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Mousa M, Rezanejad A, Gorissen B, Forte AE. Frequency-Controlled Fluidic Oscillators for Soft Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2408879. [PMID: 39379021 DOI: 10.1002/advs.202408879] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/30/2024] [Revised: 09/03/2024] [Indexed: 10/10/2024]
Abstract
Electronic-free controls have recently emerged as one of the main topics in soft robotics. However, electronic-free fluidic circuits still lack controllability and reconfigurability to achieve different functions. Here, reconfigurable pneumatic valves that widen the design space of fluidic circuits are presented. The significance of two parameters on the valve's operation: a pre-defined manufacturing parameter that sets the initial operational range of the valve, and a second, on-the-fly modifiable geometric parameter that shifts the behavior of the valve during operation is shown. It is demonstrated that equipping the valve with these reconfigurable features enables the tuning of fluidic oscillatory circuits as illustrated by two examples: a frequency-controlled relaxation oscillator and a reconfigurable ring oscillator. The relaxation oscillator is employed to control the actuation frequency of a soft hopper, which is able to achieve 80 to 125 hops min-1 and a hopping speed ranging from ≈1 to ≈1.185 BL s-1. Additionally, the reconfigurable ring oscillator is used to demonstrate how each output frequency can be controlled independently, via a soft robotic crawler that can navigate in three directions, and a volume-controlled fluidic pump able to achieve mixing of solutions in environments where electronic components cannot operate.
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Affiliation(s)
- Mostafa Mousa
- Department of Engineering, King's College London, Strand, London, WC2R2LS, UK
| | - Ashkan Rezanejad
- Department of Engineering, King's College London, Strand, London, WC2R2LS, UK
| | - Benjamin Gorissen
- Department of Mechanical Engineering, KU Leuven, Celestijnenlaan 300, Leuven, 3000, Belgium
- Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
| | - Antonio E Forte
- Department of Engineering, King's College London, Strand, London, WC2R2LS, UK
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2
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Levin I, Sadaba N, Nelson A, Keller SL. Asymmetric fluid flow in helical pipes inspired by shark intestines. Proc Natl Acad Sci U S A 2024; 121:e2406481121. [PMID: 39316056 PMCID: PMC11459177 DOI: 10.1073/pnas.2406481121] [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: 03/29/2024] [Accepted: 08/03/2024] [Indexed: 09/25/2024] Open
Abstract
Unlike human intestines, which are long, hollow tubes, the intestines of sharks and rays contain interior helical structures surrounding a cylindrical hole. One function of these structures may be to create asymmetric flow, favoring passage of fluid down the digestive tract, from anterior to posterior. Here, we design and 3D print biomimetic models of shark intestines, in both rigid and deformable materials. We use the rigid models to test which physical parameters of the interior helices (the pitch, the hole radius, the tilt angle, and the number of turns) yield the largest flow asymmetries. These asymmetries exceed those of traditional Tesla valves, structures specifically designed to create flow asymmetry without any moving parts. When we print the biomimetic models in elastomeric materials so that flow can couple to the structure's shape, flow asymmetry is significantly amplified; it is sevenfold larger in deformable structures than in rigid structures. Last, we 3D-print deformable versions of the intestine of a dogfish shark, based on a tomogram of a biological sample. This biomimic produces flow asymmetry comparable to traditional Tesla valves. The ability to influence the direction of a flow through a structure has applications in biological tissues and artificial devices across many scales, from large industrial pipelines to small microfluidic devices.
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Affiliation(s)
- Ido Levin
- Department of Chemistry, University of Washington, Seattle, WA98195
| | - Naroa Sadaba
- Department of Chemistry, University of Washington, Seattle, WA98195
| | - Alshakim Nelson
- Department of Chemistry, University of Washington, Seattle, WA98195
| | - Sarah L. Keller
- Department of Chemistry, University of Washington, Seattle, WA98195
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3
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Woodman SJ, Shah DS, Landesberg M, Agrawala A, Kramer-Bottiglio R. Stretchable Arduinos embedded in soft robots. Sci Robot 2024; 9:eadn6844. [PMID: 39259780 DOI: 10.1126/scirobotics.adn6844] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/21/2023] [Accepted: 08/12/2024] [Indexed: 09/13/2024]
Abstract
To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity into soft robots currently include appending rigid printed circuit boards to the robot, integrating soft logic gates, and exploiting material responses for material-embedded computation. Although promising, these approaches introduce limitations such as rigidity, tethers, or low logic gate density. The field of stretchable electronics has sought to solve these challenges, but a complete pipeline for direct integration of single-board computers, microcontrollers, and other complex circuitry into soft robots has remained elusive. We present a generalized method to translate any complex two-layer circuit into a soft, stretchable form. This enabled the creation of stretchable single-board microcontrollers (including Arduinos) and other commercial circuits (including SparkFun circuits), without design simplifications. As demonstrations of the method's utility, we embedded highly stretchable (>300% strain) Arduino Pro Minis into the bodies of multiple soft robots. This makes use of otherwise inert structural material, fulfilling the promise of the stretchable electronic field to integrate state-of-the-art computational power into robust, stretchable systems during active use.
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Affiliation(s)
- Stephanie J Woodman
- Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA
| | - Dylan S Shah
- Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA
| | - Melanie Landesberg
- Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA
| | - Anjali Agrawala
- Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA
| | - Rebecca Kramer-Bottiglio
- Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA
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4
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Mei T, Zhou Y, Chen CQ. Mechanical Neural Networks with Explicit and Robust Neurons. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2310241. [PMID: 38898738 PMCID: PMC11434013 DOI: 10.1002/advs.202310241] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/27/2023] [Revised: 05/21/2024] [Indexed: 06/21/2024]
Abstract
Mechanical computing provides an information processing method to realize sensing-analyzing-actuation integrated mechanical intelligence and, when combined with neural networks, can be more efficient for data-rich cognitive tasks. The requirement of solving implicit and usually nonlinear equilibrium equations of motion in training mechanical neural networks makes computation challenging and costly. Here, an explicit mechanical neuron is developed of which the response can be directly determined without the need of solving equilibrium equations. A training method is proposed to ensure the robustness of the neuron, i.e., insensitivity to defects and perturbations. The explicitness and robustness of the neurons facilitate the assembly of various network structures. Two exemplified networks, a robust mechanical convolutional neural network and a mechanical recurrent neural network with long short-term memory capabilities for associative learning, are experimentally demonstrated. The introduction of the explicit and robust mechanical neuron streamlines the design of mechanical neural networks fulfilling robotic matter with a level of intelligence.
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Affiliation(s)
- Tie Mei
- Department of Engineering MechanicsCNMM and AMLTsinghua UniversityBeijing100084P. R. China
| | - Yuan Zhou
- Department of Engineering MechanicsCNMM and AMLTsinghua UniversityBeijing100084P. R. China
| | - Chang Qing Chen
- Department of Engineering MechanicsCNMM and AMLTsinghua UniversityBeijing100084P. R. China
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5
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Moran AM, Vo VT, McDonald KJ, Sultania P, Langenbrunner E, Chong JHV, Naik A, Kinnicutt L, Li J, Ranzani T. An electropermanent magnet valve for the onboard control of multi-degree of freedom pneumatic soft robots. COMMUNICATIONS ENGINEERING 2024; 3:117. [PMID: 39179768 PMCID: PMC11344064 DOI: 10.1038/s44172-024-00251-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/17/2023] [Accepted: 07/18/2024] [Indexed: 08/26/2024]
Abstract
To achieve coordinated functions, fluidic soft robots typically rely on multiple input lines for the independent inflation and deflation of each actuator. Fluidic actuators are controlled by rigid electronic pneumatic valves, restricting the mobility and compliance of the soft robot. Recent developments in soft valve designs have shown the potential to achieve a more integrated robotic system, but are limited by high energy consumption and slow response time. In this work, we present an electropermanent magnet (EPM) valve for electronic control of pneumatic soft actuators that is activated through microsecond electronic pulses. The valve incorporates a thin channel made from thermoplastic films. The proposed valve (3 × 3 × 0.8 cm, 2.9 g) can block pressure up to 146 kPa and negative pressures up to -100 kPa with a response time of less than 1 s. Using the EPM valves, we demonstrate the ability to switch between multiple operation sequences in real time through the control of a six-DoF robot capable of grasping and hopping with a single pressure input. Our proposed onboard control strategy simplifies the operation of multi-pressure systems, enabling the development of dynamically programmable soft fluid-driven robots that are versatile in responding to different tasks.
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Affiliation(s)
- Anna Maria Moran
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Vi T Vo
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Kevin J McDonald
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Pranav Sultania
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Eva Langenbrunner
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | | | - Amartya Naik
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Lorenzo Kinnicutt
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Jingshuo Li
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Tommaso Ranzani
- Department of Mechanical Engineering, Boston University, Boston, MA, USA.
- Department of Biomedical Engineering, Boston University, Boston, MA, USA.
- Materials Science and Engineering Division, Boston University, Boston, MA, USA.
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6
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Jiang Y, Li Y, Tong X, Wang Z, Zhou Y, He B. Robotic flytrap with an ultra-sensitive 'trichome' and fast-response 'lobes'. BIOINSPIRATION & BIOMIMETICS 2024; 19:056017. [PMID: 39094623 DOI: 10.1088/1748-3190/ad6abf] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/05/2024] [Accepted: 08/01/2024] [Indexed: 08/04/2024]
Abstract
Nature abounds with examples of ultra-sensitive perception and agile body transformation for highly efficient predation as well as extraordinary adaptation to complex environments. Flytraps, as a representative example, could effectively detect the most minute physical stimulation of insects and respond instantly, inspiring numerous robotic designs and applications. However, current robotic flytraps face challenges in reproducing the ultra-sensitive insect-touch perception. In addition, fast and fully-covered capture of live insects with robotic flytraps remains elusive. Here we report a novel design of a robotic flytrap with an ultra-sensitive 'trichome' and bistable fast-response 'lobes'. Our results show that the 'trichome' of the proposed robotic flytrap could detect and respond to both the external stimulation of 0.45 mN and a tiny touch of a flying bee with a weight of 0.12 g. Besides, once the 'trichome' is triggered, the bistable 'lobes' could instantly close themselves in 0.2 s to form a fully-covered cage to trap the bees, and reopen to set them free after the tests. We introduce the design, modeling, optimization, and verification of the robotic flytrap, and envision broader applications of this technology in ultra-sensitive perception, fast-response grasping, and biomedical engineering studies.
