejun Zhu
- School of Mechanical and Energy Engineering, Shaoyang University, Shaoyang 422000, China; (H.L.); (K.Z.)
| | - Yanjie Wang
- School of Mechanics and Materials, Hohai University, Nanjing 211100, China;
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11
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Cao Y, Xu B, Li B, Fu H. Advanced Design of Soft Robots with Artificial Intelligence. NANO-MICRO LETTERS 2024; 16:214. [PMID: 38869734 PMCID: PMC11176285 DOI: 10.1007/s40820-024-01423-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Accepted: 04/22/2024] [Indexed: 06/14/2024]
Abstract
A comprehensive review focused on the whole systems of the soft robotics with artificial intelligence, which can feel, think, react and interact with humans, is presented. The design strategies concerning about various aspects of the soft robotics, like component materials, device structures, prepared technologies, integrated method, and potential applications, are summarized. A broad outlook on the future considerations for the soft robots is proposed. In recent years, breakthrough has been made in the field of artificial intelligence (AI), which has also revolutionized the industry of robotics. Soft robots featured with high-level safety, less weight, lower power consumption have always been one of the research hotspots. Recently, multifunctional sensors for perception of soft robotics have been rapidly developed, while more algorithms and models of machine learning with high accuracy have been optimized and proposed. Designs of soft robots with AI have also been advanced ranging from multimodal sensing, human–machine interaction to effective actuation in robotic systems. Nonetheless, comprehensive reviews concerning the new developments and strategies for the ingenious design of the soft robotic systems equipped with AI are rare. Here, the new development is systematically reviewed in the field of soft robots with AI. First, background and mechanisms of soft robotic systems are briefed, after which development focused on how to endow the soft robots with AI, including the aspects of feeling, thought and reaction, is illustrated. Next, applications of soft robots with AI are systematically summarized and discussed together with advanced strategies proposed for performance enhancement. Design thoughts for future intelligent soft robotics are pointed out. Finally, some perspectives are put forward.
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Affiliation(s)
- Ying Cao
- Nanotechnology Center, School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong, 999077, People's Republic of China
| | - Bingang Xu
- Nanotechnology Center, School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong, 999077, People's Republic of China.
| | - Bin Li
- Bioinspired Engineering and Biomechanics Center, Xi'an Jiaotong University, Xi'an, 710049, People's Republic of China
| | - Hong Fu
- Department of Mathematics and Information Technology, The Education University of Hong Kong, Hong Kong, 999077, People's Republic of China.
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12
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Zhao J, Xin C, Zhu J, Xia N, Hao B, Liu X, Tan Y, Yang S, Wang X, Xue J, Wang Q, Lu H, Zhang L. Insect-Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2312655. [PMID: 38465794 DOI: 10.1002/adma.202312655] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/24/2023] [Revised: 03/04/2024] [Indexed: 03/12/2024]
Abstract
Multimodal and controllable locomotion in complex terrain is of great importance for practical applications of insect-scale robots. Robust locomotion plays a particularly critical role. In this study, a locomotion mechanism for magnetic robots based on asymmetrical friction effect induced by magnetic torque is revealed and defined. The defined mechanism overcomes the design constraints imposed by both robot and substrate structures, enabling the realization of multimodal locomotion on complex terrains. Drawing inspiration from human walking and running locomotion, a biped robot based on the mechanism is proposed, which not only exhibits rapid locomotion across substrates with varying friction coefficients but also achieves precise locomotion along patterned trajectories through programmed controlling. Furthermore, apart from its exceptional locomotive capabilities, the biped robot demonstrates remarkable robustness in terms of load-carrying and weight-bearing performance. The presented locomotion and mechanism herein introduce a novel concept for designing magnetic robots while offering extensive possibilities for practical applications in insect-scale robotics.
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Affiliation(s)
- Jinsheng Zhao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Chen Xin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jiaqi Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Bo Hao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Xurui Liu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Yu Tan
- College of Environment and Civil Engineering, Chengdu University of Technology, Chengdu, 610059, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Junnan Xue
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Haojian Lu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, 310027, China
- Institute of Cyber-Systems and Control, Department of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
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13
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Pan X, Pu W, Liu Y, Xiao Y, Pu J, Shi Y, Wu H, Wang H. Self-Perceptional Soft Robotics by a Dielectric Elastomer. ACS APPLIED MATERIALS & INTERFACES 2024; 16:26797-26807. [PMID: 38722638 DOI: 10.1021/acsami.4c04700] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/24/2024]
Abstract
Soft robotics has been a rapidly growing field in recent decades due to its advantages of softness, deformability, and adaptability to various environments. However, the separation of perception and actuation in soft robot research hinders its progress toward compactness and flexibility. To address this limitation, we propose the use of a dielectric elastomer actuator (DEA), which exhibits both an actuation capability and perception stability. Specifically, we developed a DEA array to localize the 3D spatial position of objects. Subsequently, we integrate the actuation and sensing properties of DEA into soft robots to achieve self-perception. We have developed a system that integrates actuation and sensing and have proposed two modes to achieve this integration. Furthermore, we demonstrated the feasibility of this system for soft robots. When the robots detect an obstacle or an approaching object, they can swiftly respond by avoiding or escaping the obstacle. By eliminating the need for separate perception and motion considerations, self-perceptional soft robots can achieve an enhanced response performance and enable applications in a more compact and flexible field.
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Affiliation(s)
- Xinghai Pan
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Wei Pu
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Yanling Liu
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Yuhang Xiao
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Junhong Pu
- School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Ye Shi
- ZJU-UIUC Institute, Zhejiang University, Zhejiang 314400, China
| | - Hui Wu
- State Key Laboratory of New Ceramics and Fine Processing, School of Materials Science and Engineering, Tsinghua University, Beijing 100084, China
| | - Haolun Wang
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
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14
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Liu Z, Zhan W, Liu X, Zhu Y, Qi M, Leng J, Wei L, Han S, Wu X, Yan X. A wireless controlled robotic insect with ultrafast untethered running speeds. Nat Commun 2024; 15:3815. [PMID: 38719823 PMCID: PMC11078929 DOI: 10.1038/s41467-024-47812-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2023] [Accepted: 04/12/2024] [Indexed: 05/12/2024] Open
Abstract
Running speed degradation of insect-scale (less than 5 cm) legged microrobots after carrying payloads has become a bottleneck for microrobots to achieve high untethered locomotion performance. In this work, we present a 2-cm legged microrobot (BHMbot, BeiHang Microrobot) with ultrafast untethered running speeds, which is facilitated by the complementary combination of bouncing length and bouncing frequency in the microrobot's running gait. The untethered BHMbot (2-cm-long, 1760 mg) can achieve a running speed of 17.5 BL s-1 and a turning centripetal acceleration of 65.4 BL s-2 at a Cost of Transport of 303.7 and a power consumption of 1.77 W. By controlling its two front legs independently, the BHMbot demonstrates various locomotion trajectories including circles, rectangles, letters and irregular paths across obstacles through a wireless control module. Such advancements enable the BHMbot to carry out application attempts including sound signal detection, locomotion inside a turbofan engine and transportation via a quadrotor.
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Affiliation(s)
- Zhiwei Liu
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Wencheng Zhan
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Beijing Key Laboratory of Aero-Engine Structure and Strength, Beijing, China
| | - Xinyi Liu
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Yangsheng Zhu
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Mingjing Qi
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Jiaming Leng
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Lizhao Wei
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Shousheng Han
- School of Integrated Circuits, Tsinghua University, Beijing, China
| | - Xiaoming Wu
- School of Integrated Circuits, Tsinghua University, Beijing, China.
| | - Xiaojun Yan
- School of Energy and Power Engineering, Beihang University, Beijing, China.
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China.
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China.
- Research Institute of Aero-Engine, Beihang University, Beijing, China.
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15
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Ren Z, Ucak K, Yan Y, Sitti M. Undulatory Propulsion at Milliscale on Water Surface. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2309807. [PMID: 38483259 PMCID: PMC11109636 DOI: 10.1002/advs.202309807] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/14/2023] [Revised: 02/17/2024] [Indexed: 05/23/2024]
Abstract
The oscillatory pitch motion at the leading edge of a millimeter-scale flexible sheet on the water surface can generate undulatory locomotion for swimming, similar to a honeybee vibrating its wings for propulsion. The influence of various parameters on such swimming strategy remains unexplored. This study uses magnetic milliswimmers to probe the propulsion mechanics and impact of different parameters. It is found that this undulatory propulsion is driven by capillary forces and added mass effects related to undulatory waves of the milliswimmers, along with radiation stress stemming from capillary waves at the interface. Modifying the parameters such as actuation frequency, pitch amplitude, bending stiffness, and hydrofoil length alters the body waveform, thus, affecting the propulsion speed and energy efficiency. Although undulatory motion is not a prerequisite for water surface propulsion, optimizing body stiffness to achieve a proper undulatory waveform is crucial for efficient swimming, balancing energy consumption, and speed. The study also reveals that the induced water flow is confined near the water surface, and the flow structures evolve with varying factors. These discoveries advance the understanding of undulatory water surface propulsion and have implications for the optimal design of small-scale swimming soft robots in the future.
