1
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Li X, Fan D, Sun Y, Xu L, Li D, Sun B, Nong S, Li W, Zhang S, Hu B, Li M. Porous Magnetic Soft Grippers for Fast and Gentle Grasping of Delicate Living Objects. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2409173. [PMID: 39210650 DOI: 10.1002/adma.202409173] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2024] [Revised: 08/16/2024] [Indexed: 09/04/2024]
Abstract
Magnetic soft grippers have attracted intensive interest due to their untethered controllability, rapid response, and biological safety. However, manipulating living objects requires a simultaneous increase in shape adaptability and gripping force, which are typically mutually exclusive. Increasing the magnetic particle content enhances the magnetic strength but also increases the elastic modulus, leading to low adaptability and high impact force. Here, a porous magnetic soft gripper (PMSG) is developed by integrating a porous structure into a magnetic silicone elastomer. The design of porous hard magnetic composite is characterized by high magnetization, low modulus, and rough surface. It offers the PMSG good compliance, high gripping force, and low impact force at fast gripping. The PMSG is capable of performing a variety of tasks, including the fast and gentle grasping of delicate living objects. The study provides insight into the design of novel magnetic grippers and may offer a promising outlook for biomedical or scientific applications in the manipulation of delicate organisms.
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Affiliation(s)
- Xingxiang Li
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Dinggang Fan
- Center for Advanced Interdisciplinary Science and Biomedicine of IHM, Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, 230026, P. R. China
- Hefei National Research Center for Physical Sciences at the Microscale, Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, 230001, P. R. China
| | - Yuxuan Sun
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Liwen Xu
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Dongxiao Li
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Boxi Sun
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Shutong Nong
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Weihua Li
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, 2522, Australia
| | - Shiwu Zhang
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Bing Hu
- Center for Advanced Interdisciplinary Science and Biomedicine of IHM, Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, 230026, P. R. China
- Hefei National Research Center for Physical Sciences at the Microscale, Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, 230001, P. R. China
| | - Mujun Li
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
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2
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Wu M, Afridi WH, Wu J, Afridi RH, Wang K, Zheng X, Wang C, Xie G. Octopus-Inspired Underwater Soft Robotic Gripper with Crawling and Swimming Capabilities. RESEARCH (WASHINGTON, D.C.) 2024; 7:0456. [PMID: 39206446 PMCID: PMC11350063 DOI: 10.34133/research.0456] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/07/2024] [Accepted: 07/27/2024] [Indexed: 09/04/2024]
Abstract
Can a robotic gripper only operate when attached to a robotic arm? The application space of the traditional gripper is limited by the robotic arm. Giving robot grippers the ability to move will expand their range of applications. Inspired by rich behavioral repertoire observed in octopus, we implement an integrated multifunctional soft robotic gripper with 6 independently controlled Arms. It can execute 8 different gripping actions for different objects, such as irregular rigid/soft objects, elongated objects with arbitrary orientation, and plane/curved objects with larger sizes than the grippers. Moreover, the soft gripper can realize omnidirectional crawling and swimming by itself. The soft gripper can perform highly integrated tasks of releasing, crawling, swimming, grasping, and retrieving objects in a confined underwater environment. Experimental results demonstrate that the integrated capabilities of multimodal adaptive grasping and omnidirectional motions enable dexterous manipulations that traditional robotic arms cannot achieve. The soft gripper may apply to highly integrated and labor-intensive tasks in unstructured underwater environments, including ocean litter collecting, capture fishery, and archeological exploration.
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Affiliation(s)
- Mingxin Wu
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,
Peking University, Beijing 100871, China
| | - Waqar Hussain Afridi
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,
Peking University, Beijing 100871, China
| | - Jiaxi Wu
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,
Peking University, Beijing 100871, China
| | - Rahdar Hussain Afridi
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,
Peking University, Beijing 100871, China
| | - Kaiwei Wang
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,
Peking University, Beijing 100871, China
| | - Xingwen Zheng
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,
Peking University, Beijing 100871, China
| | - Chen Wang
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,
Peking University, Beijing 100871, China
- National Engineering Research Center of Software Engineering,
Peking University, Beijing 100871, China
| | - Guangming Xie
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,
Peking University, Beijing 100871, China
- Institute of Ocean Research,
Peking University, Beijing 100871, China
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3
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Flaum B, Blumer MJ, Dean MN, Ekstrom LJ. Functional morphology of the pharyngeal teeth of the ocean sunfish, Mola mola. Anat Rec (Hoboken) 2024. [PMID: 39155777 DOI: 10.1002/ar.25531] [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: 03/13/2024] [Revised: 06/05/2024] [Accepted: 06/17/2024] [Indexed: 08/20/2024]
Abstract
Many fish use a set of pharyngeal jaws in their throat to aid in prey capture and processing, particularly of large or complex prey. In this study-combining dissection, CT scanning, histology, and performance testing-we demonstrate a novel use of pharyngeal teeth in the ocean sunfish (Mola mola), a species for which pharyngeal jaw anatomy had not been described. We show that sunfish possesses only dorsal pharyngeal jaws where, in contrast to their beaklike oral teeth, teeth are recurved spikes, arranged in three loosely connected rows. Fang-like pharyngeal teeth were tightly socketed in the skeletal tissue, with shorter, incompletely-formed teeth erupting between, suggesting tooth replacement. Trichrome staining revealed teeth anchored into their sockets via a combination of collagen bundles originating from the jaw connective tissue and mineralized trabeculae extending from the teeth bases. In resting position, teeth are nearly covered by soft tissue; however, manipulation of a straplike muscle, running transversely on the dorsal jaw face, everted teeth like a cat's claws. Adult sunfish suction feed almost exclusively on gelatinous prey (e.g., jellyfish) and have been observed to jet water during feeding and other activities; flume experiments simulating jetting behavior demonstrated adult teeth caught simulated gelatinous prey with 70%-100% success, with the teeth immobile in their sockets, even at 50x the jetting force, demonstrating high safety factor. We propose that sunfish pharyngeal teeth function as an efficient retention cage for mechanically challenging prey, a curious evolutionary convergence with the throat spikes of divergent taxa that employ spitting and jetting.
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Affiliation(s)
| | - Michael J Blumer
- Institute of Clinical and Functional Anatomy, Medical University Innsbruck, Innsbruck, Austria
| | - Mason N Dean
- City University of Hong Kong, Kowloon, Hong Kong
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4
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Hou N, Wu M, Zhao Q, Tang Z, Wang K, Xu X, Zheng X, Xie G. Reticular Origami Soft Robotic Gripper for Shape-Adaptive and Bistable Rapid Grasping. Soft Robot 2024; 11:550-560. [PMID: 39178400 DOI: 10.1089/soro.2023.0051] [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: 08/25/2024] Open
Abstract
The top-down approach in designing and fabricating origami robots could achieve far more complicated functions with compliant and elegant designs than traditional robots. This study presents the design, fabrication, and testing of a reticular origami soft robotic gripper that could adapt to the shape of the grasping subject and grasp the subject within 80 ms from the trigger instance. A sensing mechanism consisting of the resistive pressure sensor array and flexible elongation sensor is designed to validate further the shape-adaptive grasping capability and model the rough shape and size of the subject. The grasping test on various objects with different shapes, surface textures, sizes, and living animals further validates the excellent grasping capabilities of the gripper. The gripper could be either actively triggered by actuation or passively triggered by a minimum of 0.0014 J disturbance energy. Such features make it particularly suitable for applications such as capturing underwater creatures and illegal drone control.
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Affiliation(s)
- Ningzhe Hou
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China
- Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, United Kingdom
| | - Mingxin Wu
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China
| | - Qin Zhao
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China
| | - Zhenhua Tang
- College of Aerospace Engineering, Chongqing University, Chongqing, China
| | - Kaiwei Wang
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China
| | - Xiaoxian Xu
- Department of Engineering, University of Cambridge, Cambridge, United Kingdom
| | - Xingwen Zheng
- Department of Mechanical Engineering, The University of Tokyo, Tokyo, Japan
| | - Guangming Xie
- State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China
- Institute of Ocean Research, Peking University, Beijing, China
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5
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Xin Y, Zhou X, Bark H, Lee PS. The Role of 3D Printing Technologies in Soft Grippers. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2307963. [PMID: 37971199 DOI: 10.1002/adma.202307963] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/07/2023] [Revised: 10/09/2023] [Indexed: 11/19/2023]
Abstract
Soft grippers are essential for precise and gentle handling of delicate, fragile, and easy-to-break objects, such as glassware, electronic components, food items, and biological samples, without causing any damage or deformation. This is especially important in industries such as healthcare, manufacturing, agriculture, food handling, and biomedical, where accuracy, safety, and preservation of the objects being handled are critical. This article reviews the use of 3D printing technologies in soft grippers, including those made of functional materials, nonfunctional materials, and those with sensors. 3D printing processes that can be used to fabricate each class of soft grippers are discussed. Available 3D printing technologies that are often used in soft grippers are primarily extrusion-based printing (fused deposition modeling and direct ink writing), jet-based printing (polymer jet), and immersion printing (stereolithography and digital light processing). The materials selected for fabricating soft grippers include thermoplastic polymers, UV-curable polymers, polymer gels, soft conductive composites, and hydrogels. It is conclude that 3D printing technologies revolutionize the way soft grippers are being fabricated, expanding their application domains and reducing the difficulties in customization, fabrication, and production.