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Affiliation(s)
- Yongkang Jiang
- College of Electronic and Information Engineering, Tongji University, Shanghai 201804, People's Republic of China
- National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201804, People's Republic of China
- Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, People's Republic of China
| | - Yingtian Li
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
| | - Xin Tong
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
| | - Zhipeng Wang
- College of Electronic and Information Engineering, Tongji University, Shanghai 201804, People's Republic of China
- National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201804, People's Republic of China
- Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, People's Republic of China
| | - Yanmin Zhou
- College of Electronic and Information Engineering, Tongji University, Shanghai 201804, People's Republic of China
- National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201804, People's Republic of China
- Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, People's Republic of China
| | - Bin He
- College of Electronic and Information Engineering, Tongji University, Shanghai 201804, People's Republic of China
- National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201804, People's Republic of China
- Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, People's Republic of China
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7
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Li MS, Stuart HS. AcousTac: Tactile Sensing with Acoustic Resonance for Electronics-Free Soft Skin. Soft Robot 2024. [PMID: 39092483 DOI: 10.1089/soro.2023.0082] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/04/2024] Open
Abstract
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones typically have a sampling rate of over 40 kHz. These accessible acoustic technologies are not yet widely adopted for the explicit purpose of giving robots a sense of touch. Some researchers have used sound to sense tactile information, both monitoring ambient soundscape and with embedded speakers and microphones to measure sounds within structures. However, these options commonly do not provide a direct measure of steady state force or require electronics integrated somewhere near the contact location. In this work, we present AcousTac, an acoustic tactile sensor for electronics-free, force-sensitive soft skin. Compliant silicone caps and plastic tubes compose the resonant chambers that emit pneumatic-driven sound measurable with a conventional off-board microphone. The resulting frequency changes depend on the external loads on the compliant endcaps. The compliant cap vibrates with the resonant pressure waves and is a nonidealized boundary condition, initially producing a nonmonotonic force response. We characterize two solutions-adding a distal hole and mass to the cap-resulting in monotonic and nonhysteretic force readings with this technology. We can tune each AcousTac taxel to specific force and frequency ranges, based on geometric parameters including tube length, and thus uniquely sense each taxel simultaneously in an array. We demonstrate AcousTac's functionality on two robotic systems: a 4-taxel array and a 3-taxel astrictive gripper. Simple to implement with off-the-shelf parts, AcousTac is a promising concept for force sensing on soft robotic surfaces, especially in situations where electronics near the contact are not suitable. Equipping robots with tactile sensing and soft skin provides them with a sense of touch and the ability to safely interact with their surroundings.
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Affiliation(s)
- Monica S Li
- Department of Mechanical Engineering, University of California Berkeley, Berkeley, California, USA
- School of Engineering & Applied Science, Yale University, New Haven, Connecticut, USA
| | - Hannah S Stuart
- Department of Mechanical Engineering, University of California Berkeley, Berkeley, California, USA
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8
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Yang Y, Xie Y, Liu J, Li Y, Chen F. 3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting. Soft Robot 2024; 11:650-669. [PMID: 38330424 DOI: 10.1089/soro.2023.0079] [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: 02/10/2024] Open
Abstract
The field of soft robotics is rapidly evolving, and there is a growing interest in developing soft robots with bioinspired features for use in various applications. This research presented the design and development of 3D-printed origami actuators for a soft robot with amphibious locomotion and tongue hunting capabilities. Two different types of programmable origami actuators were designed and manufactured, namely Z-shaped and twist tower actuators. In addition, two actuator variations were developed based on the Z-shaped actuator, including the pelvic fin and the coiling/uncoiling types. The Z-shaped actuators were used for the rear legs to facilitate the locomotion of the water-like frogs. Meanwhile, the twisted tower actuators were used for the rotation joints in the forelegs and for locomotion on land. The pelvic fin actuator was developed to imitate the land locomotion of the mudskipper, and the coiling/uncoiling actuator was designed for tongue hunting motion. The origami actuators and soft robot prototype were tested through a series of experiments, which showed that the robot was capable of efficiently moving in water and on land and performing tongue hunting motions. Our results demonstrate the effectiveness of these actuators in producing the desired motions and provide insights into the potential of applying 3D-printed origami actuators in the development of soft robots with bioinspired features.
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Affiliation(s)
- Yang Yang
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET), Nanjing University of Information Science and Technology, Nanjing, China
| | - Yuan Xie
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
| | - Jia Liu
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
- Tianchang Research Institute of NUIST, Tianchang, Anhui, China
| | - Yunquan Li
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China
| | - Feifei Chen
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
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9
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Kobayashi H, Gholami F, Montgomery SM, Tanaka M, Yue L, Yuhn C, Sato Y, Kawamoto A, Qi HJ, Nomura T. Computational synthesis of locomotive soft robots by topology optimization. SCIENCE ADVANCES 2024; 10:eadn6129. [PMID: 39047101 PMCID: PMC11268422 DOI: 10.1126/sciadv.adn6129] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/18/2023] [Accepted: 06/18/2024] [Indexed: 07/27/2024]
Abstract
Locomotive soft robots (SoRos) have gained prominence due to their adaptability. Traditional locomotive SoRo design is based on limb structures inspired by biological organisms and requires human intervention. Evolutionary robotics, designed using evolutionary algorithms (EAs), have shown potential for automatic design. However, EA-based methods face the challenge of high computational cost when considering multiphysics in locomotion, including materials, actuations, and interactions with environments. Here, we present a design approach for pneumatic SoRos that integrates gradient-based topology optimization with multiphysics material point method (MPM) simulations. This approach starts with a simple initial shape (a cube with a central cavity). The topology optimization with MPM then automatically and iteratively designs the SoRo shape. We design two SoRos, one for walking and one for climbing. These SoRos are 3D printed and exhibit the same locomotion features as in the simulations. This study presents an efficient strategy for designing SoRos, demonstrating that a purely mathematical process can produce limb-like structures seen in biological organisms.
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Affiliation(s)
- Hiroki Kobayashi
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
| | - Farzad Gholami
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - S. Macrae Montgomery
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Masato Tanaka
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI 48105, USA
| | - Liang Yue
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Changyoung Yuhn
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
| | - Yuki Sato
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
| | - Atsushi Kawamoto
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
| | - H. Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Tsuyoshi Nomura
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
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10
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Pontin M, Damian DD. Multimodal soft valve enables physical responsiveness for preemptive resilience of soft robots. Sci Robot 2024; 9:eadk9978. [PMID: 39047079 DOI: 10.1126/scirobotics.adk9978] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/22/2023] [Accepted: 06/27/2024] [Indexed: 07/27/2024]
Abstract
Resilience is crucial for the self-preservation of biological systems: Humans recover from wounds thanks to an immune system that autonomously enacts a multistage response to promote healing. Similar passive mechanisms can enable pneumatic soft robots to overcome common faults such as bursts originating from punctures or overpressurization. Recent technological advancements, ranging from fault-tolerant controllers for robot reconfigurability to self-healing materials, have paved the way for robot resilience. However, these techniques require powerful processors and large datasets or external hardware. How to extend the operational life span of damaged soft robots with minimal computational and physical resources remains unclear. In this study, we demonstrated a multimodal pneumatic soft valve capable of passive resilient reactions, triggered by faults, to prevent or isolate damage in soft robots. In its forward operation mode, the valve, requiring a single supply pressure, isolated punctured soft inflatable elements from the rest of the soft robot in as fast as 21 milliseconds. In its reverse operation mode, the valve can passively protect robots against overpressurization caused by external disturbances, avoiding plastic deformations and bursts. Furthermore, the two modes combined enabled the creation of an endogenously controlled valve capable of autonomous burst isolation. We demonstrated the passive and quick response and the possibility of monolithic integration of the soft valve in grippers and crawling robots. The approach proposed in this study provides a distributed small-footprint alternative to controller-based resilience and is expected to help soft robots achieve uninterrupted long-lasting operation.
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Affiliation(s)
- Marco Pontin
- Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, UK
- Sheffield Robotics, University of Sheffield, Sheffield, UK
| | - Dana D Damian
- Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, UK
- Sheffield Robotics, University of Sheffield, Sheffield, UK
- Insigneo Institute for In Silico Medicine, University of Sheffield, Sheffield, UK
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11
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Ching T, Lee JZW, Win SKH, Win LST, Sufiyan D, Lim CPX, Nagaraju N, Toh YC, Foong S, Hashimoto M. Crawling, climbing, perching, and flying by FiBa soft robots. Sci Robot 2024; 9:eadk4533. [PMID: 39018373 DOI: 10.1126/scirobotics.adk4533] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/23/2023] [Accepted: 06/20/2024] [Indexed: 07/19/2024]
Abstract
This paper introduces an approach to fabricating lightweight, untethered soft robots capable of diverse biomimetic locomotion. Untethering soft robotics from electrical or pneumatic power remains one of the prominent challenges within the field. The development of functional untethered soft robotic systems hinges heavily on mitigating their weight; however, the conventional weight of pneumatic network actuators (pneu-nets) in soft robots has hindered untethered operations. To address this challenge, we developed film-balloon (FiBa) modules that drastically reduced the weight of soft actuators. FiBa modules combine transversely curved polymer thin films and three-dimensionally printed pneumatic balloons to achieve varied locomotion modes. These lightweight FiBa modules serve as building blocks to create untethered soft robots mimicking natural movement strategies. These modules substantially reduce overall robot weight, allowing the integration of components such as pumps, valves, batteries, and control boards, thereby enabling untethered operation. FiBa modules integrated with electronic components demonstrated four bioinspired modes of locomotion, including turtle-inspired crawling, inchworm-inspired climbing, bat-inspired perching, and ladybug-inspired flying. Overall, our study offers an alternative tool for designing and customizing lightweight, untethered soft robots with advanced functionalities. The reduction of the weight of soft robots enabled by our approach opens doors to a wide range of applications, including disaster relief, space exploration, remote sensing, and search and rescue operations, where lightweight, untethered soft robotic systems are essential.