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Affiliation(s)
- Ziyu Ren
- School of Mechanical Engineering and AutomationBeihang UniversityBeijing100191China
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Kagan Ucak
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Yingbo Yan
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Laboratory for Multiscale Mechanics and Medical ScienceSV LABSchool of AerospaceXi'an Jiaotong UniversityXi'an710049China
| | - Metin Sitti
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
- School of Medicine and College of EngineeringKoç UniversityIstanbul34450Turkey
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16
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Wang H, Li X, Wang X, Qin Y, Pan Y, Guo X. Somatosensory Electro-Thermal Actuator through the Laser-Induced Graphene Technology. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2310612. [PMID: 38087883 DOI: 10.1002/smll.202310612] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/18/2023] [Indexed: 05/25/2024]
Abstract
The biological system realizes the unity of action and perception through the muscle tissue and nervous system. Correspondingly, artificial soft actuators realize the unity of sensing and actuating functions in a single functional material, which will have tremendous potential for developing intelligent and bionic soft robotics. This paper reports the design of a laser-induced graphene (LIG) electrothermal actuator with self-sensing capability. LIG, a functional material formed by a one-step direct-write lasing procedure under ambient air, is used as electrothermal conversion materials and piezoresistive sensing materials. By transferring LIG to a flexible silicone substrate, the design ability of the LIG-based actuator unit is enriched, along with an effectively improved sensing sensitivity. Through the integration of different types of well-designed LIG-based actuator units, the transformations from multidimensional precursors to 2D and 3D structures are realized. According to the piezoresistive effect of the LIG units during the deformation process, the visual synchronous deformation state feedback of the LIG-based actuator is proposed. The multimodal crawling soft robotics and the switchable electromagnetic shielding cloak serve as the demonstrations of the self-sensing LIG-based actuator, showing the advantage of the design in remote control of the soft robot without relying on the assistance of visual devices.
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Affiliation(s)
- Hao Wang
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xuyang Li
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xiaoyue Wang
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yong Qin
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yang Pan
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xiaogang Guo
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
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17
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Wang Y, Wang Y, Mushtaq RT, Wei Q. Advancements in Soft Robotics: A Comprehensive Review on Actuation Methods, Materials, and Applications. Polymers (Basel) 2024; 16:1087. [PMID: 38675005 PMCID: PMC11054840 DOI: 10.3390/polym16081087] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2024] [Revised: 04/10/2024] [Accepted: 04/11/2024] [Indexed: 04/28/2024] Open
Abstract
The flexibility and adaptability of soft robots enable them to perform various tasks in changing environments, such as flower picking, fruit harvesting, in vivo targeted treatment, and information feedback. However, these fulfilled functions are discrepant, based on the varied working environments, driving methods, and materials. To further understand the working principle and research emphasis of soft robots, this paper summarized the current research status of soft robots from the aspects of actuating methods (e.g., humidity, temperature, PH, electricity, pressure, magnetic field, light, biological, and hybrid drive), materials (like hydrogels, shape-memory materials, and other flexible materials) and application areas (camouflage, medical devices, electrical equipment, and grippers, etc.). Finally, we provided some opinions on the technical difficulties and challenges of soft robots to comprehensively comprehend soft robots, lucubrate their applications, and improve the quality of our lives.
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Affiliation(s)
- Yanmei Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
| | - Yanen Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
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18
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Yun R, Liu Z, Leng J, Huang J, Yan X, Qi M. A Millimeter-Scale Multilocomotion Microrobot Capable of Controlled Crawling and Jumping. Soft Robot 2024; 11:361-370. [PMID: 38190294 DOI: 10.1089/soro.2023.0025] [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: 01/10/2024] Open
Abstract
Insects and animals in nature generally have powerful muscles to guarantee their complex motion, such as crawling, running, and jumping. It is challenging for insect-sized robots to achieve controlled crawling and jumping within the scale of millimeters and milligrams. This article proposes a novelty bionic muscle actuator, where an electrical pulse is applied to generate joule heat to expand the actuator's chamber. Under the restoring force of the spring element, the chamber contracts back to the initial state to finish a complete cycle. The actuator can obtain high-frequency vibration under the high-frequency electrical signal. We propose a microrobot based on the novelty actuator to achieve controlled crawling and jumping over the obstacle of the millimeter-sized robot. The robot is fabricated with two actuators as a crawling module and one actuator as a jumping module, with a mass of 52 mg, length of 9.3 mm, width of 9.1 mm, and height of 4 mm. The microrobot has a maximum crawling turning velocity of 0.73 rad/s, a maximum jump height of 42 mm (10.5 times body height), and a maximum jump velocity of 0.91 m/s. This study extends the potential for applying the novelty bionic-muscle actuator to the microrobot.
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Affiliation(s)
- Ruide Yun
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Zhiwei Liu
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Jiaming Leng
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Jianmei Huang
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Xiaojun Yan
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Mingjing Qi
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
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19
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Yang Y, Li M, Chen E, Mu W, Yin R. Bioinspired Soft Electrostatic Accordion-Fold Actuators. Soft Robot 2024; 11:308-319. [PMID: 38557223 DOI: 10.1089/soro.2022.0235] [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: 04/04/2024] Open
Abstract
Increasing interests have been directed toward the exploitation of origami techniques in developing biomimetic soft robots. There is a need for effective design solutions to exploit the properties of origami structure with simplified assembly and improved robotic mobility. In this study, inspired by human long-standing jumps, we present a soft electrostatically driven legged accordion fold actuator made by turning a flat paper into hollow polyhedron structure with a spring like rear and capable of electrostatic pad-assisted steering and carrying loads. Without the need for integration of external actuators, the actuator is composed of the electrostatic origami actuator itself supported by a single-fold leg with fast response, easy fabrication process, and low cost. Initiated by periodic deformation around the folding hinges caused by alternating current voltage and ground reaction forces, the actuators exhibit a unique jump-slide movement outperforming other existing soft electrostatic actuators/robots in terms of relative speed. We examined the effect of different geometric and external factors on the relative speed and highlighted the significance of body scale and short-edge panels as the elastic elements, as well as operating at resonance frequency in producing effective performances. Theoretical locomotion models and finite element analysis were carried out to interpret the working principle and validate experimental results.
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Affiliation(s)
- Yiduo Yang
- Textile Engineering, Chemistry and Science, Wilson College of Textiles, North Carolina State University, Raleigh, North Carolina, USA
| | - Mengjiao Li
- Textile Engineering, Chemistry and Science, Wilson College of Textiles, North Carolina State University, Raleigh, North Carolina, USA
- College of Engineering, Ocean University of China, Qingdao, China
| | - Erdong Chen
- Textile Engineering, Chemistry and Science, Wilson College of Textiles, North Carolina State University, Raleigh, North Carolina, USA
- College of Engineering, Ocean University of China, Qingdao, China
| | - Weilei Mu
- College of Engineering, Ocean University of China, Qingdao, China
| | - Rong Yin
- Textile Engineering, Chemistry and Science, Wilson College of Textiles, North Carolina State University, Raleigh, North Carolina, USA
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20
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Peng Q, Wang S, Han J, Huang C, Yu H, Li D, Qiu M, Cheng S, Wu C, Cai M, Fu S, Chen B, Wu X, Du S, Xu T. Thermal and Magnetic Dual-Responsive Catheter-Assisted Shape Memory Microrobots for Multistage Vascular Embolization. RESEARCH (WASHINGTON, D.C.) 2024; 7:0339. [PMID: 38550780 PMCID: PMC10976590 DOI: 10.34133/research.0339] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/18/2023] [Accepted: 02/20/2024] [Indexed: 08/20/2024]
Abstract
Catheters navigating through complex vessels, such as sharp turns or multiple U-turns, remain challenging for vascular embolization. Here, we propose a novel multistage vascular embolization strategy for hard-to-reach vessels that releases untethered swimming shape-memory magnetic microrobots (SMMs) from the prior catheter to the vessel bifurcation. SMMs, made of organo-gel with magnetic particles, ensure biocompatibility, radiopacity, thrombosis, and fast thermal and magnetic responses. An SMM is initially a linear shape with a 0.5-mm diameter at 20 °C inserted in a catheter. It transforms into a predetermined helix within 2 s at 38 °C blood temperature after being pushed out of the catheter into the blood. SMMs enable agile swimming in confined and tortuous vessels and can swim upstream using helical propulsion with rotating magnetic fields. Moreover, we validated this multistage vascular embolization in living rabbits, completing 100-cm travel and renal artery embolization in 2 min. After 4 weeks, the SMMs maintained the embolic position, and the kidney volume decreased by 36%.
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Affiliation(s)
- Qianbi Peng
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Shu Wang
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
| | - Jianguo Han
- Department of Neurosurgery, South China Hospital, Medical School,
Shenzhen University, Shenzhen, China
| | - Chenyang Huang
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Hengyuan Yu
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
| | - Dong Li
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
| | - Ming Qiu
- Department of Neurosurgery, South China Hospital, Medical School,
Shenzhen University, Shenzhen, China
| | - Si Cheng
- Department of Neurosurgery, South China Hospital, Medical School,
Shenzhen University, Shenzhen, China
| | - Chong Wu
- Department of Neurosurgery, South China Hospital, Medical School,
Shenzhen University, Shenzhen, China
| | - Mingxue Cai
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
| | - Shixiong Fu
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Binghan Chen
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Xinyu Wu
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
| | - Shiwei Du
- Department of Neurosurgery, South China Hospital, Medical School,
Shenzhen University, Shenzhen, China
| | - Tiantian Xu
- Guangdong Provincial Key Lab of Robotics and Intelligent Systems, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
- The Key Laboratory of Biomedical Imaging Science and System, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen, China
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21
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Tang L, Wang C, Ma S, Li Y, Li B. Multidirectional Planar Motion Transmission on a Single-Motor Actuated Robot via Microscopic Galumphing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307738. [PMID: 38093662 PMCID: PMC10916667 DOI: 10.1002/advs.202307738] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/15/2023] [Revised: 11/22/2023] [Indexed: 12/20/2023]
Abstract
Insect-scale mobile robots can execute diverse arrays of tasks in confined spaces. Although most self-contained crawling robots integrate multiple actuators to ensure high flexibility, the intricate actuators restrict their miniaturization. Conversely, robots with a single actuator lack the requisite agility and precision for planar movements. Herein, a novel eccentric rotation-dependent multidirectional transmission is presented using a tilted eccentric motor and a simplistic two-legged structural configuration for planar locomotion. The speed of the eccentric motor is modulated to enable alternating microscopic jumps to propel the system, creating a mode of motion analogous to galumphing of seals. Upon modeling the motion dynamics and conducting experiments, the effectiveness of direct motion transmission is substantiated through microscopic galumphing encompassing left/right crawling and straight-forward crawling. Finally, a 1.2 g untethered robot is developed, which demonstrates enhanced straight crawling and spot turning, traverses narrow tunnels, and achieves precise movements. Therefore, the proposed motion-transmission technique provides a comprehensive set of innovative solutions of underactuated agile robots.
