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Han L, Si J, Guo M, Wang R, Wang K, Yang J, Wang Z, Yang X. An Untethered Soft Crawling Robot Driven by Wireless Power Transfer Technology. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2309661. [PMID: 38268235 DOI: 10.1002/smll.202309661] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/24/2023] [Revised: 01/16/2024] [Indexed: 01/26/2024]
Abstract
Soft robots based on flexible materials have attracted the attention due to high flexibility and great environmental adaptability. Among the common driving modes, electricity, light, and magnetism have the limitations of wiring, poor penetration capability, and sophisticated equipment, respectively. Here, an emerging wireless driving mode is proposed for the soft crawling robot based on wireless power transfer (WPT) technology. The receiving coil at the robot's tail, as an energy transfer station, receives energy from the transmitting coil and supplies the electrothermal responsiveness to drive the robot's crawling. By regulating the WPT's duration to control the friction between the robot and the ground, bidirectional crawling is realized. Furthermore, the receiving coil is also employed as a sensory organ to equip the robot with localization, ID recognition, and sensing capabilities based on electromagnetic coupling. This work provides an innovative and promising strategy for the design and integration of soft crawling robots, exhibiting great potential in the field of intelligent robots.
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Affiliation(s)
- Lei Han
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Jiawei Si
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Miaomiao Guo
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Rui Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Kai Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Jin Yang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Ziyuan Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Xiaohan Yang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
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2
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Liu Z, Zhan W, Liu X, Zhu Y, Qi M, Leng J, Wei L, Han S, Wu X, Yan X. A wireless controlled robotic insect with ultrafast untethered running speeds. Nat Commun 2024; 15:3815. [PMID: 38719823 PMCID: PMC11078929 DOI: 10.1038/s41467-024-47812-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2023] [Accepted: 04/12/2024] [Indexed: 05/12/2024] Open
Abstract
Running speed degradation of insect-scale (less than 5 cm) legged microrobots after carrying payloads has become a bottleneck for microrobots to achieve high untethered locomotion performance. In this work, we present a 2-cm legged microrobot (BHMbot, BeiHang Microrobot) with ultrafast untethered running speeds, which is facilitated by the complementary combination of bouncing length and bouncing frequency in the microrobot's running gait. The untethered BHMbot (2-cm-long, 1760 mg) can achieve a running speed of 17.5 BL s-1 and a turning centripetal acceleration of 65.4 BL s-2 at a Cost of Transport of 303.7 and a power consumption of 1.77 W. By controlling its two front legs independently, the BHMbot demonstrates various locomotion trajectories including circles, rectangles, letters and irregular paths across obstacles through a wireless control module. Such advancements enable the BHMbot to carry out application attempts including sound signal detection, locomotion inside a turbofan engine and transportation via a quadrotor.
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Affiliation(s)
- Zhiwei Liu
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Wencheng Zhan
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Beijing Key Laboratory of Aero-Engine Structure and Strength, Beijing, China
| | - Xinyi Liu
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Yangsheng Zhu
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Mingjing Qi
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Jiaming Leng
- School of Energy and Power Engineering, Beihang University, Beijing, China
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China
- Research Institute of Aero-Engine, Beihang University, Beijing, China
| | - Lizhao Wei
- School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Shousheng Han
- School of Integrated Circuits, Tsinghua University, Beijing, China
| | - Xiaoming Wu
- School of Integrated Circuits, Tsinghua University, Beijing, China.
| | - Xiaojun Yan
- School of Energy and Power Engineering, Beihang University, Beijing, China.
- Collaborative Innovation Center of Advanced Aero-Engine, Beijing, China.
- National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics, Beijing, China.
- Research Institute of Aero-Engine, Beihang University, Beijing, China.