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Affiliation(s)
- Terry Ching
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
- Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | - Joseph Zhi Wei Lee
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
- Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore
| | - Shane Kyi Hla Win
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Luke Soe Thura Win
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Danial Sufiyan
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Charlotte Pei Xuan Lim
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Nidhi Nagaraju
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
- Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore
| | - Yi-Chin Toh
- School of Mechanical, Medical and Process Engineering, Queensland University of Technology, Brisbane, Australia
- Centre for Biomedical Technologies, Queensland University of Technology, Kelvin Grove, Australia
| | - Shaohui Foong
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Michinao Hashimoto
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
- Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore
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12
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Silva A, Fonseca D, Neto DM, Babcinschi M, Neto P. Integrated Design and Fabrication of Pneumatic Soft Robot Actuators in a Single Casting Step. CYBORG AND BIONIC SYSTEMS 2024; 5:0137. [PMID: 39022336 PMCID: PMC11254383 DOI: 10.34133/cbsystems.0137] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/09/2024] [Accepted: 05/13/2024] [Indexed: 07/20/2024] Open
Abstract
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly, and highly supervised design-fabrication processes, often based on resource-intensive iterative workflows. Here, we propose an integrated approach targeting the design and fabrication of pneumatic soft actuators in a single casting step. Molds and sacrificial water-soluble hollow cores are printed using fused filament fabrication. A heated water circuit accelerates the dissolution of the core's material and guarantees its complete removal from the actuator walls, while the actuator's mechanical operability is defined through finite element analysis. This enables the fabrication of actuators with non-uniform cross-sections under minimal supervision, thereby reducing the number of iterations necessary during the design and fabrication processes. Three actuators capable of bending and linear motion were designed, fabricated, integrated, and demonstrated as 3 different bio-inspired soft robots, an earthworm-inspired robot, a 4-legged robot, and a robotic gripper. We demonstrate the availability, versatility, and effectiveness of the proposed methods, contributing to accelerating the design and fabrication of soft robots. This study represents a step toward increasing the accessibility of soft robots to people at a lower cost.
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Affiliation(s)
- Afonso Silva
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
| | - Diogo Fonseca
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
| | - Diogo M. Neto
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
| | - Mihail Babcinschi
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
| | - Pedro Neto
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
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13
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Jiang Q, Hu Z, Wu K, Wu W, Zhang S, Ding H, Wu Z. Squid-Inspired Powerful Untethered Soft Pumps via Magnetically Induced Phase Transitions. Soft Robot 2024; 11:423-431. [PMID: 38011800 DOI: 10.1089/soro.2022.0118] [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: 11/29/2023] Open
Abstract
Soft robots possess unique deformability and hence result in great adaptability to various unconstructive environments; meanwhile, untethered soft actuation techniques are critical in fully exploiting their potential for practical applications. However, restricted by the material's softness and structural compliance, most untethered actuation systems were incapable of achieving fully soft construction with a powerful output. While in Nature, with a fully soft body, a squid can burst high-pressure jet flow from a cavity that drives the squid to swim swiftly. Here, inspired by such a unique actuation strategy of squids, an entirely soft pump capable of high-pressure output, fast jetting, and untethered control is presented, and it helps a bionic soft robotic squid to achieve a high-efficient untethered motion in water. The soft pump is designed by a reversible liquid-gas phase transition of an inductive heating magnetic liquid metal composite that acts as an adjustable power source with high heat efficiency. In particular, being purely soft, the pump can yet lift ∼20 times its weight and achieve ∼3 times the specific pressure of the previous record. It may promote the application of soft robots with independent actuation, high output power, and embodied energy supply.
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Affiliation(s)
- Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Zhitong Hu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Kefan Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Wenjun Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
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14
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Luo Y, Patel DK, Li Z, Hu Y, Luo H, Yao L, Majidi C. Intrinsically Multistable Soft Actuator Driven by Mixed-Mode Snap-Through Instabilities. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307391. [PMID: 38447200 PMCID: PMC11095224 DOI: 10.1002/advs.202307391] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/04/2023] [Revised: 12/07/2023] [Indexed: 03/08/2024]
Abstract
Actuators utilizing snap-through instabilities are widely investigated for high-performance fast actuators and shape reconfigurable structures owing to their rapid response and limited reliance on continuous energy input. However, prevailing approaches typically involve a combination of multiple bistable actuator units and achieving multistability within a single actuator unit still remains an open challenge. Here, a soft actuator is presented that uses shape memory alloy (SMA) and mixed-mode elastic instabilities to achieve intrinsically multistable shape reconfiguration. The multistable actuator unit consists of six stable states, including two pure bending states and four bend-twist states. The actuator is composed of a pre-stretched elastic membrane placed between two elastomeric frames embedded with SMA coils. By controlling the sequence and duration of SMA activation, the actuator is capable of rapid transition between all six stable states within hundreds of milliseconds. Principles of energy minimization are used to identify actuation sequences for various types of stable state transitions. Bending and twisting angles corresponding to various prestretch ratios are recorded based on parameterizations of the actuator's geometry. To demonstrate its application in practical conditions, the multistable actuator is used to perform visual inspection in a confined space, light source tracking during photovoltaic energy harvesting, and agile crawling.
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Affiliation(s)
- Yichi Luo
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Dinesh K. Patel
- Human‐Computer Interaction Institute, School of Computer ScienceCarnegie Mellon UniversityPittsburghPA15213USA
| | - Zefang Li
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Yafeng Hu
- Department of Materials Science and EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Hao Luo
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Lining Yao
- Human‐Computer Interaction Institute, School of Computer ScienceCarnegie Mellon UniversityPittsburghPA15213USA
| | - Carmel Majidi
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
- Department of Materials Science and EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
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15
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Pigozzi F. Pressure-Based Soft Agents. ARTIFICIAL LIFE 2024; 30:240-258. [PMID: 37987673 DOI: 10.1162/artl_a_00415] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/22/2023]
Abstract
Biological agents have bodies that are composed mostly of soft tissue. Researchers have resorted to soft bodies to investigate Artificial Life (ALife)-related questions; similarly, a new era of soft-bodied robots has just begun. Nevertheless, because of their infinite degrees of freedom, soft bodies pose unique challenges in terms of simulation, control, and optimization. Herein I propose a novel soft-bodied agents formalism, namely, pressure-based soft agents (PSAs): spring-mass membranes containing a pressurized medium. Pressure endows the agents with structure, while springs and masses simulate softness and allow the agents to assume a large gamut of shapes. PSAs actuate both locally, by changing the resting lengths of springs, and globally, by modulating global pressure. I optimize the controller of PSAs for a locomotion task on hilly terrain, an escape task from a cage, and an object manipulation task. The results suggest that PSAs are indeed effective at the tasks, especially those requiring a shape change. I envision PSAs as playing a role in modeling soft-bodied agents, such as soft robots and biological cells.
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Affiliation(s)
- Federico Pigozzi
- University of Trieste Department of Engineering and Architecture.
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16
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Jiang M, Wang J, Gravish N. A Reconfigurable Soft Linkage Robot via Internal "Virtual" Joints. Soft Robot 2024. [PMID: 38683631 DOI: 10.1089/soro.2023.0177] [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: 05/01/2024] Open
Abstract
Traditional robots derive their capabilities of movement through rigid structural "links" and discrete actuated "joints." Alternatively, soft robots are composed of flexible materials that permit movement across a continuous range of their body and appendages and thus are not restricted in where they can bend. While trade-offs between material choices may restrain robot functionalities within a narrow spectrum, we argue that bridging the functional gaps between soft and hard robots can be achieved from a hybrid design approach that utilizes both the reconfigurability and the controllability of traditional soft and hard robot paradigms. In this study, we present a hybrid robot with soft inflated "linkages," and rigid internal joints that can be spatially reconfigured. Our method is based on the geometric pinching of an inflatable beam to form mechanical pinch-joints connecting the inflated robot linkages. Such joints are activated and controlled via internal motorized modules that can be relocated for on-demand joint-linkage configurations. We demonstrate two applications that utilize joint reconfigurations: a deployable robot manipulator and a terrestrial crawling robot with tunable gaits.
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Affiliation(s)
- Mingsong Jiang
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Jiansong Wang
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Nicholas Gravish
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
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17
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Jung Y, Kwon K, Lee J, Ko SH. Untethered soft actuators for soft standalone robotics. Nat Commun 2024; 15:3510. [PMID: 38664373 PMCID: PMC11045848 DOI: 10.1038/s41467-024-47639-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/09/2023] [Accepted: 04/08/2024] [Indexed: 04/28/2024] Open
Abstract
Soft actuators produce the mechanical force needed for the functional movements of soft robots, but they suffer from critical drawbacks since previously reported soft actuators often rely on electrical wires or pneumatic tubes for the power supply, which would limit the potential usage of soft robots in various practical applications. In this article, we review the new types of untethered soft actuators that represent breakthroughs and discuss the future perspective of soft actuators. We discuss the functional materials and innovative strategies that gave rise to untethered soft actuators and deliver our perspective on challenges and opportunities for future-generation soft actuators.
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Affiliation(s)
- Yeongju Jung
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
| | - Kangkyu Kwon
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
| | - Jinwoo Lee
- Department of Mechanical, Robotics, and Energy Engineering, Dongguk University, 30 Pildong-ro 1-gil, Jung-gu, Seoul, 04620, South Korea.
| | - Seung Hwan Ko
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea.
- Institute of Engineering Research / Institute of Advanced Machinery and Design (SNU-IAMD), Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea.
- Interdisciplinary Program in Bioengineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, Korea.
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18
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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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19
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Byun J, Pal A, Ko J, Sitti M. Integrated mechanical computing for autonomous soft machines. Nat Commun 2024; 15:2933. [PMID: 38575563 PMCID: PMC10995184 DOI: 10.1038/s41467-024-47201-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/20/2023] [Accepted: 03/25/2024] [Indexed: 04/06/2024] Open
Abstract
Mechanical computing offers a new modality to formulate computational autonomy in intelligent matter or machines without any external powering or active elements. Transition (or solitary) waves, induced by nonreciprocity in mechanical metamaterials comprising a chain of bistable elements, have proven to be a key ingredient for dissipation-free transmission and computation of mechanical information. However, advanced processing of mechanical information in existing designs is hindered by its dissipation when interacting with networked logic gates. Here, we present a metamaterial design strategy that allows non-dispersive mechanical solitary waves to compute multi-level cascaded logic functions, termed 'integrated mechanical computing', by propagating through a network of structurally heterogeneous computing units. From a perspective of characteristic potential energy, we establish an analytical framework that helps in understanding the solitary wave-based mechanical computation, and governs the mechanical design of key determinants for realizing cascaded logic computation, such as soliton profile and logic elements. The developed integrated mechanical computing systems are shown to receive, transmit and compute mechanical information to actuate intelligent soft machine prototypes in a seamless and integrated manner. These findings would pave the way for future intelligent robots and machines that perform computational operations between various non-electrical environmental inputs.