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Affiliation(s)
- Lingqi Tang
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Chenghao Wang
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Songsong Ma
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Yao Li
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive RoboticsHarbin Institute of TechnologyShenzhen518055China
| | - Bing Li
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive RoboticsHarbin Institute of TechnologyShenzhen518055China
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
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22
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Cheng X, Shen Z, Zhang Y. Bioinspired 3D flexible devices and functional systems. Natl Sci Rev 2024; 11:nwad314. [PMID: 38312384 PMCID: PMC10833470 DOI: 10.1093/nsr/nwad314] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/23/2023] [Revised: 11/21/2023] [Accepted: 11/28/2023] [Indexed: 02/06/2024] Open
Abstract
Flexible devices and functional systems with elaborated three-dimensional (3D) architectures can endow better mechanical/electrical performances, more design freedom, and unique functionalities, when compared to their two-dimensional (2D) counterparts. Such 3D flexible devices/systems are rapidly evolving in three primary directions, including the miniaturization, the increasingly merged physical/artificial intelligence and the enhanced adaptability and capabilities of heterogeneous integration. Intractable challenges exist in this emerging research area, such as relatively poor controllability in the locomotion of soft robotic systems, mismatch of bioelectronic interfaces, and signal coupling in multi-parameter sensing. By virtue of long-time-optimized materials, structures and processes, natural organisms provide rich sources of inspiration to address these challenges, enabling the design and manufacture of many bioinspired 3D flexible devices/systems. In this Review, we focus on bioinspired 3D flexible devices and functional systems, and summarize their representative design concepts, manufacturing methods, principles of structure-function relationship and broad-ranging applications. Discussions on existing challenges, potential solutions and future opportunities are also provided to usher in further research efforts toward realizing bioinspired 3D flexible devices/systems with precisely programmed shapes, enhanced mechanical/electrical performances, and high-level physical/artificial intelligence.
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Affiliation(s)
- Xu Cheng
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
| | - Zhangming Shen
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
| | - Yihui Zhang
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
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23
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Yang H, Ding S, Wang J, Sun S, Swaminathan R, Ng SWL, Pan X, Ho GW. Computational design of ultra-robust strain sensors for soft robot perception and autonomy. Nat Commun 2024; 15:1636. [PMID: 38388467 PMCID: PMC10883982 DOI: 10.1038/s41467-024-45786-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Accepted: 02/05/2024] [Indexed: 02/24/2024] Open
Abstract
Compliant strain sensors are crucial for soft robots' perception and autonomy. However, their deformable bodies and dynamic actuation pose challenges in predictive sensor manufacturing and long-term robustness. This necessitates accurate sensor modelling and well-controlled sensor structural changes under strain. Here, we present a computational sensor design featuring a programmed crack array within micro-crumples strategy. By controlling the user-defined structure, the sensing performance becomes highly tunable and can be accurately modelled by physical models. Moreover, they maintain robust responsiveness under various demanding conditions including noise interruptions (50% strain), intermittent cyclic loadings (100,000 cycles), and dynamic frequencies (0-23 Hz), satisfying soft robots of diverse scaling from macro to micro. Finally, machine intelligence is applied to a sensor-integrated origami robot, enabling robotic trajectory prediction (<4% error) and topographical altitude awareness (<10% error). This strategy holds promise for advancing soft robotic capabilities in exploration, rescue operations, and swarming behaviors in complex environments.
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Affiliation(s)
- Haitao Yang
- Institute of Flexible Electronics (IFE) & Frontiers Science Center for Flexible Electronics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Shuo Ding
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
- Department of Biomedical Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Jiahao Wang
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Shuo Sun
- Department of Mechanical Engineering, National University of Singapore, Singapore, 9 Engineering Drive 1, Singapore, 117575, Singapore
| | - Ruphan Swaminathan
- Department of Computer Science, Columbia University, New York, NY, 10027, USA
| | - Serene Wen Ling Ng
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Xinglong Pan
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Ghim Wei Ho
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore.
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24
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Wang Z, Chen Y, Ma Y, Wang J. Bioinspired Stimuli-Responsive Materials for Soft Actuators. Biomimetics (Basel) 2024; 9:128. [PMID: 38534813 DOI: 10.3390/biomimetics9030128] [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: 01/29/2024] [Revised: 02/16/2024] [Accepted: 02/19/2024] [Indexed: 03/28/2024] Open
Abstract
Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.
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Affiliation(s)
- Zhongbao Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yixin Chen
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yuan Ma
- Department of Mechanical Engineering, Research Institute for Intelligent Wearable Systems, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Jing Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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25
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Ke X, Yong H, Xu F, Ding H, Wu Z. Stenus-inspired, swift, and agile untethered insect-scale soft propulsors. Nat Commun 2024; 15:1491. [PMID: 38374180 PMCID: PMC10876683 DOI: 10.1038/s41467-024-45997-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Accepted: 02/09/2024] [Indexed: 02/21/2024] Open
Abstract
Mimicking living creatures, soft robots exhibit incomparable adaptability and various attractive new features. However, untethered insect-scale soft robots are often plagued with inferior controllability and low kinetic performance. Systematically inspired by the swift swingable abdomen, conducting canals for secretion transport, and body setae of Stenus comma, together with magnetic-induced fast-transformed postures, herein, we present a swift, agile untethered millimetre-scale soft propulsor propelling on water. The demonstrated propulsor, with a body length (BL) of 3.6 mm, achieved a recorded specific speed of ~201 BL/s and acceleration of ~8,372 BL/s2. The comprehensive kinetic performance of this propulsor surpasses those of previous ones at similar scales by several orders. Notably, we discovered momentum-transfer-induced over-biological on-demand braking (deceleration ~-5,010 BL/s2) and elucidated the underlying hydrodynamics. This work offers new insights into systematically bio-inspired artificial insect-scale soft robots, enabling them to push boundaries in performance, and potentially revolutionizing robot design, optimization, and control paradigms.
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Affiliation(s)
- Xingxing Ke
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Haochen Yong
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Fukang Xu
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Han Ding
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Zhigang Wu
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China.
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26
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Ke X, Yong H, Xu F, Chai Z, Jiang J, Ni X, Wu Z. Synergistical Mechanical Design and Function Integration for Insect-Scale On-Demand Configurable Multifunctional Soft Magnetic Robots. Soft Robot 2024; 11:43-56. [PMID: 37418155 DOI: 10.1089/soro.2022.0105] [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: 07/08/2023] Open
Abstract
Meso- or micro-scale(or insect-scale) robots that are capable of realizing flexible locomotion and/or carrying on complex tasks in a remotely controllable manner hold great promise in diverse fields, such as biomedical applications, unknown environment exploration, in situ operation in confined spaces, and so on. However, the existing design and implementation approaches for such multifunctional, on-demand configurable insect-scale robots are often focusing on their actuation or locomotion, while matched design and implementation with synergistic actuation and function modules under large deformation targeting varying task/target demands are rarely investigated. In this study, through systematical investigations on synergistical mechanical design and function integration, we developed a matched design and implementation method for constructing multifunctional, on-demand configurable insect-scale soft magnetic robots. Based on such a method, we report a simple approach to construct soft magnetic robots by assembling various modules from the standard part library together. Moreover, diverse soft magnetic robots with desirable motion and function can be (re)configured. Finally, we demonstrated (re)configurable soft magnetic robots shifting into different modes to adapt and respond to varying scenarios. The customizable physical realization of complex soft robots with desirable actuation and diverse functions can pave a new way for constructing more sophisticated insect-scale soft machines that can be applied to practical applications soon.
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Affiliation(s)
- Xingxing Ke
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Haochen Yong
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Fukang Xu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhiping Chai
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Jiajun Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Xiang Ni
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
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27
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Wang R, Xiao H, Quan X, Gao J, Fukuda T, Shi Q. Bioinspired Soft Spine Enables Small-Scale Robotic Rat to Conquer Challenging Environments. Soft Robot 2024; 11:70-84. [PMID: 37477672 DOI: 10.1089/soro.2022.0220] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/22/2023] Open
Abstract
For decades, it has been difficult for small-scale legged robots to conquer challenging environments. To solve this problem, we propose the introduction of a bioinspired soft spine into a small-scale legged robot. By capturing the motion mechanism of rat erector spinae muscles and vertebrae, we designed a cable-driven centrally symmetric soft spine under limited volume and integrated it into our previous robotic rat SQuRo. We called this newly updated robot SQuRo-S. Because of the coupling compliant spine bending and leg locomotion, the environmental adaptability of SQuRo-S significantly improved. We conducted a series of experiments on challenging environments to verify the performance of SQuRo-S. The results demonstrated that SQuRo-S crossed an obstacle of 1.07 body height, thereby outperforming most small-scale legged robots. Remarkably, SQuRo-S traversed a narrow space of 0.86 body width. To the best of our knowledge, SQuRo-S is the first quadruped robot of this scale that is capable of traversing a narrow space with a width smaller than its own width. Moreover, SQuRo-S demonstrated stable walking on mud-sand, pipes, and slopes (20°), and resisted strong external impact and repositioned itself in various body postures. This work provides a new paradigm for enhancing the flexibility and adaptability of small-scale legged robots with spine in challenging environments, and can be easily generalized to the design and development of legged robots with spine of different scales.