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Affiliation(s)
- Yangyang Xin
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
| | - Xinran Zhou
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
| | - Hyunwoo Bark
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Pooi See Lee
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
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6
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Nie S, Huo L, Ji H, Nie S, Gao P, Li H. Deformation Characteristics of Three-Dimensional Spiral Soft Actuator Driven by Water Hydraulics for Underwater Manipulator. Soft Robot 2024; 11:410-422. [PMID: 38011608 DOI: 10.1089/soro.2023.0085] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2023] Open
Affiliation(s)
- Songlin Nie
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Linfeng Huo
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Hui Ji
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Shuang Nie
- Faculty of Applied Science and Engineering, University of Toronto, Toronto, Canada
| | - Pengwang Gao
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Hanyu Li
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
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7
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Tian X, Guo Y, Zhang J, Ivasishin OM, Jia J, Yan J. Fiber Actuators Based on Reversible Thermal Responsive Liquid Crystal Elastomer. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2306952. [PMID: 38175860 DOI: 10.1002/smll.202306952] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/14/2023] [Revised: 12/16/2023] [Indexed: 01/06/2024]
Abstract
Soft actuators inspired by the movement of organisms have attracted extensive attention in the fields of soft robotics, electronic skin, artificial intelligence, and healthcare due to their excellent adaptability and operational safety. Liquid crystal elastomer fiber actuators (LCEFAs) are considered as one of the most promising soft actuators since they can provide reversible linear motion and are easily integrated or woven into complex structures to perform pre-programmed movements such as stretching, rotating, bending, and expanding. The research on LCEFAs mainly focuses on controllable preparation, structural design, and functional applications. This review, for the first time, provides a comprehensive and systematic review of recent advances in this important field by focusing on reversible thermal response LCEFAs. First, the thermal driving mechanism, and direct and indirect heating strategies of LCEFAs are systematically summarized and analyzed. Then, the fabrication methods and functional applications of LCEFAs are summarized and discussed. Finally, the challenges and technical difficulties that may hinder the performance improvement and large-scale production of LCEFAs are proposed, and the development opportunities of LCEFAs are prospected.
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Affiliation(s)
- Xuwang Tian
- College of Materials Science and Engineering, Key Laboratory of Automobile Materials Ministry of Education, Jilin University, Changchun, 130012, China
| | - Yongshi Guo
- College of Textile, Donghua University, Shanghai, 201620, China
| | - Jiaqi Zhang
- College of Materials Science and Engineering, Key Laboratory of Automobile Materials Ministry of Education, Jilin University, Changchun, 130012, China
| | - Orest M Ivasishin
- College of Materials Science and Engineering, Key Laboratory of Automobile Materials Ministry of Education, Jilin University, Changchun, 130012, China
| | - Jiru Jia
- School of Textile Garment and Design, Changshu Institute of Technology, Suzhou, Jiangsu, 215500, China
| | - Jianhua Yan
- College of Textile, Donghua University, Shanghai, 201620, China
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8
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Qing H, Chi Y, Hong Y, Zhao Y, Qi F, Li Y, Yin J. Fully 3D-Printed Miniature Soft Hydraulic Actuators with Shape Memory Effect for Morphing and Manipulation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2402517. [PMID: 38808656 DOI: 10.1002/adma.202402517] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/18/2024] [Revised: 05/16/2024] [Indexed: 05/30/2024]
Abstract
Miniature shape-morphing soft actuators driven by external stimuli and fluidic pressure hold great promise in morphing matter and small-scale soft robotics. However, it remains challenging to achieve both rich shape morphing and shape locking in a fast and controlled way due to the limitations of actuation reversibility and fabrication. Here, fully 3D-printed, sub-millimeter thin-plate-like miniature soft hydraulic actuators with shape memory effect (SME) for programable fast shape morphing and shape locking, are reported. It combines commercial high-resolution multi-material 3D printing of stiff shape memory polymers (SMPs) and soft elastomers and direct printing of microfluidic channels and 2D/3D channel networks embedded in elastomers in a single print run. Leveraging spatial patterning of hybrid compositions and expansion heterogeneity of microfluidic channel networks for versatile hydraulically actuated shape morphing, including circular, wavy, helical, saddle, and warping shapes with various curvatures, are demonstrated. The morphed shapes can be temporarily locked and recover to their original planar forms repeatedly by activating SME of the SMPs. Utilizing the fast shape morphing and locking in the miniature actuators, their potential applications in non-invasive manipulation of small-scale objects and fragile living organisms, multimodal entanglement grasping, and energy-saving manipulators, are demonstrated.
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Affiliation(s)
- Haitao Qing
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Fangjie Qi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
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9
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Ikeda H, Saeki T, Takabayashi K. Retrieving a file binder from a bookshelf using pseudo-curved trajectory generation for a foldable robotic hand. Sci Rep 2024; 14:11687. [PMID: 38778222 DOI: 10.1038/s41598-024-62699-4] [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: 09/13/2023] [Accepted: 05/20/2024] [Indexed: 05/25/2024] Open
Abstract
Human-assistive robots need to perform trajectory making for and control of a robotic hand along the many rotating mechanisms in our living spaces. If such trajectory control can be performed without high-cost sensors, certainly a significant cost reduction in building the robot will be achieved. This paper describes a method of retrieving a file binder by generating a pseudo-curved trajectory for tilting it using a simple system. A simple claw mechanism with a switch sensor to grasp an object was designed and 3D-printed, and it was attached to a 6-DOF foldable robotic hand developed by the authors. A method for generating a pseudo-curved trajectory using the switch sensor was developed, and the robotic hand was successfully moved along this trajectory to tilt and grasp a file binder to retrieve it from a bookshelf. Experiments to clarify the success rate were also conducted, and it was found that the results depend on the rotational speed of manipulator links and the vibration of the claw mechanism link. A rubber sponge was added to give flexibility to the claw mechanism, which significantly improved the success rate. Furthermore, a control system to recover from tilting failure was constructed, and its effectiveness was validated by experiments.
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Affiliation(s)
- Hidetoshi Ikeda
- Department of Engineering, Niigata Institute of Technology, 1719 Fujihashi, Kashiwazaki, 945-1195, Niigata, Japan.
| | - Takumi Saeki
- Department, National Institute of Technology, Toyama college, 13 Hongouchou, Toyama, 939-8630, Toyama, Japan
| | - Kota Takabayashi
- Department, National Institute of Technology, Toyama college, 13 Hongouchou, Toyama, 939-8630, Toyama, Japan
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10
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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11
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Stanley AA, Roby ES, Keller SJ. High-speed fluidic processing circuits for dynamic control of haptic and robotic systems. SCIENCE ADVANCES 2024; 10:eadl3014. [PMID: 38569043 PMCID: PMC10990265 DOI: 10.1126/sciadv.adl3014] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/11/2023] [Accepted: 02/27/2024] [Indexed: 04/05/2024]
Abstract
Fluidic logic circuits simplify system design for soft robotics by eliminating bulky components while enabling operation in a range of hostile environments that are incompatible with electronics but at the expense of limited computational capabilities and response times on the order of seconds. This paper presents a four-terminal fluidic transistor optimized for fast switching times, reduced component count, low unit cost, and high reproducibility to achieve complex fluidic control circuits while maintaining flow rates of liters per minute. A ring oscillator using three fluidic transistors achieves oscillation frequencies up to a kilohertz with full signal propagation, tolerating billions of cycles without failure. Fundamental processor circuits like a full adder and a 3-bit analog-to-digital converter require just seven transistors each. A decode circuit drives a high-resolution soft haptic display with refresh times below the human perception threshold for latency, and an electronics-free control circuit performs closed-loop position control of a pneumatic actuator with disturbance rejection, demonstrating the value across domains.
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Affiliation(s)
| | - Erik S. Roby
- Meta Platforms Inc., Reality Labs Research, Redmond, WA, USA
| | - Sean J. Keller
- Meta Platforms Inc., Reality Labs Research, Redmond, WA, USA
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12
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Agron DS, Kim WS. 3D Printing Technology: Role in Safeguarding Food Security. Anal Chem 2024; 96:4333-4342. [PMID: 38459927 PMCID: PMC10955516 DOI: 10.1021/acs.analchem.3c05190] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/16/2023] [Revised: 02/21/2024] [Accepted: 02/23/2024] [Indexed: 03/11/2024]
Abstract
The rising threats to food security include several factors, such as population growth, low agricultural investment, and poor distribution systems. Consequently, food insecurity results from a confluence of issues, including diseases, processing limitations, and distribution deficiencies. Food insecurity usually occurs in vulnerable areas where certain technologies and traditional food safety testing are not a viable solution for foodborne disease detection. In this regard, 3D printing technologies and 3D printed sensors open the platform to produce portable, accurate, and low-cost sensors that address the gaps and challenges in food security. In this paper, we discuss the perspective role of 3D printed sensors in food security in terms of food safety and food quality monitoring to provide reliable access to nutritious, affordable food. In each section, we highlight the advantages of 3D printing technology in terms of cost-effectiveness, accuracy, accessibility, and reproducibility compared to traditional manufacturing methodologies. Recent developments in robotic technologies for mechanization, such as food handling with soft grippers, are also discussed. Lastly, we delve into the applications of advanced 3D printing technologies in agricultural monitoring, particularly the future of plant wearables, environmental sensing, and overall plant health monitoring.