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Affiliation(s)
- Junghwan Byun
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Soft Hybrid Materials Research Center, Korea Institute of Science and Technology, 02792, Seoul, Republic of Korea
| | - Aniket Pal
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute of Applied Mechanics, University of Stuttgart, 70569, Stuttgart, Germany
| | - Jongkuk Ko
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Department of Chemical and Biological Engineering, Gachon University, Gyeonggi-do, 13120, Republic of Korea
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zürich, 8092, Zürich, Switzerland.
- School of Medicine and College of Engineering, Koç University, 34450, Istanbul, Turkey.
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20
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Sayahkarajy M, Witte H, Faudzi AAM. Chorda Dorsalis System as a Paragon for Soft Medical Robots to Design Echocardiography Probes with a New SOM-Based Steering Control. Biomimetics (Basel) 2024; 9:199. [PMID: 38667210 PMCID: PMC11048713 DOI: 10.3390/biomimetics9040199] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2024] [Revised: 03/17/2024] [Accepted: 03/22/2024] [Indexed: 04/28/2024] Open
Abstract
Continuum robots play the role of end effectors in various surgical robots and endoscopic devices. While soft continuum robots (SCRs) have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot, considering the concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as transesophageal echocardiography (TEE). The feasibility of fabrication of a soft endoscopic device derived from the Chorda dorsalis paragon was shown empirically by producing a three-segment pneumatic SCR. The main novelties include bioinspired design, modeling, and a navigation control strategy presented as a novel algorithm to maintain a kinematic similarity between the soft robot and the rigid counterpart. The kinematic model was derived based on the method of transformation matrices, and an algorithm based on a self-organizing map (SOM) network was developed and applied to realize kinematic similarity. The simulation results indicate that the control method forces the soft robot tip to follow the path of the rigid probe within the prescribed distance error (5 mm). The solution provides a soft robot that can surrogate and succeed the traditional rigid counterpart owing to size, workspace, and kinematics.
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Affiliation(s)
- Mostafa Sayahkarajy
- Fachgebiet Biomechatronik, Technische Universität Ilmenau, 98693 Ilmenau, Germany
| | - Hartmut Witte
- Fachgebiet Biomechatronik, Technische Universität Ilmenau, 98693 Ilmenau, Germany
| | - Ahmad Athif Mohd Faudzi
- Centre for Artificial Intelligence and Robotics, Universiti Teknologi Malaysia, Kuala Lumpur 54100, Malaysia;
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21
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Jiao Z, Hu Z, Dong Z, Tang W, Yang H, Zou J. Reprogrammable Metamaterial Processors for Soft Machines. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2305501. [PMID: 38161221 PMCID: PMC10953550 DOI: 10.1002/advs.202305501] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/08/2023] [Revised: 11/29/2023] [Indexed: 01/03/2024]
Abstract
Soft metamaterials have attracted extensive attention due to their remarkable properties. These materials hold the potential to program and control the morphing behavior of soft machines, however, their combination is limited by the poor reprogrammability of metamaterials and incompatible communication between them. Here, printable and recyclable soft metamaterials possessing reprogrammable embedded intelligence to regulate the morphing of soft machines are introduced. These metamaterials are constructed from interconnected and periodically arranged logic unit cells that are able to perform compound logic operations coupling multiplication and negation. The scalable computation capacity of the unit cell empowers it to simultaneously process multiple fluidic signals with different types and magnitudes, thereby allowing the execution of sophisticated and high-level control operations. By establishing the laws of physical Boolean algebra and formulating a universal design route, soft metamaterials capable of diverse logic operations can be readily created and reprogrammed. Besides, the metamaterials' potential of directly serving as fluidic processors for soft machines is validated by constructing a soft latched demultiplexer, soft controllers capable of universal and customizable morphing programming, and a reprogrammable processor without reconnection. This work provides a facile way to create reprogrammable soft fluidic control systems to meet on-demand requirements in dynamic situations.
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Affiliation(s)
- Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Zhenhan Hu
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Zeyu Dong
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
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22
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Armanini C, Junge K, Johnson P, Whitfield C, Renda F, Calisti M, Hughes J. Soft robotics for farm to fork: applications in agriculture & farming. BIOINSPIRATION & BIOMIMETICS 2024; 19:021002. [PMID: 38250751 DOI: 10.1088/1748-3190/ad2084] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/17/2023] [Accepted: 01/19/2024] [Indexed: 01/23/2024]
Abstract
Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a plethora of potential uses. Robust yet compliant interactions between farm produce and machines will enable new capabilities and optimize existing processes. There is also an opportunity to explore how modeling tools used in soft robotics can be applied to improve our representation and understanding of the soft and compliant structures common in agriculture. In this review, we seek to highlight the potential for soft robotics technologies within the food system, and also the unique challenges that must be addressed when developing soft robotics systems for this problem domain. We conclude with an outlook on potential directions for meaningful and sustainable impact, and also how our outlook on both soft robotics and agriculture must evolve in order to achieve the required paradigm shift.
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Affiliation(s)
- Costanza Armanini
- Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, Abu Dhabi, United Arab Emirates
| | - Kai Junge
- CREATE Lab, Institute of Mechanical Engineering, EPFL, Lausanne, Switzerland
| | - Philip Johnson
- Lincoln Institute for Agri-Food Tech, University of Lincoln, Lincoln, United Kingdom
| | | | - Federico Renda
- Department of Mechanical Engineering, Khalifa University, Abu Dhabi, United Arab Emirates
| | - Marcello Calisti
- Lincoln Institute for Agri-Food Tech, University of Lincoln, Lincoln, United Kingdom
| | - Josie Hughes
- CREATE Lab, Institute of Mechanical Engineering, EPFL, Lausanne, Switzerland
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23
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Kim J, Bae J. Self-Locking Pneumatic Actuators Formed from Origami Shape-Morphing Sheets. Soft Robot 2024; 11:32-42. [PMID: 37616544 DOI: 10.1089/soro.2022.0233] [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: 08/26/2023] Open
Abstract
The art of origami has gained traction in various fields such as architecture, the aerospace industry, and soft robotics, owing to the exceptional versatility of flat sheets to exhibit complex shape transformations. Despite the promise that origami robots hold, their use in high-capacity environments has been limited due to the lack of rigidity. This article introduces novel, origami-inspired, self-locking pneumatic modular actuators (SPMAs), enabling them to operate in such environments. Our innovative approach is based on origami patterns that allow for various types of shape morphing, including linear and rotational motion. We have significantly enhanced the stiffness of the actuators by embedding magnets in composite sheets, thus facilitating their application in real-world scenarios. In addition, the embedded self-adjustable valves facilitate the control of sequential origami actuations, making it possible to simplify the pneumatic system for actuating multimodules. With just one actuation source and one solenoid valve, the valves enable efficient control of our SPMAs. The SPMAs can control robotic arms operating in confined spaces, and the entire system can be modularized to accomplish various tasks. Our results demonstrate the potential of origami-inspired designs to achieve more efficient and reliable robotic systems, thus opening up new avenues for the development of robotic systems for various applications.
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Affiliation(s)
- Juri Kim
- Bio-Robotics and Control Laboratory, Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea
| | - Joonbum Bae
- Bio-Robotics and Control Laboratory, Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea
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24
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Conrad S, Teichmann J, Auth P, Knorr N, Ulrich K, Bellin D, Speck T, Tauber FJ. 3D-printed digital pneumatic logic for the control of soft robotic actuators. Sci Robot 2024; 9:eadh4060. [PMID: 38295189 DOI: 10.1126/scirobotics.adh4060] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/07/2023] [Accepted: 01/02/2024] [Indexed: 02/02/2024]
Abstract
Soft robots are paving their way to catch up with the application range of metal-based machines and to occupy fields that are challenging for traditional machines. Pneumatic actuators play an important role in this development, allowing the construction of bioinspired motion systems. Pneumatic logic gates provide a powerful alternative for controlling pressure-activated soft robots, which are often controlled by metallic valves and electric circuits. Many existing approaches for fully compliant pneumatic control logic suffer from high manual effort and low pressure tolerance. In our work, we invented three-dimensional (3D) printable, pneumatic logic gates that perform Boolean operations and imitate electric circuits. Within 7 hours, a filament printer is able to produce a module that serves as an OR, AND, or NOT gate; the logic function is defined by the assigned input signals. The gate contains two alternately acting pneumatic valves, whose work principle is based on the interaction of pressurized chambers and a 3D-printed 1-millimeter tube inside. The gate design does not require any kind of support material for its hollow parts, which makes the modules ready to use directly after printing. Depending on the chosen material, the modules can operate on a pressure supply between 80 and more than 750 kilopascals. The capabilities of the invented gates were verified by implementing an electronics-free drink dispenser based on a pneumatic ring oscillator and a 1-bit memory. Their high compliance is demonstrated by driving a car over a fully flexible, 3D-printed robotic walker controlled by an integrated circuit.