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Affiliation(s)
- Ruochao Wang
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Hang Xiao
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Yangtze Delta Region Academy of Beijing Institute of Technology, Jiaxing, China
| | - Xiaolong Quan
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Junhui Gao
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Toshio Fukuda
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Qing Shi
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Yangtze Delta Region Academy of Beijing Institute of Technology, Jiaxing, China
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28
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Huang ZX, Li LW, Huang YZ, Rao WX, Jiang HW, Wang J, Zhang HH, He HZ, Qu JP. Self-poled piezoelectric polymer composites via melt-state energy implantation. Nat Commun 2024; 15:819. [PMID: 38280902 PMCID: PMC10821934 DOI: 10.1038/s41467-024-45184-4] [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: 07/04/2023] [Accepted: 01/17/2024] [Indexed: 01/29/2024] Open
Abstract
Lightweight flexible piezoelectric polymers are demanded for various applications. However, the low instinctively piezoelectric coefficient (i.e. d33) and complex poling process greatly resist their applications. Herein, we show that introducing dynamic pressure during fabrication is capable for poling polyvinylidene difluoride/barium titanate (PVDF/BTO) composites with d33 of ~51.20 pC/N at low density of ~0.64 g/cm3. The melt-state dynamic pressure driven energy implantation induces structure evolutions of both PVDF and BTO are demonstrated as reasons for self-poling. Then, the porous material is employed as pressure sensor with a high output of ~20.0 V and sensitivity of ~132.87 mV/kPa. Besides, the energy harvesting experiment suggests power density of ~58.7 mW/m2 can be achieved for 10 N pressure with a long-term durability. In summary, we not only provide a high performance lightweight, flexible piezoelectric polymer composite towards sustainable self-powered sensing and energy harvesting, but also pave an avenue for electrical-free fabrication of piezoelectric polymers.
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Affiliation(s)
- Zhao-Xia Huang
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China.
| | - Lan-Wei Li
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China
| | - Yun-Zhi Huang
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China
| | - Wen-Xu Rao
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China
| | - Hao-Wei Jiang
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China
| | - Jin Wang
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China
| | - Huan-Huan Zhang
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China
| | - He-Zhi He
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China
| | - Jin-Ping Qu
- National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, Department of Mechanical and Automotive Engineering, South China University of Technology, 510641, Guangzhou, China.
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29
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Li D, Zhou J, Zhao Z, Huang X, Li H, Qu Q, Zhou C, Yao K, Liu Y, Wu M, Su J, Shi R, Huang Y, Wang J, Zhang Z, Liu Y, Gao Z, Park W, Jia H, Guo X, Zhang J, Chirarattananon P, Chang L, Xie Z, Yu X. Battery-free, wireless, and electricity-driven soft swimmer for water quality and virus monitoring. SCIENCE ADVANCES 2024; 10:eadk6301. [PMID: 38198552 PMCID: PMC10780888 DOI: 10.1126/sciadv.adk6301] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/01/2023] [Accepted: 12/11/2023] [Indexed: 01/12/2024]
Abstract
Miniaturized mobile electronic system is an effective candidate for in situ exploration of confined spaces. However, realizing such system still faces challenges in powering issue, untethered mobility, wireless data acquisition, sensing versatility, and integration in small scales. Here, we report a battery-free, wireless, and miniaturized soft electromagnetic swimmer (SES) electronic system that achieves multiple monitoring capability in confined water environments. Through radio frequency powering, the battery-free SES system demonstrates untethered motions in confined spaces with considerable moving speed under resonance. This system adopts soft electronic technologies to integrate thin multifunctional bio/chemical sensors and wireless data acquisition module, and performs real-time water quality and virus contamination detection with demonstrated promising limits of detection and high sensitivity. All sensing data are transmitted synchronously and displayed on a smartphone graphical user interface via near-field communication. Overall, this wireless smart system demonstrates broad potential for confined space exploration, ranging from pathogen detection to pollution investigation.
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Affiliation(s)
- Dengfeng Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
| | - Jingkun Zhou
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
| | - Zichen Zhao
- State Key Laboratory of Structural Analysis, Optimization and CAE Software for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
- Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China
| | - Xingcan Huang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Hu Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing 100083, China
| | - Qing’ao Qu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Changfei Zhou
- School of Information and Communication Engineering, Dalian University of Technology, Dalian 116024, China
| | - Kuanming Yao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Yanting Liu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Mengge Wu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Jingyou Su
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Rui Shi
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Ya Huang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
| | - Jingjing Wang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Zongwen Zhang
- State Key Laboratory of Structural Analysis, Optimization and CAE Software for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
- Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China
| | - Yiming Liu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Zhan Gao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Wooyoung Park
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Huiling Jia
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
| | - Xu Guo
- State Key Laboratory of Structural Analysis, Optimization and CAE Software for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
- Ningbo Institute of Dalian University of Technology, Ningbo 315016, China
| | - Jiachen Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Pakpong Chirarattananon
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Lingqian Chang
- Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing 100083, China
- School of Biomedical Engineering, Research and Engineering Center of Biomedical Materials, Anhui Medical University, Hefei 230032, China
| | - Zhaoqian Xie
- State Key Laboratory of Structural Analysis, Optimization and CAE Software for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
- Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China
- Ningbo Institute of Dalian University of Technology, Ningbo 315016, China
- DUT-BSU Joint Institute, Dalian University of Technology, Dalian 116024, China
| | - Xinge Yu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
- City University of Hong Kong Shenzhen Research Institute, Shenzhen 518057, China
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30
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Villeda-Hernandez M, Baker BC, Romero C, Rossiter JM, Dicker MPM, Faul CFJ. Chemically Driven Oscillating Soft Pneumatic Actuation. Soft Robot 2023; 10:1159-1170. [PMID: 37384917 DOI: 10.1089/soro.2022.0168] [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: 07/01/2023] Open
Abstract
Pneumatic actuators are widely studied in soft robotics as they are facile, low cost, scalable, and robust and exhibit compliance similar to many systems found in nature. The challenge is to harness high energy density chemical and biochemical reactions that can generate sufficient pneumatic pressure to actuate soft systems in a controlled and ecologically compatible manner. This investigation evaluates the potential of chemical reactions as both positive and negative pressure sources for use in soft robotic pneumatic actuators. Considering the pneumatic actuation demands, the chemical mechanisms of the pressure sources, and the safety of the system, several gas evolution/consumption reactions are evaluated and compared. Furthermore, the novel coupling of both gas evolution and gas consumption reactions is discussed and evaluated for the design of oscillating systems, driven by the complementary evolution and consumption of carbon dioxide. Control over the speed of gas generation and consumption is achieved by adjusting the initial ratios of feed materials. Coupling the appropriate reactions with pneumatic soft-matter actuators has delivered autonomous cyclic actuation. The reversibility of these systems is demonstrated in a range of displacement experiments, and practical application is shown through a soft gripper that can move, pick up, and let go of objects. Our approach presents a significant step toward more autonomous, versatile soft robots driven by chemo-pneumatic actuators.
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Affiliation(s)
- Marcos Villeda-Hernandez
- School of Chemistry, University of Bristol, Bristol, United Kingdom
- School of Civil, Aerospace and Mechanical Engineering, University of Bristol, Bristol, United Kingdom
- Bristol Centre of Functional Nanomaterials, University of Bristol, Bristol, United Kingdom
| | - Benjamin C Baker
- School of Chemistry, University of Bristol, Bristol, United Kingdom
| | - Christian Romero
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom
| | - Jonathan M Rossiter
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom
| | - Michael P M Dicker
- School of Civil, Aerospace and Mechanical Engineering, University of Bristol, Bristol, United Kingdom
| | - Charl F J Faul
- School of Chemistry, University of Bristol, Bristol, United Kingdom
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31
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Sabbadini A, Atalla MA, Wiertlewski M. Simple and Fast Locomotion of Vibrating Asymmetric Soft Robots. Soft Robot 2023; 10:1199-1208. [PMID: 37471204 DOI: 10.1089/soro.2022.0209] [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: 07/22/2023] Open
Abstract
To be fully integrated into the activities of our daily lives, robots need to be capable of traversing unstructured environments and interacting safely with their surroundings. Soft robots are perfect candidates since they can adapt to their surroundings through passive material compliance, rather than relying on complex control. However, the same compliance hinders the generation of propelling forces, and current approaches face a trade-off between traveling speed, action range, and control complexity. We overcome this trade-off by developing a locomotion mechanism based on the synergistic interaction between symmetric vibrations, elasticity, and asymmetric morphology. We then realize a rapid soft locomotor using inexpensive off-the-shelf components and requiring only elementary actuation and control. A single robotic unit can travel at speeds up to 100 mm/s when tethered and 35 mm/s when untethered. We derive a model that predicts the speed of the robot as a function of several design parameters and physical properties, highlighting the role of geometric asymmetries in the resulting anisotropic motion. Moreover, these elementary units can be added together to create more complex behaviors. By adding 2 units in parallel, the assembly can locomote and be steered following nonholonomic constraints. Our approach opens the door to a new class of low-cost soft robots that can travel fast and far with elementary fabrication and control, and which can be combined to achieve complex functions without compromising their essential simplicity.