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Affiliation(s)
- Danielle
Jaye S. Agron
- Additive
Manufacturing Laboratory, School of Mechatronic Systems Engineering, Simon Fraser University, Burnaby, B.C. V3T 0N1, Canada
| | - Woo Soo Kim
- Additive
Manufacturing Laboratory, School of Mechatronic Systems Engineering, Simon Fraser University, Burnaby, B.C. V3T 0N1, Canada
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13
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Jin L, Yang S. Engineering Kirigami Frameworks Toward Real-World Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308560. [PMID: 37983878 DOI: 10.1002/adma.202308560] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Revised: 11/05/2023] [Indexed: 11/22/2023]
Abstract
The surge in advanced manufacturing techniques has led to a paradigm shift in the realm of material design from developing completely new chemistry to tailoring geometry within existing materials. Kirigami, evolved from a traditional cultural and artistic craft of cutting and folding, has emerged as a powerful framework that endows simple 2D sheets with unique mechanical, thermal, optical, and acoustic properties, as well as shape-shifting capabilities. Given its flexibility, versatility, and ease of fabrication, there are significant efforts in developing kirigami algorithms to create various architectured materials for a wide range of applications. This review summarizes the fundamental mechanisms that govern the transformation of kirigami structures and elucidates how these mechanisms contribute to their distinctive properties, including high stretchability and adaptability, tunable surface topography, programmable shape morphing, and characteristics of bistability and multistability. It then highlights several promising applications enabled by the unique kirigami designs and concludes with an outlook on the future challenges and perspectives of kirigami-inspired metamaterials toward real-world applications.
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Affiliation(s)
- Lishuai Jin
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA, 19104, USA
| | - Shu Yang
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA, 19104, USA
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14
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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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15
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Sun Z, Jiang T, Wang Z, Jiang P, Yang Y, Li H, Ma T, Luo J. Soft Robotic Finger with Energy-Coupled Quadrastability. Soft Robot 2024; 11:140-156. [PMID: 37646782 DOI: 10.1089/soro.2022.0242] [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: 09/01/2023] Open
Abstract
The performance of the human finger is a significant inspiration for designing soft robotic fingers that can achieve high speed and high force or perform delicate and complex tasks. Existing soft grippers and actuators can be excellent in specific capabilities. However, it is still challenging for them to meet an all-around performance as the human finger, characterized by high actuation speed, wide grasping range, sensing ability, and gentle and high-load grasping capability. The proposed tendon pulley quadrastable (TPQ) finger has combined these qualities in the conducted gripping tasks. A pair of elastic tendons is utilized as the sole energy reservoir to create a novel energy distribution pattern: energy-coupled quadrastability. An energy model is built to analyze and predict the behaviors of the TPQ finger. Mechanical instability is utilized to enhance the actuation speed. The proposed soft lever mechanism endows the TPQ finger with sensing ability. The energy barrier adjusting plates control the energy barrier, adjusting the sensitivity of both active and passive actuation mechanisms. The transition of four stable states forms preplanned trajectories that are applied to create multiple grasping manners. Experiments show that it can respond to stimuli and finish a grasping task in merely 31 ms, and its payload can reach 33.25 kg. At the same time, it can also handle fragile objects such as a piece of rose and grasp a wide range of objects ranging from a thin nut (3.3 mm in height) or a thin card (0.76 mm thick) to a football (220 mm).
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Affiliation(s)
- Zijie Sun
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
- Artificial Intelligence and Robotics (AIR) Lab, The Hong Kong Polytechnic University, Hong Kong SAR, China
| | - Tianqi Jiang
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
| | - Zhenyu Wang
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
| | - Pei Jiang
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
| | - Yang Yang
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
| | - Huaqiang Li
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
| | - Teng Ma
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
| | - Ji Luo
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
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16
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Burns JA, Becker KP, Casagrande D, Daniels J, Roberts P, Orenstein E, Vogt DM, Teoh ZE, Wood R, Yin AH, Genot B, Gruber DF, Katija K, Wood RJ, Phillips BT. An in situ digital synthesis strategy for the discovery and description of ocean life. SCIENCE ADVANCES 2024; 10:eadj4960. [PMID: 38232174 DOI: 10.1126/sciadv.adj4960] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/29/2023] [Accepted: 12/19/2023] [Indexed: 01/19/2024]
Abstract
Revolutionary advancements in underwater imaging, robotics, and genomic sequencing have reshaped marine exploration. We present and demonstrate an interdisciplinary approach that uses emerging quantitative imaging technologies, an innovative robotic encapsulation system with in situ RNA preservation and next-generation genomic sequencing to gain comprehensive biological, biophysical, and genomic data from deep-sea organisms. The synthesis of these data provides rich morphological and genetic information for species description, surpassing traditional passive observation methods and preserved specimens, particularly for gelatinous zooplankton. Our approach enhances our ability to study delicate mid-water animals, improving research in the world's oceans.
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Affiliation(s)
- John A Burns
- Bigelow Laboratory for Ocean Sciences, East Boothbay, ME 04544, USA
| | - Kaitlyn P Becker
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA
| | - David Casagrande
- Department of Ocean Engineering, University of Rhode Island, 215 South Ferry Road, Narragansett, RI 02882, USA
| | - Joost Daniels
- Monterey Bay Aquarium Research Institute, Research and Development, Moss Landing, CA 95039, USA
| | - Paul Roberts
- Monterey Bay Aquarium Research Institute, Research and Development, Moss Landing, CA 95039, USA
| | - Eric Orenstein
- Monterey Bay Aquarium Research Institute, Research and Development, Moss Landing, CA 95039, USA
| | - Daniel M Vogt
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA
| | | | - Ryan Wood
- PA Consulting, Concord, MA 01742, USA
| | - Alexander H Yin
- Department of Ocean Engineering, University of Rhode Island, 215 South Ferry Road, Narragansett, RI 02882, USA
| | - Baptiste Genot
- Bigelow Laboratory for Ocean Sciences, East Boothbay, ME 04544, USA
| | - David F Gruber
- Department of Natural Sciences, Baruch College, City University of New York, New York, NY 10010, USA
| | - Kakani Katija
- Monterey Bay Aquarium Research Institute, Research and Development, Moss Landing, CA 95039, USA
| | - Robert J Wood
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA
| | - Brennan T Phillips
- Department of Ocean Engineering, University of Rhode Island, 215 South Ferry Road, Narragansett, RI 02882, USA
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17
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Ikeda H, Saeki T. Transformation of foldable robotic hand to scissor-like shape for pinching based on human hand movement. Sci Rep 2023; 13:19150. [PMID: 37932402 PMCID: PMC10628165 DOI: 10.1038/s41598-023-46622-x] [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: 02/09/2023] [Accepted: 11/02/2023] [Indexed: 11/08/2023] Open
Abstract
Increasing the number of degrees of freedom for multi-finger robotic hands is necessary to achieve high performance. However, this increases structural complexity and the obtained improvement may be small. Humans change the shape of their hands by extending or bending the fingers to apply force to an object through contact with a wide surface or two or more fingers. In some cases, continuous finger movements are not necessary or some fingers do not make contact with the object. A robotic hand with a small number of degrees of freedom could effectively use its fingers to perform many tasks by properly arranging the fingers, increasing the movable range of joints, and utilizing the back and sides of the fingers. This paper proposes a hand system and conducts a theoretical analysis of the transformation of the hand shape into a scissor-like motion to handle a cylindrical object. It is found that the scissor-like motion is unsuitable for cylindrical objects that exceed a certain size. Experiments show the effectiveness of the proposed hand system. The correlation between the contact position of a finger with an object and the success ratio of pinching is demonstrated. Furthermore, a control system that can switch from pinching to grasping when the robot judges that pinching is difficult is developed and experimentally validated.
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Affiliation(s)
- Hidetoshi Ikeda
- Department of Engineering, Niigata Institute of Technology, 1719 Fujihashi, Kashiwazaki-City, Niigata Prefecture, Japan.
| | - Takumi Saeki
- Department of Mechanical Engineering, National Institute of Technology, Toyama College, 13 Hongo-Chou, Toyama-City, Japan
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18
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Wang Y, Chen J, Su G, Mei J, Li J. A Review of Single-Cell Microrobots: Classification, Driving Methods and Applications. MICROMACHINES 2023; 14:1710. [PMID: 37763873 PMCID: PMC10537272 DOI: 10.3390/mi14091710] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 08/19/2023] [Accepted: 08/23/2023] [Indexed: 09/29/2023]
Abstract
Single-cell microrobots are new microartificial devices that use a combination of single cells and artificial devices, with the advantages of small size, easy degradation and ease of manufacture. With externally driven strategies such as light fields, sound fields and magnetic fields, microrobots are able to carry out precise micromanipulations and movements in complex microenvironments. Therefore, single-cell microrobots have received more and more attention and have been greatly developed in recent years. In this paper, we review the main classifications, control methods and recent advances in the field of single-cell microrobot applications. First, different types of robots, such as cell-based microrobots, bacteria-based microrobots, algae-based microrobots, etc., and their design strategies and fabrication processes are discussed separately. Next, three types of external field-driven technologies, optical, acoustic and magnetic, are presented and operations realized in vivo and in vitro by applying these three technologies are described. Subsequently, the results achieved by these robots in the fields of precise delivery, minimally invasive therapy are analyzed. Finally, a short summary is given and current challenges and future work on microbial-based robotics are discussed.
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Affiliation(s)
| | | | | | | | - Junyang Li
- School of Electronic Engineering, Ocean University of China, Qingdao 266000, China; (Y.W.); (J.C.); (G.S.); (J.M.)