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Affiliation(s)
- S Conrad
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
| | - J Teichmann
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
| | - P Auth
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
| | - N Knorr
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
| | - K Ulrich
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
| | - D Bellin
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
| | - T Speck
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
- Freiburg Center for Interactive Materials and Bioinspired Technologies (FIT), University of Freiburg, Freiburg, Germany
| | - F J Tauber
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
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25
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Wang Y, Hu X, Cui L, Xiao X, Yang K, Zhu Y, Jin H. Bioinspired handheld time-share driven robot with expandable DoFs. Nat Commun 2024; 15:768. [PMID: 38278829 PMCID: PMC10817928 DOI: 10.1038/s41467-024-44993-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: 02/13/2023] [Accepted: 01/11/2024] [Indexed: 01/28/2024] Open
Abstract
Handheld robots offer accessible solutions with a short learning curve to enhance operator capabilities. However, their controllable degree-of-freedoms are limited due to scarce space for actuators. Inspired by muscle movements stimulated by nerves, we report a handheld time-share driven robot. It comprises several motion modules, all powered by a single motor. Shape memory alloy (SMA) wires, acting as "nerves", connect to motion modules, enabling the selection of the activated module. The robot contains a 202-gram motor base and a 0.8 cm diameter manipulator comprised of sequentially linked bending modules (BM). The manipulator can be tailored in length and integrated with various instruments in situ, facilitating non-invasive access and high-dexterous operation at remote surgical sites. The applicability was demonstrated in clinical scenarios, where a surgeon held the robot to conduct transluminal experiments on a human stomach model and an ex vivo porcine stomach. The time-share driven mechanism offers a pragmatic approach to build a multi-degree-of-freedom robot for broader applications.
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Affiliation(s)
- Yunjiang Wang
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Xinben Hu
- Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, 310009, Hangzhou, China
- Key Laboratory of Precise Treatment and Clinical Translational Research of Neurological Diseases, 310005, Hangzhou, China
| | - Luhang Cui
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Xuan Xiao
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Keji Yang
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Yongjian Zhu
- Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, 310009, Hangzhou, China.
- Key Laboratory of Precise Treatment and Clinical Translational Research of Neurological Diseases, 310005, Hangzhou, China.
| | - Haoran Jin
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China.
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Zou S, Picella S, de Vries J, Kortman VG, Sakes A, Overvelde JTB. A retrofit sensing strategy for soft fluidic robots. Nat Commun 2024; 15:539. [PMID: 38225274 PMCID: PMC10789869 DOI: 10.1038/s41467-023-44517-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/23/2023] [Accepted: 12/15/2023] [Indexed: 01/17/2024] Open
Abstract
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces. However, sensory feedback is still required for higher level decisions. Most sensing technologies integrate separate sensing elements in soft actuators, which presents a considerable challenge for both the fabrication and robustness of soft robots. Here we present a versatile sensing strategy that can be retrofitted to existing soft fluidic devices without the need for design changes. We achieve this by measuring the fluidic input that is required to activate a soft actuator during interaction with the environment, and relating this input to its deformed state. We demonstrate the versatility of our strategy by tactile sensing of the size, shape, surface roughness and stiffness of objects. We furthermore retrofit sensing to a range of existing pneumatic soft actuators and grippers. Finally, we show the robustness of our fluidic sensing strategy in closed-loop control of a soft gripper for sorting, fruit picking and ripeness detection. We conclude that as long as the interaction of the actuator with the environment results in a shape change of the interval volume, soft fluidic actuators require no embedded sensors and design modifications to implement useful sensing.
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Affiliation(s)
- Shibo Zou
- Autonomous Matter Department, AMOLF, Amsterdam, 1098 XG, The Netherlands
| | - Sergio Picella
- Autonomous Matter Department, AMOLF, Amsterdam, 1098 XG, The Netherlands
- Institute for Complex Molecular Systems and Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, 5600 MB, The Netherlands
| | - Jelle de Vries
- Autonomous Matter Department, AMOLF, Amsterdam, 1098 XG, The Netherlands
| | - Vera G Kortman
- Department of Marine and Transport Technology, Delft University of Technology, Delft, 2628 CD, The Netherlands
- Bio-Inspired Technology Group, Department of BioMechanical Engineering, Delft University of Technology, Delft, 2628 CD, The Netherlands
| | - Aimée Sakes
- Bio-Inspired Technology Group, Department of BioMechanical Engineering, Delft University of Technology, Delft, 2628 CD, The Netherlands
| | - Johannes T B Overvelde
- Autonomous Matter Department, AMOLF, Amsterdam, 1098 XG, The Netherlands.
- Institute for Complex Molecular Systems and Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, 5600 MB, The Netherlands.
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27
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Jiao Z, Hu Z, Shi Y, Xu K, Lin F, Zhu P, Tang W, Zhong Y, Yang H, Zou J. Reprogrammable, intelligent soft origami LEGO coupling actuation, computation, and sensing. Innovation (N Y) 2024; 5:100549. [PMID: 38192379 PMCID: PMC10772819 DOI: 10.1016/j.xinn.2023.100549] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/11/2023] [Accepted: 11/28/2023] [Indexed: 01/10/2024] Open
Abstract
Tightly integrating actuation, computation, and sensing in soft materials allows soft robots to respond autonomously to their environments. However, fusing these capabilities within a single soft module in an efficient, programmable, and compatible way is still a significant challenge. Here, we introduce a strategy for integrating actuation, computation, and sensing capabilities in soft origami. Unified and plug-and-play soft origami modules can be reconfigured into diverse morphologies with specific functions or reprogrammed into a variety of soft logic circuits, similar to LEGO bricks. We built an untethered autonomous soft turtle that is able to sense stimuli, store data, process information, and perform swimming movements. The function multiplexing and signal compatibility of the origami minimize the number of soft devices, thereby reducing the complexity and redundancy of soft robots. Moreover, this origami also exhibits strong damage resistance and high durability. We envision that this work will offer an effective way to readily create on-demand soft robots that can operate in unknown environments.
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Affiliation(s)
- Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Zhenhan Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Yuhao Shi
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Kaichen Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Fangye Lin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Pingan Zhu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
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28
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Li Y, Li Y, Ren T, Xia J, Liu H, Wu C, Lin S, Chen Y. An Untethered Soft Robotic Dog Standing and Fast Trotting with Jointless and Resilient Soft Legs. Biomimetics (Basel) 2023; 8:596. [PMID: 38132535 PMCID: PMC10741788 DOI: 10.3390/biomimetics8080596] [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: 11/01/2023] [Revised: 11/30/2023] [Accepted: 12/05/2023] [Indexed: 12/23/2023] Open
Abstract
Soft robots are compliant, impact resistant, and relatively safe in comparison to hard robots. However, the development of untethered soft robots is still a major challenge because soft legs cannot effectively support the power and control systems. Most untethered soft robots apply a crawling or walking gait, which limits their locomotion speed and mobility. This paper presents an untethered soft robot that can move with a bioinspired dynamic trotting gait. The robot is driven by inflatable soft legs designed on the basis of the pre-charged pneumatic (PCP) actuation principle. Experimental results demonstrate that the developed robot can trot stably with the fastest speed of 23 cm/s (0.97 body length per second) and can trot over different terrains (slope, step, rough terrain, and natural terrains). The robotic dog can hold up to a 5.5 kg load in the static state and can carry up to 1.5 kg in the trotting state. Without any rigid components inside the legs, the developed robotic dog exhibits resistance to large impacts, i.e., after withstanding a 73 kg adult (46 times its body mass), the robotic dog can stand up and continue its trotting gait. This innovative robotic system has great potential in equipment inspection, field exploration, and disaster rescue.
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Affiliation(s)
- Yunquan Li
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 510641, China;
| | - Yujia Li
- School of Mechanical and Electrical Engineering, Chengdu University of Technology, Chengdu 610059, China;
| | - Tao Ren
- School of Mechatronic Engineering, Southwest Petroleum University, Chengdu 610500, China
| | - Jiutian Xia
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 510641, China;
| | - Hao Liu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, China; (H.L.); (C.W.); (S.L.); (Y.C.)
| | - Changchun Wu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, China; (H.L.); (C.W.); (S.L.); (Y.C.)
| | - Senyuan Lin
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, China; (H.L.); (C.W.); (S.L.); (Y.C.)
| | - Yonghua Chen
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, China; (H.L.); (C.W.); (S.L.); (Y.C.)
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29
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Zhang Y, Wang T, He W, Zhu S. Human-Powered Master Controllers for Reconfigurable Fluidic Soft Robots. Soft Robot 2023; 10:1126-1136. [PMID: 37196160 DOI: 10.1089/soro.2022.0077] [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: 05/19/2023] Open
Abstract
Fluidic soft robots have the advantages of inherent compliance and adaptability, but they are significantly restricted by complex control systems and bulky power devices, including fluidic valves, fluidic pumps, electrical motors, as well as batteries, which make it challenging to operate in narrow space, energy shortage, or electromagnetic sensitive situations. To overcome the shortcomings, we develop portable human-powered master controllers to provide an alternative solution for the master-slave control of the fluidic soft robots. Each controller can supply multiple fluidic pressures to the multiple chambers of the soft robots simultaneously. We use modular fluidic soft actuators to reconfigure soft robots with various functions as control objects. Experimental results show that flexible manipulation and bionic locomotion can be simply realized using the human-powered master controllers. The developed controllers which eliminate energy storage and electronic components can provide a promising candidate of soft robot control in surgical, industrial, and entertainment applications.
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Affiliation(s)
- Yunce Zhang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
| | - Tao Wang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan, China
| | - Weidong He
- Ocean College, Zhejiang University, Zhoushan, China
| | - Shiqiang Zhu
- Ocean College, Zhejiang University, Zhoushan, China
- Zhejiang Lab, Hangzhou, China
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30
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Shan Y, Zhao Y, Wang H, Dong L, Pei C, Jin Z, Sun Y, Liu T. Variable stiffness soft robotic gripper: design, development, and prospects. BIOINSPIRATION & BIOMIMETICS 2023; 19:011001. [PMID: 37948756 DOI: 10.1088/1748-3190/ad0b8c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/12/2023] [Accepted: 11/10/2023] [Indexed: 11/12/2023]
Abstract
The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules. To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact, lines contact, surfaces contact, and full-bodies contact, elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.