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Affiliation(s)
- Alberico Sabbadini
- Department of Mechanical, Maritime, and Materials Engineering, Delft University of Technology, Delft, The Netherlands
| | - Mostafa A Atalla
- Department of Mechanical, Maritime, and Materials Engineering, Delft University of Technology, Delft, The Netherlands
| | - Michaël Wiertlewski
- Department of Mechanical, Maritime, and Materials Engineering, Delft University of Technology, Delft, The Netherlands
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32
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Li J, Deng J, Zhang S, Chen W, Zhao J, Liu Y. Developments and Challenges of Miniature Piezoelectric Robots: A Review. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2305128. [PMID: 37888844 PMCID: PMC10754097 DOI: 10.1002/advs.202305128] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Revised: 08/26/2023] [Indexed: 10/28/2023]
Abstract
Miniature robots have been widely studied and applied in the fields of search and rescue, reconnaissance, micromanipulation, and even the interior of the human body benefiting from their highlight features of small size, light weight, and agile movement. With the development of new smart materials, many functional actuating elements have been proposed to construct miniature robots. Compared with other actuating elements, piezoelectric actuating elements have the advantages of compact structure, high power density, fast response, high resolution, and no electromagnetic interference, which make them greatly suitable for actuating miniature robots, and capture the attentions and favor of numerous scholars. In this paper, a comprehensive review of recent developments in miniature piezoelectric robots (MPRs) is provided. The MPRs are classified and summarized in detail from three aspects of operating environment, structure of piezoelectric actuating element, and working principle. In addition, new manufacturing methods and piezoelectric materials in MPRs, as well as the application situations, are sorted out and outlined. Finally, the challenges and future trends of MPRs are evaluated and discussed. It is hoped that this review will be of great assistance for determining appropriate designs and guiding future developments of MPRs, and provide a destination board to the researchers interested in MPRs.
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Affiliation(s)
- Jing Li
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Deng
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Shijing Zhang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Weishan Chen
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Zhao
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Yingxiang Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
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33
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Jin CC, Liu DM, Zhang LX. An Emerging Family of Piezocatalysts: 2D Piezoelectric Materials. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2303586. [PMID: 37386814 DOI: 10.1002/smll.202303586] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/28/2023] [Revised: 06/14/2023] [Indexed: 07/01/2023]
Abstract
Piezocatalysis is an emerging technique that holds great promise for the conversion of ubiquitous mechanical energy into electrochemical energy through piezoelectric effect. However, mechanical energies in natural environment (such as wind energy, water flow energy, and noise) are typically tiny, scattered, and featured with low frequency and low power. Therefore, a high response to these tiny mechanical energies is critical to achieving high piezocatalytic performance. In comparison to nanoparticles or 1D piezoelectric materials, 2D piezoelectric materials possess characteristics such as high flexibility, easy deformation, large surface area, and rich active sites, showing more promise in future for practical applications. In this review, state-of-the-art research progresses on 2D piezoelectric materials and their applications in piezocatalysis are provided. First, a detailed description of 2D piezoelectric materials are offered. Then a comprehensive summary of the piezocatalysis technique is presented and examines the piezocatalysis applications of 2D piezoelectric materials in various fields, including environmental remediation, small-molecule catalysis, and biomedicine. Finally, the main challenges and prospects of 2D piezoelectric materials and their applications in piezocatalysis are discussed. It is expected that this review can fuel the practical application of 2D piezoelectric materials in piezocatalysis.
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Affiliation(s)
- Cheng-Chao Jin
- School of Chemistry and Materials Science, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, 1 Sub-lane Xiangshan, Hangzhou, 310024, P. R. China
- Shanghai Institute of Ceramics, Chinese Academy of Sciences, 1295 Dingxi Road, Shanghai, 200050, P. R. China
| | - Dai-Ming Liu
- College of Electromechanical Engineering, Shandong Engineering Laboratory for Preparation and Application of High-performance Carbon-Materials, Qingdao University of Science & Technology, 99 Songling Road, Qingdao, 266061, P. R. China
| | - Ling-Xia Zhang
- School of Chemistry and Materials Science, Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, 1 Sub-lane Xiangshan, Hangzhou, 310024, P. R. China
- Shanghai Institute of Ceramics, Chinese Academy of Sciences, 1295 Dingxi Road, Shanghai, 200050, P. R. China
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34
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Choi H, Kim Y, Kim S, Kim SY, Kim JS, Yun E, Kweon H, Amoli V, Choi UH, Lee H, Kim DH. Ions-Silica Percolated Ionic Dielectric Elastomer Actuator for Soft Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2303838. [PMID: 37792271 PMCID: PMC10646257 DOI: 10.1002/advs.202303838] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/12/2023] [Revised: 08/27/2023] [Indexed: 10/05/2023]
Abstract
Soft robotics systems are currently under development using ionic electroactive polymers (i-EAP) as soft actuators for the human-machine interface. However, this endeavor has been impeded by the dilemma of reconciling the competing demands of force and strain in i-EAP actuators. Here, the authors present a novel design called "ions-silica percolated ionic dielectric elastomer (i-SPIDER)", which exhibits ionic liquid-confined silica microstructures that effectively resolve the chronic issue of conventional i-EAP actuators. The i-SPIDER actuator demonstrates remarkable electromechanical conversion capacity at low voltage, thanks to improved ion accumulation facilitated by interpreting electrode polarization at the electrolyte-electrode interface. This approach concurrently enhances both strain (by approximately 1.52%) and force (by roughly 1.06 mN) even at low Young's modulus (merely 5.9 MPa). Additionally, by demonstrating arachnid-inspired soft robots endowed with user-desired tasks through control of various form factors, the development of soft robots using the i-SPIDER that can concomitantly enhance strain and force holds promise as a compelling avenue for ushering in the next generation of miniaturized, low-powered soft robotics.
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Affiliation(s)
- Hanbin Choi
- Department of Chemical EngineeringHanyang UniversitySeoul04763Republic of Korea
| | - Yongchan Kim
- School of Electronic EngineeringSoongsil UniversitySeoul06978Republic of Korea
| | - Seonho Kim
- Department of Polymer Science and Engineering and Program in Environmental and Polymer EngineeringInha UniversityIncheon22212Republic of Korea
| | - So Young Kim
- Department of Chemical EngineeringHanyang UniversitySeoul04763Republic of Korea
| | - Joo Sung Kim
- Department of Chemical EngineeringHanyang UniversitySeoul04763Republic of Korea
- Present address:
Hirosawa Thin Film Devices LaboratoryRIKEN, 2‐1 HirosawaWako City, Saitama Prefecture351‐0198Japan
| | - Eseudeo Yun
- School of Electronic EngineeringSoongsil UniversitySeoul06978Republic of Korea
| | - Hyukmin Kweon
- Department of Chemical EngineeringHanyang UniversitySeoul04763Republic of Korea
| | - Vipin Amoli
- Department of Sciences and HumanitiesRajiv Gandhi Institute of Petroleum TechnologyAmethi229304India
| | - U. Hyeok Choi
- Department of Polymer Science and Engineering and Program in Environmental and Polymer EngineeringInha UniversityIncheon22212Republic of Korea
| | - Hojin Lee
- School of Electronic EngineeringSoongsil UniversitySeoul06978Republic of Korea
- Department of Intelligent SemiconductorsSoongsil UniversitySeoul06978Republic of Korea
| | - Do Hwan Kim
- Department of Chemical EngineeringHanyang UniversitySeoul04763Republic of Korea
- Institute of Nano Science and TechnologyHanyang UniversitySeoul04763Republic of Korea
- Clean‐Energy Research InstituteHanyang UniversitySeoul04763Republic of Korea
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35
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Morali A, Mandal A, Skorobogatiy M, Bodkhe S. Unleashing the piezoelectric potential of PVDF: a study on phase transformation from gamma (γ) to beta (β) phase through thermal contact poling. RSC Adv 2023; 13:31234-31242. [PMID: 37886017 PMCID: PMC10598514 DOI: 10.1039/d3ra05068h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Accepted: 10/12/2023] [Indexed: 10/28/2023] Open
Abstract
Polyvinylidene fluoride (PVDF) is known for its piezoelectric properties. This material has different crystalline phases, alpha (α), beta (β) and gamma (γ), where the β-phase, in particular, is related to the piezoelectric behavior of PVDF. While the transformation from the α-phase to β-phase in PVDF is well-documented and widely studied, the transformation from γ- to β-phase has not yet been fully explored. However, when PVDF is produced by certain solution-based methods it can adopt its γ-form, which is not as piezoelectric as the β-phase. Hence, this study aims to bridge this gap by investigating the transformation from γ- to β-phase in PVDF nanocomposites films obtained from solution-based techniques. Our PVDF nanocomposite is made by solvent evaporation-assisted 3D printing of PVDF's nanocomposite with barium-titanate nanoparticles (BTO). To achieve the γ- to β-phase transformation, we first highlight the importance of annealing in the successful poling of PVDF samples. We then perform an in-depth analysis of the α-, β- and γ-crystallographic phases of PVDF-BTO using Fourier transform infrared spectroscopy (FTIR), X-ray diffraction (XRD) and differential scanning calorimetry (DSC). We observed that after annealing but before poling, the PVDF-BTO nanocomposite contains 76% of β + γ phases, the majority of which is the γ-phase. Poling of these samples resulted in the combination of the β + γ phases reaching 93% with the appearance of 40% of absolute fraction of the β-phase. We then demonstrated that the fraction of β-phase in the nanocomposite - as indicated by the 1275 cm-1 peak in PVDF's FTIR spectra - is not uniform on the surface area of the film. Additionally, the value of the absolute β-phase content also depends on the poling field's direction. Our work reveals that while considering PVDF's piezoelectric behavior, it is critical to be aware of these nuances and this article offers essential insights on how to address them. Overall, this study provides a step-by-step guideline to enhance the piezoelectricity of PVDF-based nanocomposites for sensing applications.