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19
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Wu H, Zhang B, Liu X, Liu Y, Cui J, Chu Z. Controllable adhesion behavior in underwater environments. SOFT MATTER 2023; 19:6468-6479. [PMID: 37404181 DOI: 10.1039/d3sm00538k] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/06/2023]
Abstract
Microstructure adhesive pads can effectively manipulate objects in underwater environments. Current adhesive pads can achieve adhesion and separation with rigid substrates underwater; however, challenges remain in the control of adhesion and detachment of flexible materials. Additionally, underwater object manipulation necessitates considerable pre-pressure and is sensitive to water temperature fluctuations, potentially causing object damage and complicating adhesion and detachment processes. Thus, we present a novel, controllable adhesive pad inspired by the functional attributes of microwedge adhesive pads, combined with a mussel-inspired copolymer (MAPMC). In the context of underwater applications for flexible materials, the use of a microstructure adhesion pad with microwedge characteristics (MAPMCs) is a proficient approach to adhesion and detachment operations. This innovative method relies on the precise manipulation of the microwedge structure's collapse and recovery during its operation, which serves as the foundation for its efficacy in such environments. MAPMCs exhibit self-recovering elasticity, water flow interaction, and tunable underwater adhesion and detachment. Numerical simulations elucidate the synergistic effects of MAPMCs, highlighting the advantages of the microwedge structure for controllable, non-damaging adhesion and separation processes. The integration of MAPMCs into a gripping mechanism allows for the handling of diverse objects in underwater environments. Furthermore, by merging MAPMCs and a gripper within a linked system, our approach enables automatic, non-damaging adhesion, manipulation, and release of a soft jellyfish model. The experimental results indicate the potential applicability of MACMPs in underwater operations.
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Affiliation(s)
- Hongyue Wu
- School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing, 100191, China.
| | - Bolun Zhang
- School of Mechanical Engineering and Applied Electronics, Beijing University of Technology, Beijing, 100021, China
| | - Xiaochen Liu
- School of Chemistry, Beihang University, Beijing, 100191, China
| | - Yuzhou Liu
- School of Chemistry, Beihang University, Beijing, 100191, China
| | - Jing Cui
- School of Mechanical Engineering and Applied Electronics, Beijing University of Technology, Beijing, 100021, China
| | - Zhongyi Chu
- School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing, 100191, China.
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20
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Bruder D, Graule MA, Teeple CB, Wood RJ. Increasing the payload capacity of soft robot arms by localized stiffening. Sci Robot 2023; 8:eadf9001. [PMID: 37647385 DOI: 10.1126/scirobotics.adf9001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/20/2022] [Accepted: 08/02/2023] [Indexed: 09/01/2023]
Abstract
Soft robot arms offer safety and adaptability due to their passive compliance, but this compliance typically limits their payload capacity and prevents them from performing many tasks. This paper presents a model-based design approach to effectively increase the payload capacity of soft robot arms. The proposed approach uses localized body stiffening to decrease the compliance at the end effector without sacrificing the robot's range of motion. This approach is validated on both a simulated and a real soft robot arm, where experiments show that increasing the stiffness of localized regions of their bodies reduces the compliance at the end effector and increases the height to which the arm can lift a payload. By increasing the payload capacity of soft robot arms, this approach has the potential to improve their efficacy in a variety of tasks including object manipulation and exploration of cluttered environments.
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Affiliation(s)
- Daniel Bruder
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, 150 Western Ave., Boston, MA 02134, USA
| | - Moritz A Graule
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, 150 Western Ave., Boston, MA 02134, USA
| | - Clark B Teeple
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, 150 Western Ave., Boston, MA 02134, USA
| | - Robert J Wood
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, 150 Western Ave., Boston, MA 02134, USA
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21
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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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22
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Zhang Y, Kong D, Shi Y, Cai M, Yu Q, Li S, Wang K, Liu C. Recent progress on underwater soft robots: adhesion, grabbing, actuating, and sensing. Front Bioeng Biotechnol 2023; 11:1196922. [PMID: 37614630 PMCID: PMC10442648 DOI: 10.3389/fbioe.2023.1196922] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Accepted: 07/20/2023] [Indexed: 08/25/2023] Open
Abstract
The research on biomimetic robots, especially soft robots with flexible materials as the main structure, is constantly being explored. It integrates multi-disciplinary content, such as bionics, material science, mechatronics engineering, and control theory, and belongs to the cross-disciplinary field related to mechanical bionics and biological manufacturing. With the continuous development of various related disciplines, this area has become a hot research field. Particularly with the development of practical technologies such as 3D printing technology, shape memory alloy, piezoelectric materials, and hydrogels at the present stage, the functions and forms of soft robots are constantly being further developed, and a variety of new soft robots keep emerging. Soft robots, combined with their own materials or structural characteristics of large deformation, have almost unlimited degrees of freedom (DoF) compared with rigid robots, which also provide a more reliable structural basis for soft robots to adapt to the natural environment. Therefore, soft robots will have extremely strong adaptability in some special conditions. As a type of robot made of flexible materials, the changeable pose structure of soft robots is especially suitable for the large application environment of the ocean. Soft robots working underwater can better mimic the movement characteristics of marine life in the hope of achieving more complex underwater tasks. The main focus of this paper is to classify different types of underwater organisms according to their common motion modes, focusing on the achievements of some bionic mechanisms in different functional fields that have imitated various motion modes underwater in recent years (e.g., the underwater sucking glove, the underwater Gripper, and the self-powered soft robot). The development of various task types (e.g., grasping, adhesive, driving or swimming, and sensing functions) and mechanism realization forms of the underwater soft robot are described based on this article.
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Affiliation(s)
- Yeming Zhang
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
| | - Demin Kong
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
| | - Yan Shi
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
| | - Maolin Cai
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
| | - Qihui Yu
- School of Mechanical Engineering, Inner Mongolia University of Science and Technology, Baotou, China
| | - Shuping Li
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
| | - Kai Wang
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
| | - Chuangchuang Liu
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
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23
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Hong Y, Zhao Y, Berman J, Chi Y, Li Y, Huang HH, Yin J. Angle-programmed tendril-like trajectories enable a multifunctional gripper with ultradelicacy, ultrastrength, and ultraprecision. Nat Commun 2023; 14:4625. [PMID: 37532733 PMCID: PMC10397260 DOI: 10.1038/s41467-023-39741-6] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/22/2023] [Accepted: 06/23/2023] [Indexed: 08/04/2023] Open
Abstract
Achieving multicapability in a single soft gripper for handling ultrasoft, ultrathin, and ultraheavy objects is challenging due to the tradeoff between compliance, strength, and precision. Here, combining experiments, theory, and simulation, we report utilizing angle-programmed tendril-like grasping trajectories for an ultragentle yet ultrastrong and ultraprecise gripper. The single gripper can delicately grasp fragile liquids with minimal contact pressure (0.05 kPa), lift objects 16,000 times its own weight, and precisely grasp ultrathin, flexible objects like 4-μm-thick sheets and 2-μm-diameter microfibers on flat surfaces, all with a high success rate. Its scalable and material-independent design allows for biodegradable noninvasive grippers made from natural leaves. Explicitly controlled trajectories facilitate its integration with robotic arms and prostheses for challenging tasks, including picking grapes, opening zippers, folding clothes, and turning pages. This work showcases soft grippers excelling in extreme scenarios with potential applications in agriculture, food processing, prosthesis, biomedicine, minimally invasive surgeries, and deep-sea exploration.
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Affiliation(s)
- Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Joseph Berman
- Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - He Helen Huang
- UNC-NC State Joint Department of Biomedical Engineering, North Carolina State University, Raleigh, NC, 27695, USA
- UNC-NC State Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, Chapel Hill, NC, 27599, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA.
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24
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Kang G, Kim YJ, Lee SJ, Kim SK, Lee DY, Song K. Grasping through dynamic weaving with entangled closed loops. Nat Commun 2023; 14:4633. [PMID: 37532695 PMCID: PMC10397280 DOI: 10.1038/s41467-023-40358-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/07/2023] [Accepted: 07/24/2023] [Indexed: 08/04/2023] Open
Abstract
Pick-and-place is essential in diverse robotic applications for industries including manufacturing, and assembly. Soft grippers offer a cost-effective, and low-maintenance alternative for secure object grasping without complex sensing and control systems. However, their inherent softness normally limits payload capabilities and robustness to external disturbances, constraining their applications and hindering reliable performance. In this study, we propose a weaving-inspired grasping mechanism that substantially increases payload capacity while maintaining the use of soft and flexible materials. Drawing from weaving principles, we designed a flexible continuum structure featuring multiple closed-loop strips and employing a kirigami-inspired approach to enable the instantaneous and reversible creation of a woven configuration. The mechanical stability of the woven configuration offers exceptional loading capacity, while the softness of the gripper material ensures safe and adaptive interactions with objects. Experimental results show that the 130 g·f gripper can support up to 100 kg·f. Outperforming competitors in similar weight and softness domains, this breakthrough, enabled by the weaving principle, will broaden the scope of gripper applications to previously inaccessible or barely accessible fields, such as agriculture and logistics.
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Affiliation(s)
- Gyeongji Kang
- Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology (KIST), Seoul, 02792, Republic of Korea
- Department of Mechanical Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Young-Joo Kim
- Institute of Advanced Machines and Design, Seoul National University, Seoul, 08826, Republic of Korea
- Center for Nanomedicine, Institute for Basic Science (IBS), Seoul, 03722, Republic of Korea
| | - Sung-Jin Lee
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Se Kwon Kim
- Department of Physics, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Dae-Young Lee
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea.
- KAIST Institute for Robotics, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea.
| | - Kahye Song
- Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology (KIST), Seoul, 02792, Republic of Korea.