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Affiliation(s)
- Yu Shan
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Yanzhi Zhao
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Haobo Wang
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Liming Dong
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Changlei Pei
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Zhaopeng Jin
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Yue Sun
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Tao Liu
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
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31
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Xie Z, Yuan F, Liu J, Tian L, Chen B, Fu Z, Mao S, Jin T, Wang Y, He X, Wang G, Mo Y, Ding X, Zhang Y, Laschi C, Wen L. Octopus-inspired sensorized soft arm for environmental interaction. Sci Robot 2023; 8:eadh7852. [PMID: 38019929 DOI: 10.1126/scirobotics.adh7852] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/14/2023] [Accepted: 10/31/2023] [Indexed: 12/01/2023]
Abstract
Octopuses can whip their soft arms with a characteristic "bend propagation" motion to capture prey with sensitive suckers. This relatively simple strategy provides models for robotic grasping, controllable with a small number of inputs, and a highly deformable arm with sensing capabilities. Here, we implemented an electronics-integrated soft octopus arm (E-SOAM) capable of reaching, sensing, grasping, and interacting in a large domain. On the basis of the biological bend propagation of octopuses, E-SOAM uses a bending-elongation propagation model to move, reach, and grasp in a simple but efficient way. E-SOAM's distal part plays the role of a gripper and can process bending, suction, and temperature sensory information under highly deformed working states by integrating a stretchable, liquid-metal-based electronic circuit that can withstand uniaxial stretching of 710% and biaxial stretching of 270% to autonomously perform tasks in a confined environment. By combining this sensorized distal part with a soft arm, the E-SOAM can perform a reaching-grasping-withdrawing motion across a range up to 1.5 times its original arm length, similar to the biological counterpart. Through a wearable finger glove that produces suction sensations, a human can use just one finger to remotely and interactively control the robot's in-plane and out-of-plane reaching and grasping both in air and underwater. E-SOAM's results not only contribute to our understanding of the function of the motion of an octopus arm but also provide design insights into creating stretchable electronics-integrated bioinspired autonomous systems that can interact with humans and their environments.
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Affiliation(s)
- Zhexin Xie
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
- Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore
| | - Feiyang Yuan
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Jiaqi Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Lufeng Tian
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Bohan Chen
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Zhongqiang Fu
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Sizhe Mao
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Tongtong Jin
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Yun Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Xia He
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Gang Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Yanru Mo
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Xilun Ding
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Yihui Zhang
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
| | - Cecilia Laschi
- Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
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32
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Xia T, Umezu K, Scully DM, Wang S, Larina IV. In vivo volumetric depth-resolved imaging of cilia metachronal waves using dynamic optical coherence tomography. OPTICA 2023; 10:1439-1451. [PMID: 38665775 PMCID: PMC11044847 DOI: 10.1364/optica.499927] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/05/2023] [Accepted: 09/21/2023] [Indexed: 04/28/2024]
Abstract
Motile cilia are dynamic hair-like structures covering epithelial surfaces in multiple organs. The periodic coordinated beating of cilia creates waves propagating along the surface, known as the metachronal waves, which transport fluids and mucus along the epithelium. Motile ciliopathies result from disrupted coordinated cilia beating and are associated with serious clinical complications, including reproductive disorders. Despite the recognized clinical significance, research of cilia dynamics is extremely limited. Here, we present quantitative imaging of cilia metachronal waves volumetrically through tissue layers using dynamic optical coherence tomography (OCT). Our method relies on spatiotemporal mapping of the phase of intensity fluctuations in OCT images caused by the ciliary beating. We validated our new method ex vivo and implemented it in vivo to visualize cilia metachronal wave propagation within the mouse fallopian tube. This method can be extended to the assessment of physiological cilia function and ciliary dyskinesias in various organ systems, contributing to better management of pathologies associated with motile ciliopathies.
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Affiliation(s)
- Tian Xia
- Department of Integrative Physiology, Baylor College of Medicine, Houston, Texas 77030, USA
| | - Kohei Umezu
- Department of Integrative Physiology, Baylor College of Medicine, Houston, Texas 77030, USA
| | - Deirdre M. Scully
- Department of Integrative Physiology, Baylor College of Medicine, Houston, Texas 77030, USA
| | - Shang Wang
- Department of Biomedical Engineering, Stevens Institute of Technology, Hoboken, New Jersey 07030, USA
| | - Irina V. Larina
- Department of Integrative Physiology, Baylor College of Medicine, Houston, Texas 77030, USA
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33
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Li G, Wong TW, Shih B, Guo C, Wang L, Liu J, Wang T, Liu X, Yan J, Wu B, Yu F, Chen Y, Liang Y, Xue Y, Wang C, He S, Wen L, Tolley MT, Zhang AM, Laschi C, Li T. Bioinspired soft robots for deep-sea exploration. Nat Commun 2023; 14:7097. [PMID: 37925504 PMCID: PMC10625581 DOI: 10.1038/s41467-023-42882-3] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/13/2023] [Accepted: 10/24/2023] [Indexed: 11/06/2023] Open
Abstract
The deep ocean, Earth's untouched expanse, presents immense challenges for exploration due to its extreme pressure, temperature, and darkness. Unlike traditional marine robots that require specialized metallic vessels for protection, deep-sea species thrive without such cumbersome pressure-resistant designs. Their pressure-adaptive forms, unique propulsion methods, and advanced senses have inspired innovation in designing lightweight, compact soft machines. This perspective addresses challenges, recent strides, and design strategies for bioinspired deep-sea soft robots. Drawing from abyssal life, it explores the actuation, sensing, power, and pressure resilience of multifunctional deep-sea soft robots, offering game-changing solutions for profound exploration and operation in harsh conditions.
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Affiliation(s)
- Guorui Li
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China.
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China.
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China.
| | - Tuck-Whye Wong
- Center for X-Mechanics, Zhejiang University, Hangzhou, China
- Department of Biomedical Engineering and Health Sciences, Universiti Teknologi Malaysia, Skudai, Malaysia
| | - Benjamin Shih
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Chunyu Guo
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
| | - Luwen Wang
- School of Information and Electrical Engineering, Hangzhou City University, Hangzhou, China
| | - Jiaqi Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Tao Wang
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
| | - Xiaobo Liu
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
| | - Jiayao Yan
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, MA, USA
| | - Baosheng Wu
- School of Ecology and Environment, Northwestern Polytechnical University, Xi'an, China
| | - Fajun Yu
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
| | - Yunsai Chen
- Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China
| | | | - Yaoting Xue
- Center for X-Mechanics, Zhejiang University, Hangzhou, China
| | - Chengjun Wang
- Center for X-Mechanics, Zhejiang University, Hangzhou, China
| | - Shunping He
- Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya, China
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Michael T Tolley
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, MA, USA
| | - A-Man Zhang
- Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, China
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
| | - Cecilia Laschi
- Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Tiefeng Li
- Center for X-Mechanics, Zhejiang University, Hangzhou, China.
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34
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Buchner TJK, Rogler S, Weirich S, Armati Y, Cangan BG, Ramos J, Twiddy ST, Marini DM, Weber A, Chen D, Ellson G, Jacob J, Zengerle W, Katalichenko D, Keny C, Matusik W, Katzschmann RK. Vision-controlled jetting for composite systems and robots. Nature 2023; 623:522-530. [PMID: 37968527 PMCID: PMC10651485 DOI: 10.1038/s41586-023-06684-3] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/13/2022] [Accepted: 09/27/2023] [Indexed: 11/17/2023]
Abstract
Recreating complex structures and functions of natural organisms in a synthetic form is a long-standing goal for humanity1. The aim is to create actuated systems with high spatial resolutions and complex material arrangements that range from elastic to rigid. Traditional manufacturing processes struggle to fabricate such complex systems2. It remains an open challenge to fabricate functional systems automatically and quickly with a wide range of elastic properties, resolutions, and integrated actuation and sensing channels2,3. We propose an inkjet deposition process called vision-controlled jetting that can create complex systems and robots. Hereby, a scanning system captures the three-dimensional print geometry and enables a digital feedback loop, which eliminates the need for mechanical planarizers. This contactless process allows us to use continuously curing chemistries and, therefore, print a broader range of material families and elastic moduli. The advances in material properties are characterized by standardized tests comparing our printed materials to the state-of-the-art. We directly fabricated a wide range of complex high-resolution composite systems and robots: tendon-driven hands, pneumatically actuated walking manipulators, pumps that mimic a heart and metamaterial structures. Our approach provides an automated, scalable, high-throughput process to manufacture high-resolution, functional multimaterial systems.
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Affiliation(s)
| | - Simon Rogler
- Soft Robotics Lab, D-MAVT, ETH Zurich, Zurich, Switzerland
| | - Stefan Weirich
- Soft Robotics Lab, D-MAVT, ETH Zurich, Zurich, Switzerland
| | - Yannick Armati
- Soft Robotics Lab, D-MAVT, ETH Zurich, Zurich, Switzerland
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35
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Sun L, Wan J, Du T. Fully 3D-printed tortoise-like soft mobile robot with muti-scenario adaptability. BIOINSPIRATION & BIOMIMETICS 2023; 18:066011. [PMID: 37751751 DOI: 10.1088/1748-3190/acfd76] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/26/2023] [Accepted: 09/26/2023] [Indexed: 09/28/2023]
Abstract
Soft robotic systems are well suited to unstructured, dynamic tasks and environments, owing to their ability to adapt and conform without damaging themselves or their surroundings. These abilities are crucial in areas such as human-robot interaction, simplification of control system and weight reduction. At present, the existing soft mobile robots still have the disadvantages of single motion mode and application scenario, difficult manufacturing and low energy conversion efficiency. Based on the current shortcomings of soft robots, this paper designs and proposes a fully 3D-printed tortoise-like soft mobile robot with muti-scenarios adaptability. The robot uses a Bionic Tortoise Leg Actuator structure that enables simultaneous bending of the actuator in both directions, simplifying robot control and increasing the maximum bending angle achievable. In addition, a reconfiguration design solution has been proposed to enable the robot to implement two bionic modes for land and sea turtles, adapting to move on hard and soft surfaces and in water, enabling it to move in amphibious and complex environments. The performance of the pneumatic soft actuator is also improved by an improved Digital Light Processing method that enhances the maximum strain of the 3D printed soft material. The prototype was tested to give maximum movement speeds for different gaits and environments, demonstrating that the fully 3D printed tortoise-like soft-mobile robot designed in this paper is highly adaptable to multiple scenarios. The robot studied in this paper has a wide range of applications, with potential applications including navigation in a variety of domain environments, inspection of large underground oil and gas pipelines, and navigation in high temperature, high humidity and strong magnetic field environments or in military alert conditions.