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3
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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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4
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Yang Y, Li M, Chen E, Mu W, Yin R. Bioinspired Soft Electrostatic Accordion-Fold Actuators. Soft Robot 2024; 11:308-319. [PMID: 38557223 DOI: 10.1089/soro.2022.0235] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/04/2024] Open
Abstract
Increasing interests have been directed toward the exploitation of origami techniques in developing biomimetic soft robots. There is a need for effective design solutions to exploit the properties of origami structure with simplified assembly and improved robotic mobility. In this study, inspired by human long-standing jumps, we present a soft electrostatically driven legged accordion fold actuator made by turning a flat paper into hollow polyhedron structure with a spring like rear and capable of electrostatic pad-assisted steering and carrying loads. Without the need for integration of external actuators, the actuator is composed of the electrostatic origami actuator itself supported by a single-fold leg with fast response, easy fabrication process, and low cost. Initiated by periodic deformation around the folding hinges caused by alternating current voltage and ground reaction forces, the actuators exhibit a unique jump-slide movement outperforming other existing soft electrostatic actuators/robots in terms of relative speed. We examined the effect of different geometric and external factors on the relative speed and highlighted the significance of body scale and short-edge panels as the elastic elements, as well as operating at resonance frequency in producing effective performances. Theoretical locomotion models and finite element analysis were carried out to interpret the working principle and validate experimental results.
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Affiliation(s)
- Yiduo Yang
- Textile Engineering, Chemistry and Science, Wilson College of Textiles, North Carolina State University, Raleigh, North Carolina, USA
| | - Mengjiao Li
- Textile Engineering, Chemistry and Science, Wilson College of Textiles, North Carolina State University, Raleigh, North Carolina, USA
- College of Engineering, Ocean University of China, Qingdao, China
| | - Erdong Chen
- Textile Engineering, Chemistry and Science, Wilson College of Textiles, North Carolina State University, Raleigh, North Carolina, USA
- College of Engineering, Ocean University of China, Qingdao, China
| | - Weilei Mu
- College of Engineering, Ocean University of China, Qingdao, China
| | - Rong Yin
- Textile Engineering, Chemistry and Science, Wilson College of Textiles, North Carolina State University, Raleigh, North Carolina, USA
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5
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Tang L, Wang C, Ma S, Li Y, Li B. Multidirectional Planar Motion Transmission on a Single-Motor Actuated Robot via Microscopic Galumphing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307738. [PMID: 38093662 PMCID: PMC10916667 DOI: 10.1002/advs.202307738] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/15/2023] [Revised: 11/22/2023] [Indexed: 12/20/2023]
Abstract
Insect-scale mobile robots can execute diverse arrays of tasks in confined spaces. Although most self-contained crawling robots integrate multiple actuators to ensure high flexibility, the intricate actuators restrict their miniaturization. Conversely, robots with a single actuator lack the requisite agility and precision for planar movements. Herein, a novel eccentric rotation-dependent multidirectional transmission is presented using a tilted eccentric motor and a simplistic two-legged structural configuration for planar locomotion. The speed of the eccentric motor is modulated to enable alternating microscopic jumps to propel the system, creating a mode of motion analogous to galumphing of seals. Upon modeling the motion dynamics and conducting experiments, the effectiveness of direct motion transmission is substantiated through microscopic galumphing encompassing left/right crawling and straight-forward crawling. Finally, a 1.2 g untethered robot is developed, which demonstrates enhanced straight crawling and spot turning, traverses narrow tunnels, and achieves precise movements. Therefore, the proposed motion-transmission technique provides a comprehensive set of innovative solutions of underactuated agile robots.
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Affiliation(s)
- Lingqi Tang
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Chenghao Wang
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Songsong Ma
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Yao Li
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive RoboticsHarbin Institute of TechnologyShenzhen518055China
| | - Bing Li
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive RoboticsHarbin Institute of TechnologyShenzhen518055China
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
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6
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Wang Z, Chen Y, Ma Y, Wang J. Bioinspired Stimuli-Responsive Materials for Soft Actuators. Biomimetics (Basel) 2024; 9:128. [PMID: 38534813 DOI: 10.3390/biomimetics9030128] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/29/2024] [Revised: 02/16/2024] [Accepted: 02/19/2024] [Indexed: 03/28/2024] Open
Abstract
Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.