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25
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Wang D, Wu X. Grasping Performance Analysis and Comparison of Multi-Chamber Ring-Shaped Soft Grippers. Biomimetics (Basel) 2023; 8:337. [PMID: 37622942 PMCID: PMC10452415 DOI: 10.3390/biomimetics8040337] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/14/2023] [Revised: 07/11/2023] [Accepted: 07/16/2023] [Indexed: 08/26/2023] Open
Abstract
Biologically inspired pneumatic ring-shaped soft grippers have been extensively studied in the field of soft robotics. However, the effect of the number of air chambers on the grasping performance (grasping range and load capacity) of ring-shaped soft grippers has not been studied. In this article, we propose three ring-shaped soft grippers with the same area of inner walls of air chambers and different numbers of air chambers (two-chamber, three-chamber, and four-chamber) for analyzing and comparing their grasping performance. Finite element method (FEM) models and experimental measurements are conducted to compare the deformation of the inner walls of the three ring-shaped soft grippers, the results indicate that the grasping range of the three-chamber ring-shaped soft gripper is larger than that of the two-chamber ring-shaped soft gripper and the four-chamber ring-shaped soft gripper. Then we choose the three-chamber ring-shaped soft gripper to study the relationship between contact force and air pressure by FEM models and experimental measurements. Several groups of experiments are constructed to compare the load capacity of the three ring-shaped soft grippers, the results indicate that the load capacity of the three-chamber ring-shaped soft gripper is higher than that of the two-chamber ring-shaped soft gripper and the four-chamber ring-shaped soft gripper. The above results reveal that the grasping performance of the three-chamber ring-shaped soft gripper is better than that of other two ring-shaped soft grippers. Furthermore, the application experiments indicate that the three ring-shaped soft grippers can grasp various objects with different weights, material properties, and shapes. This study provides a new idea for investigating ring-shaped soft grippers.
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Affiliation(s)
| | - Xiaojun Wu
- School of Mechanical and Electrical Engineering, Xi’an University of Architecture and Technology, Xi’an 710055, China;
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26
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Nguyen VP, Dhyan SB, Han BS, Chow WT. Universally Grasping Objects with Granular-Tendon Finger: Principle and Design. MICROMACHINES 2023; 14:1471. [PMID: 37512781 PMCID: PMC10383294 DOI: 10.3390/mi14071471] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/09/2023] [Revised: 06/07/2023] [Accepted: 06/13/2023] [Indexed: 07/30/2023]
Abstract
Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft structure provided by multiple granular pouches attached to the finger skeletons. To evaluate the performance of the gripper, a series of experiments were conducted using fifteen distinct types of objects, including cylinders, U-shaped brackets, M3 bolts, tape, pyramids, big pyramids, oranges, cakes, coffee sachets, spheres, drink sachets, shelves, pulley gears, aluminium profiles, and flat brackets. Our experimental results demonstrated that our gripper design achieved high success rates in gripping objects weighing less than 210 g. One notable advantage of the granular-tendon gripper was its ability to generate soft interactions during the grasping process while having a skeleton support to provide strength. This characteristic enabled the gripper to adapt effectively to various objects, regardless of their shape and material properties. Consequently, this work presented a promising solution for manipulating a wide range of objects with both stability and soft interaction capabilities, regardless of their individual characteristics.
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Affiliation(s)
- Van Pho Nguyen
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore
| | - Sunil Bohra Dhyan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore
| | - Boon Siew Han
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore
| | - Wai Tuck Chow
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore
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27
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Yan J, Zhang Y, Liu Z, Wang J, Xu J, Yu L. Ultracompact single-nanowire-morphed grippers driven by vectorial Lorentz forces for dexterous robotic manipulations. Nat Commun 2023; 14:3786. [PMID: 37355640 DOI: 10.1038/s41467-023-39524-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2022] [Accepted: 06/16/2023] [Indexed: 06/26/2023] Open
Abstract
Ultracompact and soft pairwise grippers, capable of swift large-amplitude multi-dimensional maneuvering, are widely needed for high-precision manipulation, assembly and treatment of microscale objects. In this work, we demonstrate the simplest construction of such robotic structures, shaped via a single-nanowire-morphing and powered by geometry-tailored Lorentz vectorial forces. This has been accomplished via a designable folding growth of ultralong and ultrathin silicon NWs into single and nested omega-ring structures, which can then be suspended upon electrode frames and coated with silver metal layer to carry a passing current along geometry-tailored pathway. Within a magnetic field, the grippers can be driven by the Lorentz forces to demonstrate swift large-amplitude maneuvers of grasping, flapping and twisting of microscale objects, as well as high-frequency or even resonant vibrations to overcome sticky van de Waals forces in microscale for a reliable releasing of carried payloads. More sophisticated and functional teamwork of mutual alignment, precise passing and selective light-emitting-diode unit testing and installation were also successfully accomplished via pairwise gripper collaborations. This single-nanowire-morphing strategy provides an ideal platform to rapidly design, construct and prototype a wide range of advanced ultracompact nanorobotic, mechanical sensing and biological manipulation functionalities.
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Affiliation(s)
- Jiang Yan
- School of Electronic Science and Engineering, National Laboratory of Solid-State Microstructures, Nanjing University, 210023, Nanjing, China
| | - Ying Zhang
- School of Electronic Science and Engineering, National Laboratory of Solid-State Microstructures, Nanjing University, 210023, Nanjing, China
| | - Zongguang Liu
- School of Electronic Science and Engineering, National Laboratory of Solid-State Microstructures, Nanjing University, 210023, Nanjing, China.
| | - Junzhuan Wang
- School of Electronic Science and Engineering, National Laboratory of Solid-State Microstructures, Nanjing University, 210023, Nanjing, China
| | - Jun Xu
- School of Electronic Science and Engineering, National Laboratory of Solid-State Microstructures, Nanjing University, 210023, Nanjing, China
| | - Linwei Yu
- School of Electronic Science and Engineering, National Laboratory of Solid-State Microstructures, Nanjing University, 210023, Nanjing, China.
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28
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Xu S, Nunez CM, Souri M, Wood RJ. A compact DEA-based soft peristaltic pump for power and control of fluidic robots. Sci Robot 2023; 8:eadd4649. [PMID: 37343077 DOI: 10.1126/scirobotics.add4649] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/19/2022] [Accepted: 05/24/2023] [Indexed: 06/23/2023]
Abstract
Fluid-driven robotic systems typically use bulky and rigid power supplies, considerably limiting their mobility and flexibility. Although various forms of low-profile soft pumps have been demonstrated, they either are limited to specific working fluids or generate limited flow rates or pressures, making them ill-suited for widespread robotics applications. In this work, we introduce a class of centimeter-scale soft peristaltic pumps for power and control of fluidic robots. An array of high power density robust dielectric elastomer actuators (DEAs) (each weighing 1.7 grams) were adopted as soft motors, operated in a programmed pattern to produce pressure waves in a fluidic channel. We investigated and optimized the dynamic performance of the pump by analyzing the interaction between the DEAs and the fluidic channel with a fluid-structure interaction finite element model. Our soft pump achieved a maximum blocked pressure of 12.5 kilopascals and a run-out flow rate of 39 milliliters per minute with a response time of less than 0.1 second. The pump can generate bidirectional flow and adjustable pressure through control of drive parameters such as voltage and phase shift. Furthermore, the use of peristalsis makes the pump compatible with various liquids. To illustrate the versatility of the pump, we demonstrate mixing a cocktail, powering custom actuators for haptic devices, and performing closed-loop control of a soft fluidic actuator. This compact soft peristaltic pump opens up possibilities for future on-board power sources for fluid-driven robots in a variety of applications, including food handling, manufacturing, and biomedical therapeutics.
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Affiliation(s)
- Siyi Xu
- Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Cara M Nunez
- Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA
| | - Mohammad Souri
- Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Robert J Wood
- Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
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29
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Yan W, Li S, Deguchi M, Zheng Z, Rus D, Mehta A. Origami-based integration of robots that sense, decide, and respond. Nat Commun 2023; 14:1553. [PMID: 37012246 PMCID: PMC10070436 DOI: 10.1038/s41467-023-37158-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/06/2022] [Accepted: 03/03/2023] [Indexed: 04/05/2023] Open
Abstract
Origami-inspired engineering has enabled intelligent materials and structures to process and react to environmental stimuli. However, it is challenging to achieve complete sense-decide-act loops in origami materials for autonomous interaction with environments, mainly due to the lack of information processing units that can interface with sensing and actuation. Here, we introduce an integrated origami-based process to create autonomous robots by embedding sensing, computing, and actuating in compliant, conductive materials. By combining flexible bistable mechanisms and conductive thermal artificial muscles, we realize origami multiplexed switches and configure them to generate digital logic gates, memory bits, and thus integrated autonomous origami robots. We demonstrate with a flytrap-inspired robot that captures 'living prey', an untethered crawler that avoids obstacles, and a wheeled vehicle that locomotes with reprogrammable trajectories. Our method provides routes to achieve autonomy for origami robots through tight functional integration in compliant, conductive materials.
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Affiliation(s)
- Wenzhong Yan
- Mechanical and Aerospace Engineering Department, UCLA, Los Angeles, CA, USA.
| | - Shuguang Li
- Computer Science and Artificial Intelligence Laboratory, MIT, Cambridge, USA
- Department of Mechanical Engineering, Tsinghua University, Beijing, P.R. China
| | - Mauricio Deguchi
- Mechanical and Aerospace Engineering Department, UCLA, Los Angeles, CA, USA
| | - Zhaoliang Zheng
- Electrical and Computer Engineering Department, UCLA, Los Angeles, CA, USA
| | - Daniela Rus
- Computer Science and Artificial Intelligence Laboratory, MIT, Cambridge, USA
| | - Ankur Mehta
- Electrical and Computer Engineering Department, UCLA, Los Angeles, CA, USA
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30
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Design Analysis and Actuation Performance of a Push-Pull Dielectric Elastomer Actuator. Polymers (Basel) 2023; 15:polym15041037. [PMID: 36850319 PMCID: PMC9959836 DOI: 10.3390/polym15041037] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2023] [Revised: 02/10/2023] [Accepted: 02/17/2023] [Indexed: 02/22/2023] Open
Abstract
Dielectric elastomer actuation has been extensively investigated and applied to bionic robotics and intelligent actuators due to its status as an excellent actuation technique. As a conical dielectric elastomer actuator (DEA) structure extension, push-pull DEA has been explored in controlled acoustics, microfluidics, and multi-stable actuation due to its simple fabrication and outstanding performance. In this paper, a theoretical model is developed to describe the electromechanical behavior of push-pull DEA based on the force balance of the mass block in an actuator. The accuracy of the proposed model is experimentally validated by employing the mass block in the construction of the actuator as the object of study. The actuation displacement of the actuator is used as the evaluation indication to investigate the effect of key design parameters on the actuation performance of the actuator, its failure mode, and critical failure voltage. A dynamic actuator model is proposed and used with experimental data to explain the dynamic response of the actuator, its natural frequency, and the effect of variables. This work provides a strong theoretical background for dielectric elastomer actuators, as well as practical design and implementation experience.