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Affiliation(s)
- Alban Morali
- Laboratory for Intelligent Structures, Department of Mechanical Engineering, Centre for Applied Research on Polymers and Composites (CREPEC), Polytechnique Montréal Montréal QC H3T 1J4 Canada
| | - Arijit Mandal
- Laboratory for Intelligent Structures, Department of Mechanical Engineering, Centre for Applied Research on Polymers and Composites (CREPEC), Polytechnique Montréal Montréal QC H3T 1J4 Canada
| | - Maksim Skorobogatiy
- Department of Engineering Physics, Polytechnique Montréal Montréal QC H3T 1J4 Canada
| | - Sampada Bodkhe
- Laboratory for Intelligent Structures, Department of Mechanical Engineering, Centre for Applied Research on Polymers and Composites (CREPEC), Polytechnique Montréal Montréal QC H3T 1J4 Canada
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36
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Pei X, Chen G. Kinetostatic Modeling of Soft Robots: Energy-Minimization Approach and 99-Line MATLAB Implementation. Soft Robot 2023; 10:972-987. [PMID: 37074411 DOI: 10.1089/soro.2022.0070] [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 have received a great deal of attention from both academia and industry due to their unprecedented adaptability in unstructured environment and extreme dexterity for complicated operations. Due to the strong coupling between the material nonlinearity due to hyperelasticity and the geometric nonlinearity due to large deflections, modeling of soft robots is highly dependent on commercial finite element software packages. An approach that is accurate and fast, and whose implementation is open to designers, is in great need. Considering that the constitutive relation of the hyperelastic materials is commonly expressed by its energy density function, we present an energy-based kinetostatic modeling approach in which the deflection of a soft robot is formulated as a minimization problem of its total potential energy. A fixed Hessian matrix of strain energy is proposed and adopted in the limited memory Broyden-Fletcher-Goldfarb-Shanno (BFGS) algorithm, which significantly improves its efficiency for solving the minimization problem of soft robots without sacrificing prediction accuracy. The simplicity of the approach leads to an implementation of MATLAB with only 99-line codes, which provides an easy-to-use tool for designers who are designing and optimizing the structures of soft robots. The efficiency of the proposed approach for predicting kinetostatic behaviors of soft robots is demonstrated by seven pneumatic-driven and cable-driven soft robots. The capability of the approach for capturing buckling behaviors in soft robots is also demonstrated. The energy-minimization approach, as well as the MATLAB implementation, could be easily tailored to fulfill various tasks, including design, optimization, and control of soft robots.
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Affiliation(s)
- Xiaohui Pei
- School of Electro-Mechanical Engineering, Xidian University, Xi'an, China
| | - Guimin Chen
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Lab of Intelligent Robots, Xi'an Jiaotong University, Xi'an, China
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37
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Bo R, Xu S, Yang Y, Zhang Y. Mechanically-Guided 3D Assembly for Architected Flexible Electronics. Chem Rev 2023; 123:11137-11189. [PMID: 37676059 PMCID: PMC10540141 DOI: 10.1021/acs.chemrev.3c00335] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/22/2023] [Indexed: 09/08/2023]
Abstract
Architected flexible electronic devices with rationally designed 3D geometries have found essential applications in biology, medicine, therapeutics, sensing/imaging, energy, robotics, and daily healthcare. Mechanically-guided 3D assembly methods, exploiting mechanics principles of materials and structures to transform planar electronic devices fabricated using mature semiconductor techniques into 3D architected ones, are promising routes to such architected flexible electronic devices. Here, we comprehensively review mechanically-guided 3D assembly methods for architected flexible electronics. Mainstream methods of mechanically-guided 3D assembly are classified and discussed on the basis of their fundamental deformation modes (i.e., rolling, folding, curving, and buckling). Diverse 3D interconnects and device forms are then summarized, which correspond to the two key components of an architected flexible electronic device. Afterward, structure-induced functionalities are highlighted to provide guidelines for function-driven structural designs of flexible electronics, followed by a collective summary of their resulting applications. Finally, conclusions and outlooks are given, covering routes to achieve extreme deformations and dimensions, inverse design methods, and encapsulation strategies of architected 3D flexible electronics, as well as perspectives on future applications.
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Affiliation(s)
- Renheng Bo
- Applied
Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, 100084 Beijing, People’s Republic of China
- Laboratory
of Flexible Electronics Technology, Tsinghua
University, 100084 Beijing, People’s Republic
of China
| | - Shiwei Xu
- Applied
Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, 100084 Beijing, People’s Republic of China
- Laboratory
of Flexible Electronics Technology, Tsinghua
University, 100084 Beijing, People’s Republic
of China
| | - Youzhou Yang
- Applied
Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, 100084 Beijing, People’s Republic of China
- Laboratory
of Flexible Electronics Technology, Tsinghua
University, 100084 Beijing, People’s Republic
of China
| | - Yihui Zhang
- Applied
Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, 100084 Beijing, People’s Republic of China
- Laboratory
of Flexible Electronics Technology, Tsinghua
University, 100084 Beijing, People’s Republic
of China
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38
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Wang D, Zhao B, Li X, Dong L, Zhang M, Zou J, Gu G. Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design. Nat Commun 2023; 14:5067. [PMID: 37604806 PMCID: PMC10442442 DOI: 10.1038/s41467-023-40626-x] [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: 12/28/2022] [Accepted: 08/04/2023] [Indexed: 08/23/2023] Open
Abstract
Dexterous locomotion, such as immediate direction change during fast movement or shape reconfiguration to perform diverse tasks, are essential animal survival strategies which have not been achieved in existing soft robots. Here, we present a kind of small-scale dexterous soft robot, consisting of an active dielectric elastomer artificial muscle and reconfigurable chiral-lattice foot, that enables immediate and reversible forward, backward and circular direction changes during fast movement under single voltage input. Our electric-driven soft robot with the structural design can be combined with smart materials to realize multimodal functions via shape reconfigurations under the external stimulus. We experimentally demonstrate that our dexterous soft robots can reach arbitrary points in a plane, form complex trajectories, or lower the height to pass through a narrow tunnel. The proposed structural design and shape reconfigurability may pave the way for next-generation autonomous soft robots with dexterous locomotion.
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Affiliation(s)
- Dong Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
| | - Baowen Zhao
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Xinlei Li
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Le Dong
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Mengjie Zhang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Jiang Zou
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Guoying Gu
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
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39
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Song Y, Jo H, Song JH. Multiresponsive 3D Structured PVDF Cube Switches for Security Systems Using Piezoelectric Anisotropy. ACS APPLIED MATERIALS & INTERFACES 2023; 15:38550-38561. [PMID: 37535811 DOI: 10.1021/acsami.3c03377] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/05/2023]
Abstract
Advancements in flexible electronics using piezoelectric materials have paved the way for numerous applications. In this study, we suggest a three-dimensional (3D) structured poly(vinylidene fluoride) (PVDF) film cube switch to maximize piezoelectric anisotropy and flexibility. Unlike piezoelectric material-based flexible electronics, PVDF cube switches have a simple design and easy fabrication process. Each side of the cube switch demonstrates independent voltage signals with pressing displacements and corresponding directions. With cutting angle variations and planar figure designs, derived cube switches respond with various combinations of voltage waveforms. PVDF switches can endure more than 1000 cycles of 70% vertical strain in terms of both electrical responses and mechanical operations. As an application, we establish a security system with multiresponsibility of a cube switch. This security system can protect users from potential threats owing to its multiresponsibility and user-dependent operability.
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Affiliation(s)
- Yujun Song
- Department of Mechanical Engineering, Dankook University, Yongin 16890, South Korea
| | - Hyeongjin Jo
- Department of Mechanical Engineering, Dankook University, Yongin 16890, South Korea
| | - Ji-Hyeon Song
- Department of Mechanical Engineering, Dankook University, Yongin 16890, South Korea
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40
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Yun R, Che J, Liu Z, Yan X, Qi M. A novel electric stimulus-responsive micro-actuator for powerful biomimetic motions. NANOSCALE 2023; 15:12933-12943. [PMID: 37482766 DOI: 10.1039/d3nr01866k] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/25/2023]
Abstract
Limited by the surface-to-volume ratio of structural materials, it is a great challenge to achieve high output performance in a millimetre-sized actuator. Traditional rigid actuators can achieve higher vibration frequencies above the centimetre size, but their working performance will be greatly reduced below the millimetre size, and even cannot maintain the vibration. A micro-actuator is highly essential for the miniaturisation of bionic robots. In this work, we present a novel driving principle by utilising the plasmonic thermal energy generated by electric stimulation to drive the vibration of the micro-actuator. In the design, the micro-actuator is composed of two chambers and elastic elements, which is similar to the design of a micro-piston. By utilising the thermal energy of the plasma, the actuator can generate high-frequency vibration (resonant frequency of 140 Hz), and the simple structural design can achieve a large vibration amplitude on a millimetre scale. Based on this powerful actuator, several applications are presented, such as fast crawling and jumping. The good performance of the electric stimulus-responsive micro-actuator suggests promising applications ranging from millimetre-scale robots in confined spaces to detection, search and rescue.