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Affiliation(s)
- Zhongbao Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yixin Chen
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yuan Ma
- Department of Mechanical Engineering, Research Institute for Intelligent Wearable Systems, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Jing Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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7
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Ke X, Yong H, Xu F, Ding H, Wu Z. Stenus-inspired, swift, and agile untethered insect-scale soft propulsors. Nat Commun 2024; 15:1491. [PMID: 38374180 PMCID: PMC10876683 DOI: 10.1038/s41467-024-45997-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Accepted: 02/09/2024] [Indexed: 02/21/2024] Open
Abstract
Mimicking living creatures, soft robots exhibit incomparable adaptability and various attractive new features. However, untethered insect-scale soft robots are often plagued with inferior controllability and low kinetic performance. Systematically inspired by the swift swingable abdomen, conducting canals for secretion transport, and body setae of Stenus comma, together with magnetic-induced fast-transformed postures, herein, we present a swift, agile untethered millimetre-scale soft propulsor propelling on water. The demonstrated propulsor, with a body length (BL) of 3.6 mm, achieved a recorded specific speed of ~201 BL/s and acceleration of ~8,372 BL/s2. The comprehensive kinetic performance of this propulsor surpasses those of previous ones at similar scales by several orders. Notably, we discovered momentum-transfer-induced over-biological on-demand braking (deceleration ~-5,010 BL/s2) and elucidated the underlying hydrodynamics. This work offers new insights into systematically bio-inspired artificial insect-scale soft robots, enabling them to push boundaries in performance, and potentially revolutionizing robot design, optimization, and control paradigms.
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Affiliation(s)
- Xingxing Ke
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Haochen Yong
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Fukang Xu
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Han Ding
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Zhigang Wu
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China.
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8
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Ke X, Yong H, Xu F, Chai Z, Jiang J, Ni X, Wu Z. Synergistical Mechanical Design and Function Integration for Insect-Scale On-Demand Configurable Multifunctional Soft Magnetic Robots. Soft Robot 2024; 11:43-56. [PMID: 37418155 DOI: 10.1089/soro.2022.0105] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/08/2023] Open
Abstract
Meso- or micro-scale(or insect-scale) robots that are capable of realizing flexible locomotion and/or carrying on complex tasks in a remotely controllable manner hold great promise in diverse fields, such as biomedical applications, unknown environment exploration, in situ operation in confined spaces, and so on. However, the existing design and implementation approaches for such multifunctional, on-demand configurable insect-scale robots are often focusing on their actuation or locomotion, while matched design and implementation with synergistic actuation and function modules under large deformation targeting varying task/target demands are rarely investigated. In this study, through systematical investigations on synergistical mechanical design and function integration, we developed a matched design and implementation method for constructing multifunctional, on-demand configurable insect-scale soft magnetic robots. Based on such a method, we report a simple approach to construct soft magnetic robots by assembling various modules from the standard part library together. Moreover, diverse soft magnetic robots with desirable motion and function can be (re)configured. Finally, we demonstrated (re)configurable soft magnetic robots shifting into different modes to adapt and respond to varying scenarios. The customizable physical realization of complex soft robots with desirable actuation and diverse functions can pave a new way for constructing more sophisticated insect-scale soft machines that can be applied to practical applications soon.
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Affiliation(s)
- Xingxing Ke
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Haochen Yong
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Fukang Xu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhiping Chai
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Jiajun Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Xiang Ni
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
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9
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Sirithunge C, Wang H, Iida F. Soft touchless sensors and touchless sensing for soft robots. Front Robot AI 2024; 11:1224216. [PMID: 38312746 PMCID: PMC10830750 DOI: 10.3389/frobt.2024.1224216] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/17/2023] [Accepted: 01/02/2024] [Indexed: 02/06/2024] Open
Abstract
Soft robots are characterized by their mechanical compliance, making them well-suited for various bio-inspired applications. However, the challenge of preserving their flexibility during deployment has necessitated using soft sensors which can enhance their mobility, energy efficiency, and spatial adaptability. Through emulating the structure, strategies, and working principles of human senses, soft robots can detect stimuli without direct contact with soft touchless sensors and tactile stimuli. This has resulted in noteworthy progress within the field of soft robotics. Nevertheless, soft, touchless sensors offer the advantage of non-invasive sensing and gripping without the drawbacks linked to physical contact. Consequently, the popularity of soft touchless sensors has grown in recent years, as they facilitate intuitive and safe interactions with humans, other robots, and the surrounding environment. This review explores the emerging confluence of touchless sensing and soft robotics, outlining a roadmap for deployable soft robots to achieve human-level dexterity.