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31
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Zhang D, Xu J, Liu X, Zhang Q, Cong Q, Chen T, Liu C. Advanced Bionic Attachment Equipment Inspired by the Attachment Performance of Aquatic Organisms: A Review. Biomimetics (Basel) 2023; 8:biomimetics8010085. [PMID: 36810416 PMCID: PMC9944885 DOI: 10.3390/biomimetics8010085] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/27/2022] [Revised: 02/11/2023] [Accepted: 02/13/2023] [Indexed: 02/19/2023] Open
Abstract
In nature, aquatic organisms have evolved various attachment systems, and their attachment ability has become a specific and mysterious survival skill for them. Therefore, it is significant to study and use their unique attachment surfaces and outstanding attachment characteristics for reference and develop new attachment equipment with excellent performance. Based on this, in this review, the unique non-smooth surface morphologies of their suction cups are classified and the key roles of these special surface morphologies in the attachment process are introduced in detail. The recent research on the attachment capacity of aquatic suction cups and other related attachment studies are described. Emphatically, the research progress of advanced bionic attachment equipment and technology in recent years, including attachment robots, flexible grasping manipulators, suction cup accessories, micro-suction cup patches, etc., is summarized. Finally, the existing problems and challenges in the field of biomimetic attachment are analyzed, and the focus and direction of biomimetic attachment research in the future are pointed out.
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Affiliation(s)
- Dexue Zhang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- Shandong Academy of Agricultural Machinery Sciences, Jinan 250100, China
| | - Jin Xu
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
| | - Xuefeng Liu
- Shandong Academy of Agricultural Machinery Sciences, Jinan 250100, China
- Institute of Modern Agriculture on Yellow River Delta, Shandong Academy of Agricultural Sciences, Dongying 257300, China
| | - Qifeng Zhang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- Shandong Academy of Agricultural Machinery Sciences, Jinan 250100, China
| | - Qian Cong
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
- Correspondence: (Q.C.); (T.C.)
| | - Tingkun Chen
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- Correspondence: (Q.C.); (T.C.)
| | - Chaozong Liu
- Institute of Orthopaedic & Musculoskeletal Science, University College London, London HA7 4LP, UK
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32
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Conductive and elastic bottlebrush elastomers for ultrasoft electronics. Nat Commun 2023; 14:623. [PMID: 36739447 PMCID: PMC9899285 DOI: 10.1038/s41467-023-36214-8] [Citation(s) in RCA: 15] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/09/2022] [Accepted: 01/18/2023] [Indexed: 02/06/2023] Open
Abstract
Understanding biological systems and mimicking their functions require electronic tools that can interact with biological tissues with matched softness. These tools involve biointerfacing materials that should concurrently match the softness of biological tissue and exhibit suitable electrical conductivities for recording and reading bioelectronic signals. However, commonly employed intrinsically soft and stretchable materials usually contain solvents that limit stability for long-term use or possess low electronic conductivity. To date, an ultrasoft (i.e., Young's modulus <30 kPa), conductive, and solvent-free elastomer does not exist. Additionally, integrating such ultrasoft and conductive materials into electronic devices is poorly explored. This article reports a solvent-free, ultrasoft and conductive PDMS bottlebrush elastomer (BBE) composite with single-wall carbon nanotubes (SWCNTs) as conductive fillers. The conductive SWCNT/BBE with a filler concentration of 0.4 - 0.6 wt% reveals an ultralow Young's modulus (<11 kPa) and satisfactory conductivity (>2 S/m) as well as adhesion property. Furthermore, we fabricate ultrasoft electronics based on laser cutting and 3D printing of conductive and non-conductive BBEs and demonstrate their potential applications in wearable sensing, soft robotics, and electrophysiological recording.
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33
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Roe DG, Ho DH, Choi YY, Choi YJ, Kim S, Jo SB, Kang MS, Ahn JH, Cho JH. Humanlike spontaneous motion coordination of robotic fingers through spatial multi-input spike signal multiplexing. Nat Commun 2023; 14:5. [PMID: 36596783 PMCID: PMC9810717 DOI: 10.1038/s41467-022-34324-3] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/18/2022] [Accepted: 10/19/2022] [Indexed: 01/05/2023] Open
Abstract
With advances in robotic technology, the complexity of control of robot has been increasing owing to fundamental signal bottlenecks and limited expressible logic state of the von Neumann architecture. Here, we demonstrate coordinated movement by a fully parallel-processable synaptic array with reduced control complexity. The synaptic array was fabricated by connecting eight ion-gel-based synaptic transistors to an ion gel dielectric. Parallel signal processing and multi-actuation control could be achieved by modulating the ionic movement. Through the integration of the synaptic array and a robotic hand, coordinated movement of the fingers was achieved with reduced control complexity by exploiting the advantages of parallel multiplexing and analog logic. The proposed synaptic control system provides considerable scope for the advancement of robotic control systems.
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Affiliation(s)
- Dong Gue Roe
- School of Electrical and Electronic Engineering, Yonsei University, Seoul, 03722, Republic of Korea
| | - Dong Hae Ho
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul, 03722, Republic of Korea
| | - Yoon Young Choi
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, 61801, USA
| | - Young Jin Choi
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul, 03722, Republic of Korea
| | - Seongchan Kim
- SKKU Advanced Institute of Nanotechnology (SAINT), Sungkyunkwan University, Suwon, 16419, Republic of Korea
| | - Sae Byeok Jo
- School of Chemical Engineering, Sungkyunkwan University, Suwon, 16419, Republic of Korea
| | - Moon Sung Kang
- Department of Chemical and Biomolecular Engineering, Institute of Emergent Materials, Sogang University, Seoul, 04107, Republic of Korea
| | - Jong-Hyun Ahn
- School of Electrical and Electronic Engineering, Yonsei University, Seoul, 03722, Republic of Korea
| | - Jeong Ho Cho
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul, 03722, Republic of Korea.
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34
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Abstract
We have developed a microscale hydraulic soft gripper and demonstrated the handling of an insect without damage. This gripper is built on Polydimethylsiloxane (PDMS) with the soft material casting technique to form three finger-like columns, which are placed on a circular membrane. The fingers have a length of 1.5 mm and a diameter of 300 µm each; the distance between the two fingers is 600 µm of center-to-center distance. A membrane as a 150 µm soft film is built on top of a cylindrical hollow space. Applying pressure to the interior space can bend the membrane. Bending the membrane causes the motion of opening/closing of the gripper, and as a result, the three fingers can grip an object or release it. The PDMS was characterized, and the experimental results were used later in Abaqus software to simulate the gripping motion. The range of deformation of the gripper was investigated by simulation and experiment. The result of the simulation agrees with the experiments. The maximum 543 µN force was measured for this microfluidic-compatible microgripper and it could lift a ball that weighs 168.4 mg and has a 0.5 mm diameter. Using this microgripper, an ant was manipulated successfully without any damage. Results showed fabricated device has great a potential as micro/bio manipulator.
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35
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Huang J, Rosendo A. Variable Stiffness Object Recognition with a CNN-Bayes Classifier on a Soft Gripper. Soft Robot 2022; 9:1220-1231. [PMID: 35275780 DOI: 10.1089/soro.2021.0105] [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: 01/11/2023] Open
Abstract
Soft grippers significantly widen the palpation capabilities of robots, ranging from soft to hard materials without the assistance of cameras. From a medical perspective, the detection of size and shape of hard inclusions concealed within soft three-dimensional (3D) objects is meaningful for the early detection of cancer through palpation. This article proposes a framework for variable-stiffness object recognition using tactile information collected by force sensitive resistors on a three-finger soft gripper. A 15 × 50 spatiotemporal tactile image is generated for each 3D palpation process and then fed into a convolutional neural network (CNN) for object identification. The training set consists of tactile images generated from different grasping orientations. We developed our own CNN architecture, named SoftTactNet, and compared its performance with several state-of-the-art CNNs on the image dataset produced by our experiments. The results show that our proposed method excels in distinguishing 3D shapes and sizes of objects enclosed by a thick soft foam. The average recognition rate is significantly improved using a Naive Bayes classifier, reaching a 97% recognition accuracy. The detection of shapes and sizes of hard objects underneath soft tissues is extremely important for breast and testicular cancer early detection, a field where Soft Robots can shine with inexpensive and ubiquitous devices.