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Affiliation(s)
- Ruide Yun
- School of Energy and Power Engineering, Beihang University, Beijing, China.
| | - Jingyu Che
- School of Energy and Power Engineering, Beihang University, Beijing, China.
| | - Zhiwei Liu
- School of Energy and Power Engineering, Beihang University, Beijing, China.
| | - Xiaojun Yan
- School of Energy and Power Engineering, Beihang University, Beijing, China.
| | - Mingjing Qi
- School of Energy and Power Engineering, Beihang University, Beijing, China.
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41
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Sobolev YI, Dong R, Tlusty T, Eckmann JP, Granick S, Grzybowski BA. Solid-body trajectoids shaped to roll along desired pathways. Nature 2023; 620:310-315. [PMID: 37558849 DOI: 10.1038/s41586-023-06306-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/02/2022] [Accepted: 06/09/2023] [Indexed: 08/11/2023]
Abstract
In everyday life, rolling motion is typically associated with cylindrical (for example, car wheels) or spherical (for example, billiard balls) bodies tracing linear paths. However, mathematicians have, for decades, been interested in more exotically shaped solids such as the famous oloids1, sphericons2, polycons3, platonicons4 and two-circle rollers5 that roll downhill in curvilinear paths (in contrast to cylinders or spheres) yet indefinitely (in contrast to cones, Supplementary Video 1). The trajectories traced by such bodies have been studied in detail6-9, and can be useful in the context of efficient mixing10,11 and robotics, for example, in magnetically actuated, millimetre-sized sphericon-shaped robots12,13, or larger sphericon- and oloid-shaped robots translocating by shifting their centre of mass14,15. However, the rolling paths of these shapes are all sinusoid-like and their diversity ends there. Accordingly, we were intrigued whether a more general problem is solvable: given an infinite periodic trajectory, find the shape that would trace this trajectory when rolling down a slope. Here, we develop an algorithm to design such bodies-which we call 'trajectoids'-and then validate these designs experimentally by three-dimensionally printing the computed shapes and tracking their rolling paths, including those that close onto themselves such that the body's centre of mass moves intermittently uphill (Supplementary Video 2). Our study is motivated largely by fundamental curiosity, but the existence of trajectoids for most paths has unexpected implications for quantum and classical optics, as the dynamics of qubits, spins and light polarization can be exactly mapped to trajectoids and their paths16.
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Affiliation(s)
- Yaroslav I Sobolev
- Center for Soft and Living Matter, Institute for Basic Science (IBS), Ulsan, South Korea.
| | - Ruoyu Dong
- Center for Soft and Living Matter, Institute for Basic Science (IBS), Ulsan, South Korea
| | - Tsvi Tlusty
- Center for Soft and Living Matter, Institute for Basic Science (IBS), Ulsan, South Korea.
- Department of Physics, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea.
| | - Jean-Pierre Eckmann
- Department of Theoretical Physics and Mathematics Section, University of Geneva, Geneva, Switzerland.
| | - Steve Granick
- Center for Soft and Living Matter, Institute for Basic Science (IBS), Ulsan, South Korea.
- Department of Chemistry, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea.
| | - Bartosz A Grzybowski
- Center for Soft and Living Matter, Institute for Basic Science (IBS), Ulsan, South Korea.
- Department of Chemistry, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea.
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42
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Miao Z, Liang J, Chen H, Lu J, Sun X, Liu Y, Tang F, Zhang M. Power Autonomy and Agility Control of an Untethered Insect-Scale Soft Robot. Soft Robot 2023; 10:749-759. [PMID: 36787456 DOI: 10.1089/soro.2021.0201] [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: 02/16/2023] Open
Abstract
It is still challenging to achieve agility and trajectory control for untethered soft robots on an insect scale given their low mechanical impedance and compact structures. In this study, fast translational movements and swift turning motions are demonstrated on a power autonomous soft robot with a piezoelectric-thin-film-actuated body and electrostatic turning footpads. A high relative running speed of 2.5 body length per second compared with existing untethered robots is realized on a 24-mm-long untethered prototype integrated with power source, control, and wireless communication modules. An arc-shaped leg structure is adopted to self-regulate the frication forces on different footpads during turning by an inclination-induced redistribution of the payload gravity on legs and footpads. The trajectory maneuverability is demonstrated by navigating a 380 mg robot prototype with an 1810 mg payload to pass through a 58-cm-long S-shaped path with wireless control in 43.4 s. Due to the flexibility of the all-polymer body structure, the robustness of the untethered robot to large strain is demonstrated when compressed by 91 times the weight of the robot. A maximum travel distance of 58.6 m is achieved for the robot equipped with a 40 mA·h lithium battery, corresponding to the cost of transport of 261. This work provides a feasible solution to achieve high agility and advance the practicability of untethered soft robots on an insect scale.
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Affiliation(s)
- Zicong Miao
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | | | - Huimin Chen
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Jiangfeng Lu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Xiang Sun
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Ying Liu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Fei Tang
- State Key Laboratory of Precision Measurement Technology and Instruments, Department of Precision Instruments, Tsinghua University, Beijing, China
| | - Min Zhang
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
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43
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He Q, Yin R, Hua Y, Jiao W, Mo C, Shu H, Raney JR. A modular strategy for distributed, embodied control of electronics-free soft robots. SCIENCE ADVANCES 2023; 9:eade9247. [PMID: 37418520 DOI: 10.1126/sciadv.ade9247] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/16/2022] [Accepted: 06/02/2023] [Indexed: 07/09/2023]
Abstract
Robots typically interact with their environments via feedback loops consisting of electronic sensors, microcontrollers, and actuators, which can be bulky and complex. Researchers have sought new strategies for achieving autonomous sensing and control in next-generation soft robots. We describe here an electronics-free approach for autonomous control of soft robots, whose compositional and structural features embody the sensing, control, and actuation feedback loop of their soft bodies. Specifically, we design multiple modular control units that are regulated by responsive materials such as liquid crystal elastomers. These modules enable the robot to sense and respond to different external stimuli (light, heat, and solvents), causing autonomous changes to the robot's trajectory. By combining multiple types of control modules, complex responses can be achieved, such as logical evaluations that require multiple events to occur in the environment before an action is performed. This framework for embodied control offers a new strategy toward autonomous soft robots that operate in uncertain or dynamic environments.
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Affiliation(s)
- Qiguang He
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Rui Yin
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Yucong Hua
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Weijian Jiao
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Chengyang Mo
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Hang Shu
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
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44
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Chen E, Yang Y, Li M, Li B, Liu G, Mu W, Yin R. Bio-Mimic, Fast-Moving, and Flippable Soft Piezoelectric Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2300673. [PMID: 37163730 PMCID: PMC10369280 DOI: 10.1002/advs.202300673] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/30/2023] [Revised: 04/09/2023] [Indexed: 05/12/2023]
Abstract
Cheetahs achieve high-speed movement and unique athletic gaits through the contraction and expansion of their limbs during the gallop. However, few soft robots can mimic their gaits and achieve the same speed of movement. Inspired by the motion gait of cheetahs, here the resonance of double spiral structure for amplified motion performance and environmental adaptability in a soft-bodied hopping micro-robot is exploited. The 0.058 g, 10 mm long tethered soft robot is capable of achieving a maximum motion speed of 42.8 body lengths per second (BL/s) and a maximum average turning speed of 482° s-1 . In addition, this robot can maintain high speed movement even after flipping. The soft robot's ability to move over complex terrain, climb hills, and carry heavy loads as well as temperature sensors is demonstrated. This research opens a new structural design for soft robots: a double spiral configuration that efficiently translates the deformation of soft actuators into swift motion of the robot with high environmental adaptability.
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Affiliation(s)
- Erdong Chen
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Yiduo Yang
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Mengjiao Li
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Binghang Li
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Guijie Liu
- College of EngineeringOcean University of ChinaQingdao266100China
| | - Weilei Mu
- College of EngineeringOcean University of ChinaQingdao266100China
| | - Rong Yin
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
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45
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Zhu B, Li C, Wu Z, Zhu X. Design and dynamic analysis of a novel compound bending hollow piezoelectric beam miniature rotary actuator. ULTRASONICS 2023; 134:107065. [PMID: 37356315 DOI: 10.1016/j.ultras.2023.107065] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/22/2022] [Revised: 04/19/2023] [Accepted: 05/31/2023] [Indexed: 06/27/2023]
Abstract
In this paper, a miniature hollow piezoelectric beam rotary actuator is proposed and designed based on the compound bending vibration modes. The structure body is designed as an elastic hollow square beam with symmetrical piezoelectric patches attached at both ends, which directly eliminates the step of the frequency tuning. A conical rotor is driven by the hollow piezoelectric beam through the elliptical motions of the points on its inner surface. Based on the Timoshenko beam theory and Lagrange equation, the numerical continuum model is established to analyze the working mechanism. A prototype of the miniature rotary actuator with a size of 50 × 6 × 6 mm (2 mm through-hole) is manufactured and its performance under various excitation parameters is characterized in rotor speed experiments. The experimental results show that the maximum speed of the conical rotor is 913 rpm at the excitation voltage of 400 V. With a maximum load of 70.31 mN, the spherical rotor can achieve a speed of 450 rpm. The numerical results are in great agreement with the experimental results, so the output characteristics of the rotary actuator can be estimated. The simulation and test results demonstrate that the proposed rotary actuator has outstanding output performance and controllability. In addition, the simple structure design is easy to realize the frequency tuning and miniaturization.