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Affiliation(s)
- Lechen Sun
- College of Design and Engineering, National University of Singapore, Singapore, Singapore
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, People's Republic of China
| | - Jingjing Wan
- College of Design and Engineering, National University of Singapore, Singapore, Singapore
| | - Tianhao Du
- College of Design and Engineering, National University of Singapore, Singapore, Singapore
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36
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Kohls ND, Balak R, Ruddy BP, Mazumdar YC. Soft Electromagnetic Motor and Soft Magnetic Sensors for Synchronous Rotary Motion. Soft Robot 2023; 10:912-922. [PMID: 36976757 DOI: 10.1089/soro.2022.0075] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/29/2023] Open
Abstract
To create fully-soft robots, fully-soft actuators are needed. Currently, soft rotary actuator topologies described in the literature exhibit low rotational speeds, which limit their applicability. In this work, we describe a novel, fully-soft synchronous rotary electromagnetic actuator and soft magnetic contact switch sensor concept. In this study, the actuator is constructed using gallium indium liquid metal conductors, compliant permanent magnetic composites, carbon black powders, and flexible polymers. The actuator also operates using low voltages (<20 V, ≤10 A), has a bandwidth of 10 Hz, a stall torque of 2.5-3 mN·m, and no-load speed of up to 4000 rpm. These values show that the actuator rotates at over two orders-of-magnitude higher speed with at least one order-of-magnitude higher output power than previously developed soft rotary actuators. This unique soft rotary motor is operated in a manner similar to traditional hard motors, but is also able to stretch and deform to enable new soft robot functions. To demonstrate fully-soft actuator application concepts, the motor is incorporated into a fully-soft air blower, fully-soft underwater propulsion system, fully-soft water pump, and squeeze-based sensor for a fully-soft fan. Hybrid hard and soft applications were also tested, including a geared robotic car, pneumatic actuator, and hydraulic pump. Overall, this work demonstrates how the fully-soft rotary electromagnetic actuator can bridge the gap between the capabilities of traditional hard motors and novel soft actuator concepts.
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Affiliation(s)
- Noah D Kohls
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
| | - Roman Balak
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
| | - Bryan P Ruddy
- Auckland Bioengineering Institute, University of Auckland, Auckland, New Zealand
| | - Yi Chen Mazumdar
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
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37
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Zhao Y, Hong Y, Li Y, Qi F, Qing H, Su H, Yin J. Physically intelligent autonomous soft robotic maze escaper. SCIENCE ADVANCES 2023; 9:eadi3254. [PMID: 37682998 PMCID: PMC10491293 DOI: 10.1126/sciadv.adi3254] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/18/2023] [Accepted: 08/07/2023] [Indexed: 09/10/2023]
Abstract
Autonomous maze navigation is appealing yet challenging in soft robotics for exploring priori unknown unstructured environments, as it often requires human-like brain that integrates onboard power, sensors, and control for computational intelligence. Here, we report harnessing both geometric and materials intelligence in liquid crystal elastomer-based self-rolling robots for autonomous escaping from complex multichannel mazes without the need for human-like brain. The soft robot powered by environmental thermal energy has asymmetric geometry with hybrid twisted and helical shapes on two ends. Such geometric asymmetry enables built-in active and sustained self-turning capabilities, unlike its symmetric counterparts in either twisted or helical shapes that only demonstrate transient self-turning through untwisting. Combining self-snapping for motion reflection, it shows unique curved zigzag paths to avoid entrapment in its counterparts, which allows for successful self-escaping from various challenging mazes, including mazes on granular terrains, mazes with narrow gaps, and even mazes with in situ changing layouts.
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Affiliation(s)
- Yao Zhao
- 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
| | - Yanbin Li
- 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
| | - Haitao Qing
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Hao Su
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Joint NCSU/UNC Department of Biomedical Engineering, North Carolina State University, Raleigh, NC 27695; 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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38
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Van Raemdonck B, Milana E, De Volder M, Reynaerts D, Gorissen B. Nonlinear Inflatable Actuators for Distributed Control in Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2301487. [PMID: 37205727 DOI: 10.1002/adma.202301487] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/15/2023] [Revised: 05/03/2023] [Indexed: 05/21/2023]
Abstract
As soft robotic systems grow in complexity and functionality, the size and stiffness of the needed control hardware severely limits their application potential. Alternatively, functionality can be embodied within actuator characteristics, drastically reducing the amount of peripherals. Functions such as memory, computation, and energy storage then result from the intrinsic mechanical behavior of precisely designed structures. Here, actuators are introduced with tunable characteristics to generate complex actuation sequences from a single input. Intricate sequences are made possible by harnessing hysteron characteristics encoded in the buckling of a cone-shaped shell incorporated in the actuator design. A large variety of such characteristics are generated by varying the actuator geometry. This dependency is mapped and used for creating a tool to determine the actuator geometry that yields a desired characteristic. Using this tool, a system with six actuators is created that plays the final movement of Beethoven's Ninth Symphony with a single pressure supply.
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Affiliation(s)
- Bert Van Raemdonck
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
| | - Edoardo Milana
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
- Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Georges-Köhler-Allee 105, 79110, Freiburg, Germany
| | - Michael De Volder
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
- Institute for Manufacturing, University of Cambridge, 17 Charles Babbage Road, Cambridge, CB3 0FS, UK
| | - Dominiek Reynaerts
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
| | - Benjamin Gorissen
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
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39
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Abstract
Mechanical computing requires matter to adapt behavior according to retained knowledge, often through integrated sensing, actuation, and control of deformation. However, inefficient access to mechanical memory and signal propagation limit mechanical computing modules. To overcome this, we developed an in-memory mechanical computing architecture where computing occurs within the interaction network of mechanical memory units. Interactions embedded within data read-write interfaces provided function-complete and neuromorphic computing while reducing data traffic and simplifying data exchange. A reprogrammable mechanical binary neural network and a mechanical self-learning perceptron were demonstrated experimentally in 3D printed mechanical computers, as were all 16 logic gates and truth-table entries that are possible with two inputs and one output. The in-memory mechanical computing architecture enables the design and fabrication of intelligent mechanical systems.
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Affiliation(s)
- Tie Mei
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, PR China
| | - Chang Qing Chen
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, PR China.
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40
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Wang D, Zhao B, Li X, Dong L, Zhang M, Zou J, Gu G. Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design. Nat Commun 2023; 14:5067. [PMID: 37604806 PMCID: PMC10442442 DOI: 10.1038/s41467-023-40626-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/28/2022] [Accepted: 08/04/2023] [Indexed: 08/23/2023] Open
Abstract
Dexterous locomotion, such as immediate direction change during fast movement or shape reconfiguration to perform diverse tasks, are essential animal survival strategies which have not been achieved in existing soft robots. Here, we present a kind of small-scale dexterous soft robot, consisting of an active dielectric elastomer artificial muscle and reconfigurable chiral-lattice foot, that enables immediate and reversible forward, backward and circular direction changes during fast movement under single voltage input. Our electric-driven soft robot with the structural design can be combined with smart materials to realize multimodal functions via shape reconfigurations under the external stimulus. We experimentally demonstrate that our dexterous soft robots can reach arbitrary points in a plane, form complex trajectories, or lower the height to pass through a narrow tunnel. The proposed structural design and shape reconfigurability may pave the way for next-generation autonomous soft robots with dexterous locomotion.
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Affiliation(s)
- Dong Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
| | - Baowen Zhao
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Xinlei Li
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Le Dong
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Mengjie Zhang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Jiang Zou
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Guoying Gu
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
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41
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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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42
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Orozco F, Horvat D, Miola M, Moreno-Villoslada I, Picchioni F, Bose RK. Electroactive Thermo-Pneumatic Soft Actuator with Self-Healing Features: A Critical Evaluation. Soft Robot 2023; 10:852-859. [PMID: 36927095 DOI: 10.1089/soro.2022.0170] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/17/2023] Open
Abstract
Soft actuators that operate with overpressure have been successfully implemented as soft robotic grippers. Naturally, as these pneumatic devices are prone to cuts, self-healing properties are attractive. Here, we prepared a gripper that operates based on the liquid-gas phase transition of ethanol within its hollow structure. The gripping surface of the device is coated with a self-healing polymer that heals with heat. This gripper also includes a stainless steel wire along the device that heats the entire structure through resistive heating. This design results in a soft robotic gripper that actuates and heals in parallel driven by the same practical stimulus, that is, electricity. Compared to other self-healing soft grippers, this approach has the advantage of being simple and having autonomous self-healing. However, there remain fundamental drawbacks that limit its implementation. The current work critically assesses this overpressure approach and concludes with a broad perspective regarding self-healing soft robotic grippers.
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Affiliation(s)
- Felipe Orozco
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
| | - Diana Horvat
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
| | - Matteo Miola
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
| | - Ignacio Moreno-Villoslada
- Laboratorio de Polímeros, Instituto de Ciencias Químicas, Facultad de Ciencias, Universidad Austral de Chile, Valdivia, Chile
| | - Francesco Picchioni
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
| | - Ranjita K Bose
- Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands
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43
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Xu Y, Zhu J, Chen H, Yong H, Wu Z. A Soft Reconfigurable Circulator Enabled by Magnetic Liquid Metal Droplet for Multifunctional Control of Soft Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2300935. [PMID: 37311235 PMCID: PMC10427373 DOI: 10.1002/advs.202300935] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/10/2023] [Revised: 05/17/2023] [Indexed: 06/15/2023]
Abstract
Integrated control circuits with multiple computation functions are essential for soft robots to achieve diverse complex real tasks. However, designing compliant yet simple circuits to embed multiple computation functions in soft electronic systems above the centimeter scale is still a tough challenge. Herein, utilizing smooth cyclic motions of magnetic liquid metal droplets (MLMD) in specially designed and surface-modified circulating channels, a soft reconfigurable circulator (SRC) consisting of three simple and reconfigurable basic modules is described. Through these modules, MLMD can utilize their conductivity and extreme deformation capabilities to transfer their simple cyclic motions as input signals to programmable electrical output signals carrying computing information. The obtained SRCs make it possible for soft robots to perform complex computing tasks, such as logic, programming, and self-adaptive control (a combination of programming and feedback control). Following, a digital logic-based grasping function diagnosis, a locomotion reprogrammable soft car, and a self-adaptive control-based soft sorting gripper are demonstrated to verify SRCs' capabilities. The unique attributes of MLMD allow complex computations based on simple configurations and inputs, which provide new ways to enhance soft robots' computing capabilities.