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Affiliation(s)
- Jingyi Huang
- School of Information Science and Technology, ShanghaiTech University, Shanghai, China
| | - Andre Rosendo
- School of Information Science and Technology, ShanghaiTech University, Shanghai, China
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36
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Qi Q, Xiang C, Ho VA, Rossiter J. A Sea-Anemone-Inspired, Multifunctional, Bistable Gripper. Soft Robot 2022; 9:1040-1051. [PMID: 34883034 DOI: 10.1089/soro.2020.0176] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023] Open
Abstract
The growing need for soft robots with secure, adaptive, and autonomous functioning in unforeseen environments favors designs with multiple functionalities. This has driven soft robotic grippers to be explored to integrate perceptual capability for augmented multifunctionality. In nature, sea anemones can detect and catch preys of various shapes and sizes effectively with extremely simple bodies because of the efficient coupling of sensing and actuation capability. Inspired by their body structures, we present a bistable gripper with multifunctionality that includes sensing (proprioceptive and exteroceptive) and multimodal gripping (grasping and pinching). The gripper exploits an array of tapered pins on the external surface of a dome membrane for gripping and a set of cylindrical markers on the internal surface of the membrane for optical sensing. The membrane is bistable and can settle in either of two equilibrium states "natural" and "retracted." Gripping functionality is achieved by the centripetal enveloping movement of the pins, along with the passive snap-through process of the membrane. By analyzing the distribution of markers within the view of an embedded camera, sophisticated sensing functionality can be achieved. We first characterized each function separately and then implemented an object handling system, combining the sensing and gripping functionality, to demonstrate the potential for more advanced robotic applications. This work delivers a compact universal gripper design with an efficient and elegant integration of multifunctionality.
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Affiliation(s)
- Qiukai Qi
- SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom.,Soft Haptics Laboratory, Japan Advanced Institute of Science and Technology, Nomi, Japan.,Suzumori-Endo Laboratory, Tokyo Institute of Technology, Tokyo, Japan
| | - Chaoqun Xiang
- SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom
| | - Van Anh Ho
- Soft Haptics Laboratory, Japan Advanced Institute of Science and Technology, Nomi, Japan
| | - Jonathan Rossiter
- SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom
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37
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Levine DJ, Iyer GM, Daelan Roosa R, Turner KT, Pikul JH. A mechanics-based approach to realize high–force capacity electroadhesives for robots. Sci Robot 2022; 7:eabo2179. [DOI: 10.1126/scirobotics.abo2179] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/03/2022]
Abstract
Materials with electroprogrammable stiffness and adhesion can enhance the performance of robotic systems, but achieving large changes in stiffness and adhesive forces in real time is an ongoing challenge. Electroadhesive clutches can rapidly adhere high stiffness elements, although their low force capacities and high activation voltages have limited their applications. A major challenge in realizing stronger electroadhesive clutches is that current parallel plate models poorly predict clutch force capacity and cannot be used to design better devices. Here, we use a fracture mechanics framework to understand the relationship between clutch design and force capacity. We demonstrate and verify a mechanics-based model that predicts clutch performance across multiple geometries and applied voltages. On the basis of this approach, we build a clutch with 63 times the force capacity per unit electrostatic force of state-of-the-art electroadhesive clutches. Last, we demonstrate the ability of our electroadhesives to increase the load capacity of a soft, pneumatic finger by a factor of 27 times compared with a finger without an electroadhesive.
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Affiliation(s)
- David J. Levine
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Gokulanand M. Iyer
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - R. Daelan Roosa
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Kevin T. Turner
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - James H. Pikul
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
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38
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Atia MGB, Mohammad A, Gameros A, Axinte D, Wright I. Reconfigurable Soft Robots by Building Blocks. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2203217. [PMID: 36192162 PMCID: PMC9685464 DOI: 10.1002/advs.202203217] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/31/2022] [Revised: 09/03/2022] [Indexed: 06/16/2023]
Abstract
Soft robots are of increasing interest as they can cope with challenges that are poorly addressed by conventional rigid-body robots (e.g., limited flexibility). However, due to their flexible nature, the soft robots can be particularly prone to exploit modular designs for enhancing their reconfigurability, that is, a concept which, to date, has not been explored. Therefore, this paper presents a design of soft building blocks that can be disassembled and reconfigured to build different modular configurations of soft robots such as robotic fingers and continuum robots. First, a numerical model is developed for the constitutive building block allowing to understand their behavior versus design parameters, then a shape optimization algorithm is developed to permit the construction of different types of soft robots based on these soft building blocks. To validate the approach, 2D and 3D case studies of bio-inspired designs are demonstrated: first, soft fingers are introduced as a case study for grasping complex and delicate objects. Second, an elephant trunk is used for grasping a flower. Third, a walking legged robot. These case studies prove that the proposed modular building approach makes it easier to build and reconfigure different types of soft robots with multiple complex shapes.
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Affiliation(s)
- Mohamed G. B. Atia
- Rolls‐Royce UTC in Manufacturing and On‐Wing TechnologyThe University of NottinghamNottinghamNG8 1BBUK
| | - Abdelkhalick Mohammad
- Rolls‐Royce UTC in Manufacturing and On‐Wing TechnologyThe University of NottinghamNottinghamNG8 1BBUK
| | - Andres Gameros
- Rolls‐Royce UTC in Manufacturing and On‐Wing TechnologyThe University of NottinghamNottinghamNG8 1BBUK
| | - Dragos Axinte
- Rolls‐Royce UTC in Manufacturing and On‐Wing TechnologyThe University of NottinghamNottinghamNG8 1BBUK
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39
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Hwang GW, Lee HJ, Kim DW, Yang T, Pang C. Soft Microdenticles on Artificial Octopus Sucker Enable Extraordinary Adaptability and Wet Adhesion on Diverse Nonflat Surfaces. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2202978. [PMID: 35975453 PMCID: PMC9631055 DOI: 10.1002/advs.202202978] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/20/2022] [Revised: 06/24/2022] [Indexed: 06/15/2023]
Abstract
Bioinspired soft devices, which possess high adaptability to targeted objects, provide promising solutions for a variety of industrial and medical applications. However, achieving stable and switchable attachment to objects with curved, rough, and irregular surfaces remains difficult, particularly in dry and underwater environments. Here, a highly adaptive soft microstructured switchable adhesion device is presented, which is inspired by the geometric and material characteristics of the tiny denticles on the surface of an octopus sucker. The contact interface of the artificial octopus sucker (AOS) is imprinted with soft, microscale denticles that interact adaptably with highly rough or curved surfaces. Robust and controllable attachment of the AOS with soft microdenticles (AOS-sm) to dry and wet surfaces with diverse morphologies is achieved, allowing conformal attachment on curved and soft objects with high roughness. In addition, AOS-sms assembled with an octopus-arm-inspired soft actuator demonstrate reliable grasping and the transport of complex polyhedrons, rough objects, and soft, delicate, slippery biological samples.
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Affiliation(s)
- Gui Won Hwang
- School of Chemical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
| | - Heon Joon Lee
- School of Chemical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
| | - Da Wan Kim
- School of Chemical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
- School of Electronic and Electrical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
| | - Tae‐Heon Yang
- Department of Electronic EngineeringKorea National University of TransportationChungju‐siChungbuk27469Republic of Korea
| | - Changhyun Pang
- School of Chemical EngineeringSungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
- Samsung Advanced Institute for Health Sciences and Technology (SAIHST)Sungkyunkwan University (SKKU)2066 Seobu‐ro, Jangan‐guSuwonGyeonggi‐do16419Republic of Korea
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40
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Poccard-Saudart J, Xu S, Teeple CB, Hyun NSP, Becker KP, Wood RJ. Controlling Soft Fluidic Actuators Using Soft DEA-Based Valves. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3187268] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Johan Poccard-Saudart
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Siyi Xu
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Clark B. Teeple
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Nak-Seung Patrick Hyun
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Kaitlyn P. Becker
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Robert J. Wood
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
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41
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Tang Y, Li M, Wang T, Dong X, Hu W, Sitti M. Wireless Miniature Magnetic Phase-Change Soft Actuators. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2204185. [PMID: 35975467 PMCID: PMC7613683 DOI: 10.1002/adma.202204185] [Citation(s) in RCA: 26] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/09/2022] [Revised: 08/09/2022] [Indexed: 05/28/2023]
Abstract
Wireless miniature soft actuators are promising for various potential high-impact applications in medical, robotic grippers, and artificial muscles. However, these miniature soft actuators are currently constrained by a small output force and low work capacity. To address such challenges, a miniature magnetic phase-change soft composite actuator is reported. This soft actuator exhibits an expanding deformation and enables up to a 70 N output force and 175.2 J g-1 work capacity under remote magnetic radio frequency heating, which are 106 -107 times that of traditional magnetic soft actuators. To demonstrate its capabilities, a wireless soft robotic device is first designed that can withstand 0.24 m s-1 fluid flows in an artery phantom. By integrating it with a thermally-responsive shape-memory polymer and bistable metamaterial sleeve, a wireless reversible bistable stent is designed toward future potential angioplasty applications. Moreover, it can additionally locomote inside and jump out of granular media. At last, the phase-change actuator can realize programmable bending deformations when a specifically designed magnetization profile is encoded, enhancing its shape-programming capability. Such a miniature soft actuator provides an approach to enhance the mechanical output and versatility of magnetic soft robots and devices, extending their medical and other potential applications.