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Affiliation(s)
- Binbin Zhu
- School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, PR China; Key Laboratory of Structural Dynamics of Liaoning Province, College of Sciences, Northeastern University, Shenyang 110819, PR China
| | - Chaofeng Li
- School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, PR China; Key Laboratory of Vibration and Control of Aero-propulsion Systems, Northeastern University, Shenyang 110819, PR China.
| | - Zhiwei Wu
- School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, PR China
| | - Xiyue Zhu
- School of Information Science and Engineering, Northeastern University, Shenyang 110819, PR China
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46
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Liu Y, Liang J, Lu J, Chen H, Miao Z, Wang D, Wang X, Zhang M. Complex Three-Dimensional Terrains Traversal of Insect-Scale Soft Robot. Soft Robot 2023; 10:612-623. [PMID: 36576417 DOI: 10.1089/soro.2022.0073] [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: 12/29/2022] Open
Abstract
This article proposes a piezoelectric-driven insect-scale soft robot with ring-like curved legs, enabling it to traverse complex three-dimensional (3D) terrain only by body-terrain mechanical action. Relying on the repeated deformation of the main body's n and u shapes, the robot's leg-ground mechanical action produces an "elastic gait" to move. Regarding the detailed design, first, a theoretical curve of the front leg with a fixed angle of attack of 75° is designed by finite element simulation and comparative experiments. It ensures no increase in drag and no decrease in the lift when climbing steps. Second, a ring-like leg structure with 100% closed degree is proposed to ensure a smooth pass through small-sized uneven terrain without getting stuck. Then, the design of the overall asymmetrical structure of the robot can improve the conversion ratio of vibration to forward force. The shape of curved legs is controlled by pulling the flexible leg structure with two metal wires working as spokes. The semirigid leg structure made of fully flexible materials has shape stability and structural robustness. Compared with the plane-legged robot, the curved-legged robot can smoothly traverse different rugged 3D terrains and cross the terrain covering obstacles 0.36 times body height (BH) at a speed of >4 body lengths per second. Moreover, the curved-legged robot shows 100% and 64% chances of climbing steps with 1.2- and 1.9-times BH, respectively.
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Affiliation(s)
- Ying Liu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | | | - Jiangfeng Lu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Huimin Chen
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Zicong Miao
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Dongkai Wang
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Xiaohao Wang
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Min Zhang
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
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47
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Qian X, Chen X, Zhu L, Zhang QM. Fluoropolymer ferroelectrics: Multifunctional platform for polar-structured energy conversion. Science 2023; 380:eadg0902. [PMID: 37167372 DOI: 10.1126/science.adg0902] [Citation(s) in RCA: 19] [Impact Index Per Article: 19.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/13/2023]
Abstract
Ferroelectric materials are currently some of the most widely applied material systems and are constantly generating improved functions with higher efficiencies. Advancements in poly(vinylidene fluoride) (PVDF)-based polymer ferroelectrics provide flexural, coupling-efficient, and multifunctional material platforms for applications that demand portable, lightweight, wearable, and durable features. We highlight the recent advances in fluoropolymer ferroelectrics, their energetic cross-coupling effects, and emerging technologies, including wearable, highly efficient electromechanical actuators and sensors, electrocaloric refrigeration, and dielectric devices. These developments reveal that the molecular and nanostructure manipulations of the polarization-field interactions, through facile defect biasing, could introduce enhancements in the physical effects that would enable the realization of multisensory and multifunctional wearables for the emerging immersive virtual world and smart systems for a sustainable future.
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Affiliation(s)
- Xiaoshi Qian
- State Key Laboratory of Mechanical System and Vibration, Interdisciplinary Research Centre, and MOE Key Laboratory for Power Machinery and Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Xin Chen
- Materials Research Institute and Department of Materials Science and Engineering, The Pennsylvania State University, University Park, PA 16802, USA
| | - Lei Zhu
- Department of Macromolecular Science and Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
| | - Q M Zhang
- Materials Research Institute and Department of Materials Science and Engineering, The Pennsylvania State University, University Park, PA 16802, USA
- School of Electrical Engineering and Computer Science, The Pennsylvania State University, University Park, PA 16802, USA
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48
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Shu S, Wang Z, Chen P, Zhong J, Tang W, Wang ZL. Machine-Learning Assisted Electronic Skins Capable of Proprioception and Exteroception in Soft Robotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2211385. [PMID: 36750731 DOI: 10.1002/adma.202211385] [Citation(s) in RCA: 13] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/05/2022] [Revised: 02/01/2023] [Indexed: 05/05/2023]
Abstract
Inspired by natural biological systems, soft robots have recently been developed, showing tremendous potential in real-world applications because of their intrinsic softness and deformability. The confluence of electronic skins and machine learning is extensively studied to create effective biomimetic robotic systems. Based on a differential piezoelectric matrix, this study presents a shape-sensing electronic skin (SSES) that can recognize surface conformations with minimal interference from pressing, stretching, or other surrounding stimuli. It is then integrated with soft robots to reconstruct their shape during movement, serving as a proprioceptive sense. Additionally, the robot can utilize machine learning to identify various terrains, demonstrating exteroception and pointing toward more advanced autonomous robots capable of performing real-world tasks in challenging environments.
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Affiliation(s)
- Sheng Shu
- CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing, 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Ziming Wang
- CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing, 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Pengfei Chen
- CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing, 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Junwen Zhong
- Department of Electromechanical Engineering, Centre for Artificial Intelligence and Robotics University of Macau, Macao, 999078, China
| | - Wei Tang
- CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing, 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Zhong Lin Wang
- CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing, 100083, P. R. China
- Georgia Institute of Technology, Atlanta, GA, 30332-0245, USA
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49
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Wang B, Handschuh-Wang S, Shen J, Zhou X, Guo Z, Liu W, Pumera M, Zhang L. Small-Scale Robotics with Tailored Wettability. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2205732. [PMID: 36113864 DOI: 10.1002/adma.202205732] [Citation(s) in RCA: 13] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/23/2022] [Revised: 09/01/2022] [Indexed: 05/05/2023]
Abstract
Small-scale robots (SSRs) have emerged as promising and versatile tools in various biomedical, sensing, decontamination, and manipulation applications, as they are uniquely capable of performing tasks at small length scales. With the miniaturization of robots from the macroscale to millimeter-, micrometer-, and nanometer-scales, the viscous and surface forces, namely adhesive forces and surface tension have become dominant. These forces significantly impact motion efficiency. Surface engineering of robots with both hydrophilic and hydrophobic functionalization presents a brand-new pathway to overcome motion resistance and enhance the ability to target and regulate robots for various tasks. This review focuses on the current progress and future perspectives of SSRs with hydrophilic and hydrophobic modifications (including both tethered and untethered robots). The study emphasizes the distinct advantages of SSRs, such as improved maneuverability and reduced drag forces, and outlines their potential applications. With continued innovation, rational surface engineering is expected to endow SSRs with exceptional mobility and functionality, which can broaden their applications, enhance their penetration depth, reduce surface fouling, and inhibit bacterial adhesion.
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Affiliation(s)
- Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Stephan Handschuh-Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Jie Shen
- Shenzhen Key Laboratory of Spine Surgery, Department of Spine Surgery, Peking University Shenzhen Hospital, Shenzhen, 518036, China
| | - Xuechang Zhou
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Zhiguang Guo
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Science, Lanzhou, 730000, China
- Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials, Hubei University, Wuhan, 430062, China
| | - Weimin Liu
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Science, Lanzhou, 730000, China
| | - Martin Pumera
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno, 61200, Czech Republic
- Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-Gu, Seoul, 03722, South Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, 999077, China
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50
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Yang X, Lan L, Pan X, Di Q, Liu X, Li L, Naumov P, Zhang H. Bioinspired soft robots based on organic polymer-crystal hybrid materials with response to temperature and humidity. Nat Commun 2023; 14:2287. [PMID: 37085510 PMCID: PMC10121608 DOI: 10.1038/s41467-023-37964-1] [Citation(s) in RCA: 22] [Impact Index Per Article: 22.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/05/2022] [Accepted: 04/06/2023] [Indexed: 04/23/2023] Open
Abstract
The capability of stimulated response by mechanical deformation to induce motion or actuation is the foundation of lightweight organic, dynamic materials for designing light and soft robots. Various biomimetic soft robots are constructed to demonstrate the vast versatility of responses and flexibility in shape-shifting. We now report that the integration of organic molecular crystals and polymers brings about synergistic improvement in the performance of both materials as a hybrid materials class, with the polymers adding hygroresponsive and thermally responsive functionalities to the crystals. The resulting hybrid dynamic elements respond within milliseconds, which represents several orders of magnitude of improvement in the time response relative to some other type of common actuators. Combining molecular crystals with polymers brings crystals as largely overlooked materials much closer to specific applications in soft (micro)robotics and related fields.
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Affiliation(s)
- Xuesong Yang
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, 130012, Changchun, P. R. China
| | - Linfeng Lan
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, 130012, Changchun, P. R. China
| | - Xiuhong Pan
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, 130012, Changchun, P. R. China
| | - Qi Di
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, 130012, Changchun, P. R. China
| | - Xiaokong Liu
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, 130012, Changchun, P. R. China
| | - Liang Li
- Smart Materials Lab, New York University Abu Dhabi, PO Box 129188, Abu Dhabi, UAE.
- Department of Sciences and Engineering, Sorbonne University Abu Dhabi, PO Box 38044, Abu Dhabi, UAE.
| | - Panče Naumov
- Smart Materials Lab, New York University Abu Dhabi, PO Box 129188, Abu Dhabi, UAE.
- Research Center for Environment and Materials, Macedonian Academy of Sciences and Arts, Bul. Krste Misirkov 2, MK‒1000, Skopje, Macedonia.
- Molecular Design Institute, Department of Chemistry, New York University, 100 Washington Square East, New York, NY, 10003, USA.
| | - Hongyu Zhang
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, 130012, Changchun, P. R. China.
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