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Affiliation(s)
- Yi Xu
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
| | - Jiaqi Zhu
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
| | - Han Chen
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
| | - Haochen Yong
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
| | - Zhigang Wu
- Soft Intelligence LabState Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan430074China
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44
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He Q, Yin R, Hua Y, Jiao W, Mo C, Shu H, Raney JR. A modular strategy for distributed, embodied control of electronics-free soft robots. SCIENCE ADVANCES 2023; 9:eade9247. [PMID: 37418520 DOI: 10.1126/sciadv.ade9247] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/16/2022] [Accepted: 06/02/2023] [Indexed: 07/09/2023]
Abstract
Robots typically interact with their environments via feedback loops consisting of electronic sensors, microcontrollers, and actuators, which can be bulky and complex. Researchers have sought new strategies for achieving autonomous sensing and control in next-generation soft robots. We describe here an electronics-free approach for autonomous control of soft robots, whose compositional and structural features embody the sensing, control, and actuation feedback loop of their soft bodies. Specifically, we design multiple modular control units that are regulated by responsive materials such as liquid crystal elastomers. These modules enable the robot to sense and respond to different external stimuli (light, heat, and solvents), causing autonomous changes to the robot's trajectory. By combining multiple types of control modules, complex responses can be achieved, such as logical evaluations that require multiple events to occur in the environment before an action is performed. This framework for embodied control offers a new strategy toward autonomous soft robots that operate in uncertain or dynamic environments.
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Affiliation(s)
- Qiguang He
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Rui Yin
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Yucong Hua
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Weijian Jiao
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Chengyang Mo
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Hang Shu
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
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45
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Choe JK, Kim J, Song H, Bae J, Kim J. A soft, self-sensing tensile valve for perceptive soft robots. Nat Commun 2023; 14:3942. [PMID: 37402707 PMCID: PMC10319868 DOI: 10.1038/s41467-023-39691-z] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/13/2022] [Accepted: 06/26/2023] [Indexed: 07/06/2023] Open
Abstract
Soft inflatable robots are a promising paradigm for applications that benefit from their inherent safety and adaptability. However, for perception, complex connections of rigid electronics both in hardware and software remain the mainstay. Although recent efforts have created soft analogs of individual rigid components, the integration of sensing and control systems is challenging to achieve without compromising the complete softness, form factor, or capabilities. Here, we report a soft self-sensing tensile valve that integrates the functional capabilities of sensors and control valves to directly transform applied tensile strain into distinctive steady-state output pressure states using only a single, constant pressure source. By harnessing a unique mechanism, "helical pinching", we derive physical sharing of both sensing and control valve structures, achieving all-in-one integration in a compact form factor. We demonstrate programmability and applicability of our platform, illustrating a pathway towards fully soft, electronics-free, untethered, and autonomous robotic systems.
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Affiliation(s)
- Jun Kyu Choe
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Junsoo Kim
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hyeonseo Song
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Joonbum Bae
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea.
| | - Jiyun Kim
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea.
- Center for Multidimensional Programmable Matter, Ulsan National Institute of Science and Technology, Ulsan, 44919, South Korea.
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46
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Zhai Y, De Boer A, Yan J, Shih B, Faber M, Speros J, Gupta R, Tolley MT. Desktop fabrication of monolithic soft robotic devices with embedded fluidic control circuits. Sci Robot 2023; 8:eadg3792. [PMID: 37343076 DOI: 10.1126/scirobotics.adg3792] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2022] [Accepted: 05/24/2023] [Indexed: 06/23/2023]
Abstract
Most soft robots are pneumatically actuated and fabricated by molding and assembling processes that typically require many manual operations and limit complexity. Furthermore, complex control components (for example, electronic pumps and microcontrollers) must be added to achieve even simple functions. Desktop fused filament fabrication (FFF) three-dimensional printing provides an accessible alternative with less manual work and the capability of generating more complex structures. However, because of material and process limitations, FFF-printed soft robots often have a high effective stiffness and contain a large number of leaks, limiting their applications. We present an approach for the design and fabrication of soft, airtight pneumatic robotic devices using FFF to simultaneously print actuators with embedded fluidic control components. We demonstrated this approach by printing actuators an order of magnitude softer than those previously fabricated using FFF and capable of bending to form a complete circle. Similarly, we printed pneumatic valves that control a high-pressure airflow with low control pressure. Combining the actuators and valves, we demonstrated a monolithically printed electronics-free autonomous gripper. When connected to a constant supply of air pressure, the gripper autonomously detected and gripped an object and released the object when it detected a force due to the weight of the object acting perpendicular to the gripper. The entire fabrication process of the gripper required no posttreatment, postassembly, or repair of manufacturing defects, making this approach highly repeatable and accessible. Our proposed approach represents a step toward complex, customized robotic systems and components created at distributed fabricating facilities.
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Affiliation(s)
- Yichen Zhai
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | | | - Jiayao Yan
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Benjamin Shih
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Martin Faber
- BASF 3D Printing Solutions B.V., Emmen, Netherlands
| | - Joshua Speros
- BASF Corporation California Research Alliance, Berkeley, CA 94720, USA
| | - Rohini Gupta
- BASF Corporation California Research Alliance, Berkeley, CA 94720, USA
| | - Michael T Tolley
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
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47
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Ahrar S, Raje M, Lee IC, Hui EE. Pneumatic computers for embedded control of microfluidics. SCIENCE ADVANCES 2023; 9:eadg0201. [PMID: 37267360 PMCID: PMC10413662 DOI: 10.1126/sciadv.adg0201] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/03/2022] [Accepted: 04/28/2023] [Indexed: 06/04/2023]
Abstract
Alternative computing approaches that interface readily with physical systems are well suited for embedded control of those systems. We demonstrate finite state machines implemented as pneumatic circuits of microfluidic valves and use these controllers to direct microfluidic liquid handling procedures on the same chip. These monolithic integrated systems require only power to be supplied externally, in the form of a vacuum source. User input can be provided directly to the chip by covering pneumatic ports with a finger. State machines with up to four bits of state memory are demonstrated, and next-state combinational logic can be fully reprogrammed by changing the hole-punch pattern on a membrane in the chip. These pneumatic computers demonstrate a framework for the embedded control of physical systems and open a path to stand-alone lab-on-a-chip devices capable of highly complex functionality.
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Affiliation(s)
- Siavash Ahrar
- Department of Biomedical Engineering, University of California, Irvine, CA, USA
- Department of Biomedical Engineering, California State University, Long Beach, CA, USA
| | - Manasi Raje
- Department of Biomedical Engineering, University of California, Irvine, CA, USA
| | - Irene C Lee
- Department of Biomedical Engineering, University of California, Irvine, CA, USA
| | - Elliot E Hui
- Department of Biomedical Engineering, University of California, Irvine, CA, USA
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48
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Wang X, Meng Z, Chen CQ. Robotic Materials Transformable Between Elasticity and Plasticity. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2206637. [PMID: 36793150 PMCID: PMC10161124 DOI: 10.1002/advs.202206637] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/13/2022] [Revised: 01/12/2023] [Indexed: 05/06/2023]
Abstract
Robotic materials, with coupled sensing, actuation, computation, and communication, have attracted increasing attention because they are able to not only tune their conventional passive mechanical property via geometrical transformation or material phase change but also become adaptive and even intelligent to suit varying environments. However, the mechanical behavior of most robotic materials is either reversible (elastic) or irreversible (plastic), but not transformable between them. Here, a robotic material whose behavior is transformable between elastic and plastic is developed, based upon an extended neutrally stable tensegrity structure. The transformation does not depend on conventional phase transition and is fast. By integrating with sensors, the elasticity-plasticity transformable (EPT) material is able to self-sense deformation and decides whether to undergo transformation or not. This work expands the capability of the mechanical property modulation of robotic materials.
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Affiliation(s)
- Xinyuan Wang
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
| | - Zhiqiang Meng
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
| | - Chang Qing Chen
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing, 100084, P. R. China
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49
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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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Wang Y, He Q, Wang Z, Zhang S, Li C, Wang Z, Park YL, Cai S. Liquid Crystal Elastomer Based Dexterous Artificial Motor Unit. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2211283. [PMID: 36806211 DOI: 10.1002/adma.202211283] [Citation(s) in RCA: 10] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/02/2022] [Revised: 01/18/2023] [Indexed: 05/17/2023]
Abstract
Despite the great advancement in designing diverse soft robots, they are not yet as dexterous as animals in many aspects. One challenge is that they still lack the compact design of an artificial motor unit with a great comprehensive performance that can be conveniently fabricated, although many recently developed artificial muscles have shown excellent properties in one or two aspects. Herein, an artificial motor unit is developed based on gold-coated ultrathin liquid crystal elastomer (LCE) film. Subject to a voltage, Joule heating generated by the gold film increases the temperature of the LCE film underneath and causes it to contract. Due to the small thermal inertial and electrically controlling method of the ultrathin LCE structure, its cyclic actuation speed is fast and controllable. It is shown that under electrical stimulation, the actuation strain of the LCE-based motor unit reaches 45%, the strain rate reaches 750%/s, and the output power density is as high as 1360 W kg-1 . It is further demonstrated that the LCE-based motor unit behaves like an actuator, a brake, or a nonlinear spring on demand, analogous to most animal muscles. Finally, as a proof-of-concept, multiple highly dexterous artificial neuromuscular systems are demonstrated using the LCE-based motor unit.
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Affiliation(s)
- Yang Wang
- Materials Science and Engineering Program, University of California, San Diego, La Jolla, CA, 92093, USA
| | - Qiguang He
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, 92093, USA
| | - Zhijian Wang
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, 92093, USA
| | - Shengjia Zhang
- Materials Science and Engineering Program, University of California, San Diego, La Jolla, CA, 92093, USA
| | - Chenghai Li
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, 92093, USA
| | - Zijun Wang
- Materials Science and Engineering Program, University of California, San Diego, La Jolla, CA, 92093, USA
| | - Yong-Lae Park
- Department of Mechanical Engineering, Seoul National University, Seoul, 08826, Republic of Korea
| | - Shengqiang Cai
- Materials Science and Engineering Program, University of California, San Diego, La Jolla, CA, 92093, USA
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