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Affiliation(s)
- Yichao Tang
- School of Mechanical Engineering Tongji University Shanghai 201804, China; Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany
| | - Mingtong Li
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute of Functional Nano & Soft Materials (FUNSOM) Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices Soochow University Suzhou, Jiangsu 215123, China
| | - Tianlu Wang
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute for Biomedical Engineering ETH Zurich Zurich 8092, Switzerland
| | - Xiaoguang Dong
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; of Mechanical Engineering Vanderbilt University Nashville, TN 37215, USA; Vanderbilt Institute for Surgery and Engineering Vanderbilt University Nashville, TN 37215, USA
| | - Wenqi Hu
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute for Biomedical Engineering ETH Zurich Zurich 8092, Switzerland; School of Medicine and College of Engineering Koç University Istanbul 34450, Turkey
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42
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Wang H, Xu H, Meng Y, Ge X, Lin A, Gao XZ. Deep Learning-Based 3D Pose Reconstruction of an Underwater Soft Robotic Hand and Its Biomimetic Evaluation. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3197886] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Haihang Wang
- College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
| | - He Xu
- College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
| | - Yihan Meng
- College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
| | - Xinlei Ge
- School of Mathematics and Statistics, Beijing Jiaotong University, Beijing, China
| | - Aijing Lin
- School of Mathematics and Statistics, Beijing Jiaotong University, Beijing, China
| | - Xiao-Zhi Gao
- School of Computing, University of Eastern Finland, Kuopio, Finland
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43
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Baines R, Patiballa SK, Booth J, Ramirez L, Sipple T, Garcia A, Fish F, Kramer-Bottiglio R. Multi-environment robotic transitions through adaptive morphogenesis. Nature 2022; 610:283-289. [PMID: 36224418 DOI: 10.1038/s41586-022-05188-w] [Citation(s) in RCA: 29] [Impact Index Per Article: 14.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/21/2022] [Accepted: 08/03/2022] [Indexed: 11/09/2022]
Abstract
The current proliferation of mobile robots spans ecological monitoring, warehouse management and extreme environment exploration, to an individual consumer's home1-4. This expanding frontier of applications requires robots to transit multiple environments, a substantial challenge that traditional robot design strategies have not effectively addressed5,6. For example, biomimetic design-copying an animal's morphology, propulsion mechanism and gait-constitutes one approach, but it loses the benefits of engineered materials and mechanisms that can be exploited to surpass animal performance7,8. Other approaches add a unique propulsive mechanism for each environment to the same robot body, which can result in energy-inefficient designs9-11. Overall, predominant robot design strategies favour immutable structures and behaviours, resulting in systems incapable of specializing across environments12,13. Here, to achieve specialized multi-environment locomotion through terrestrial, aquatic and the in-between transition zones, we implemented 'adaptive morphogenesis', a design strategy in which adaptive robot morphology and behaviours are realized through unified structural and actuation systems. Taking inspiration from terrestrial and aquatic turtles, we built a robot that fuses traditional rigid components and soft materials to radically augment the shape of its limbs and shift its gaits for multi-environment locomotion. The interplay of gait, limb shape and the environmental medium revealed vital parameters that govern the robot's cost of transport. The results attest that adaptive morphogenesis is a powerful method to enhance the efficiency of mobile robots encountering unstructured, changing environments.
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Affiliation(s)
- Robert Baines
- School of Engineering and Applied Science, Yale University, New Haven, CT, USA
| | - Sree Kalyan Patiballa
- School of Engineering and Applied Science, Yale University, New Haven, CT, USA.,Department of Mechanical Engineering, The University of Alabama, Tuscaloosa, AL, USA
| | - Joran Booth
- School of Engineering and Applied Science, Yale University, New Haven, CT, USA
| | - Luis Ramirez
- School of Engineering and Applied Science, Yale University, New Haven, CT, USA
| | - Thomas Sipple
- School of Engineering and Applied Science, Yale University, New Haven, CT, USA
| | - Andonny Garcia
- School of Engineering and Applied Science, Yale University, New Haven, CT, USA
| | - Frank Fish
- Department of Biology, West Chester University, West Chester, PA, USA
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44
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Design of a Novel Soft Pneumatic Gripper with Variable Gripping Size and Mode. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01721-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/15/2022]
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45
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Kwon JH, Kim YM, Moon HC. Binary Co-Gelator Strategy: Toward Highly Deformable Ionic Conductors for Wearable Ionoskins. ACS APPLIED MATERIALS & INTERFACES 2022; 14:32533-32540. [PMID: 35708477 DOI: 10.1021/acsami.2c07334] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Stretchable ionic conductors have been actively developed due to the increasing demand for wearable electrochemical platforms. Herein, we propose a convenient and effective strategy for tailoring the mechanical deformability of ionic conductors. The mixing of poly(methyl methacrylate) (PMMA, polymer gelator) and 1-butyl-3-methylimidazolium bis(trifluoromethylsulfonyl)imide ([BMI][TFSI], ionic liquid) produces mechanically stiff ionic conductors. To reduce the chain entanglement of polymer gelators and induce effective dissipation of applied stresses, flexible poly(butyl acrylate) (PBA) with a low glass-transition temperature is additionally doped into the ionic conductor. An extremely stretchable (∼1500%) homogeneous ternary ionic conductor is obtained without a notable change in electrochemical characteristics, unless the content of PBA exceeds the macrophase separation limit of 3 wt %. In addition, the mechanical elasticity (1.8 × 105 Pa) and durability (e.g., recovery ratio of ∼86.3% after 1000 stretching/releasing cycles) of the conductor further support its suitability as a strain sensory platform. In contrast to conventional ionoskins that have to fit the area of target body parts, even a small piece of the ternary ionic conductor successfully monitors human motion over large areas by taking advantage of its superior deformability.
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Affiliation(s)
- Jin Han Kwon
- Department of Chemical Engineering, University of Seoul, Seoul 02504, Republic of Korea
| | - Yong Min Kim
- Department of Chemical Engineering, University of Seoul, Seoul 02504, Republic of Korea
| | - Hong Chul Moon
- Department of Chemical Engineering, University of Seoul, Seoul 02504, Republic of Korea
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46
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Patterson ZJ, Patel DK, Bergbreiter S, Yao L, Majidi C. A Method for 3D Printing and Rapid Prototyping of Fieldable Untethered Soft Robots. Soft Robot 2022; 10:292-300. [PMID: 35852561 DOI: 10.1089/soro.2022.0003] [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: 11/12/2022] Open
Abstract
Because they are made of elastically deformable and compliant materials, soft robots can passively change shape and conform to their environment, providing potential advantages over traditional robotics approaches. However, existing manufacturing workflows are often labor intensive and limited in their ability to create highly integrated three-dimensional (3D) heterogeneous material systems. In this study, we address this with a streamlined workflow to produce field-deployable soft robots based on 3D printing with digital light processing (DLP) of silicone-like soft materials. DLP-based 3D printing is used to create soft actuators (2.2 g) capable of exerting up to 0.5 Newtons of force that are integrated into a bioinspired untethered soft robot. The robot walks underwater at speeds comparable with its biological analog, the brittle star. Using a model-free planning algorithm and feedback, the robot follows remote commands to move to desired positions. Moreover, we show that the robot is able to perform untethered locomotion outside of a laboratory and in a natural aquatic environment. Our results represent progress in soft robot manufacturing autonomy for a 3D printed untethered soft robot.
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Affiliation(s)
- Zach J Patterson
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Dinesh K Patel
- Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Sarah Bergbreiter
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Lining Yao
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Carmel Majidi
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
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47
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Gruber DF, Wood RJ. Advances and future outlooks in soft robotics for minimally invasive marine biology. Sci Robot 2022; 7:eabm6807. [PMID: 35584202 DOI: 10.1126/scirobotics.abm6807] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/30/2022]
Abstract
This Viewpoint describes interdisciplinary research that aims to maximize understanding of deep marine life, while concurrently being minimally invasive. We describe the synthesis of multiple modern approaches (spanning robotics, biology, biomechanics, engineering, imaging, and genomic sequencing) and present future directions that hold the potential for a paradigm shift in marine biology.
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Affiliation(s)
- David F Gruber
- Department of Natural Sciences, Baruch College and Graduate Center, PhD Program in Biology, City University of New York, New York, NY 10010, USA
| | - Robert J Wood
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
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48
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Current State of Robotics in Hand Rehabilitation after Stroke: A Systematic Review. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12094540] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/10/2022]
Abstract
Among the methods of hand function rehabilitation after stroke, robot-assisted rehabilitation is widely used, and the use of hand rehabilitation robots can provide functional training of the hand or assist the paralyzed hand with activities of daily living. However, patients with hand disorders consistently report that the needs of some users are not being met. The purpose of this review is to understand the reasons why these user needs are not being adequately addressed, to explore research on hand rehabilitation robots, to review their current state of research in recent years, and to summarize future trends in the hope that it will be useful to researchers in this research area. This review summarizes the techniques in this paper in a systematic way. We first provide a comprehensive review of research institutions, commercial products, and literature. Thus, the state of the art and deficiencies of functional hand rehabilitation robots are sought and guide the development of subsequent hand rehabilitation robots. This review focuses specifically on the actuation and control of hand functional rehabilitation robots, as user needs are primarily focused on actuation and control strategies. We also review hand detection technologies and compare them with patient needs. The results show that the trends in recent years are more inclined to pursue new lightweight materials to improve hand adaptability, investigating intelligent control methods for human-robot interaction in hand functional rehabilitation robots to improve control robustness and accuracy, and VR virtual task positioning to improve the effectiveness of active rehabilitation training.
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49
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Wu Q, Wu Y, Yang X, Zhang B, Wang J, Chepinskiy SA, Zhilenkov AA. Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus. Front Robot AI 2022; 9:815435. [PMID: 35516788 PMCID: PMC9065362 DOI: 10.3389/frobt.2022.815435] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/15/2021] [Accepted: 03/24/2022] [Indexed: 11/13/2022] Open
Abstract
The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus's tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus's tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.
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Affiliation(s)
- Qiuxuan Wu
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, China
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, Saint Petersburg, Russia
| | - Yan Wu
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, China
| | - Xiaochen Yang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, China
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China
| | - Botao Zhang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, China
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China
| | - Jian Wang
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China
- Faculty of Control Systems and Robotics, ITMO University, Saint Petersburg, Russia
| | - Sergey A Chepinskiy
- Faculty of Control Systems and Robotics, ITMO University, Saint Petersburg, Russia
| | - Anton A Zhilenkov
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, Saint Petersburg, Russia
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50
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Wang H, Xu H, Abu-Dakka FJ, Kyrki V, Yang C, Li X, Chen S. A Bidirectional Soft Biomimetic Hand Driven by Water Hydraulic for Dexterous Underwater Grasping. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3143297] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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