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Affiliation(s)
| | - Huijiang Wang
- Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom
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10
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Li D, Zhou J, Zhao Z, Huang X, Li H, Qu Q, Zhou C, Yao K, Liu Y, Wu M, Su J, Shi R, Huang Y, Wang J, Zhang Z, Liu Y, Gao Z, Park W, Jia H, Guo X, Zhang J, Chirarattananon P, Chang L, Xie Z, Yu X. Battery-free, wireless, and electricity-driven soft swimmer for water quality and virus monitoring. SCIENCE ADVANCES 2024; 10:eadk6301. [PMID: 38198552 PMCID: PMC10780888 DOI: 10.1126/sciadv.adk6301] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/01/2023] [Accepted: 12/11/2023] [Indexed: 01/12/2024]
Abstract
Miniaturized mobile electronic system is an effective candidate for in situ exploration of confined spaces. However, realizing such system still faces challenges in powering issue, untethered mobility, wireless data acquisition, sensing versatility, and integration in small scales. Here, we report a battery-free, wireless, and miniaturized soft electromagnetic swimmer (SES) electronic system that achieves multiple monitoring capability in confined water environments. Through radio frequency powering, the battery-free SES system demonstrates untethered motions in confined spaces with considerable moving speed under resonance. This system adopts soft electronic technologies to integrate thin multifunctional bio/chemical sensors and wireless data acquisition module, and performs real-time water quality and virus contamination detection with demonstrated promising limits of detection and high sensitivity. All sensing data are transmitted synchronously and displayed on a smartphone graphical user interface via near-field communication. Overall, this wireless smart system demonstrates broad potential for confined space exploration, ranging from pathogen detection to pollution investigation.
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Affiliation(s)
- Dengfeng Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
| | - Jingkun Zhou
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
| | - Zichen Zhao
- State Key Laboratory of Structural Analysis, Optimization and CAE Software for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
- Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China
| | - Xingcan Huang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Hu Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing 100083, China
| | - Qing’ao Qu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Changfei Zhou
- School of Information and Communication Engineering, Dalian University of Technology, Dalian 116024, China
| | - Kuanming Yao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Yanting Liu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Mengge Wu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Jingyou Su
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Rui Shi
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Ya Huang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
| | - Jingjing Wang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Zongwen Zhang
- State Key Laboratory of Structural Analysis, Optimization and CAE Software for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
- Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China
| | - Yiming Liu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Zhan Gao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Wooyoung Park
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Huiling Jia
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
| | - Xu Guo
- State Key Laboratory of Structural Analysis, Optimization and CAE Software for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
- Ningbo Institute of Dalian University of Technology, Ningbo 315016, China
| | - Jiachen Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Pakpong Chirarattananon
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
| | - Lingqian Chang
- Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing 100083, China
- School of Biomedical Engineering, Research and Engineering Center of Biomedical Materials, Anhui Medical University, Hefei 230032, China
| | - Zhaoqian Xie
- State Key Laboratory of Structural Analysis, Optimization and CAE Software for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
- Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China
- Ningbo Institute of Dalian University of Technology, Ningbo 315016, China
- DUT-BSU Joint Institute, Dalian University of Technology, Dalian 116024, China
| | - Xinge Yu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999077, China
- Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE), Hong Kong SAR 999077, China
- City University of Hong Kong Shenzhen Research Institute, Shenzhen 518057, China
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11
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Li J, Deng J, Zhang S, Chen W, Zhao J, Liu Y. Developments and Challenges of Miniature Piezoelectric Robots: A Review. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2305128. [PMID: 37888844 PMCID: PMC10754097 DOI: 10.1002/advs.202305128] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Revised: 08/26/2023] [Indexed: 10/28/2023]
Abstract
Miniature robots have been widely studied and applied in the fields of search and rescue, reconnaissance, micromanipulation, and even the interior of the human body benefiting from their highlight features of small size, light weight, and agile movement. With the development of new smart materials, many functional actuating elements have been proposed to construct miniature robots. Compared with other actuating elements, piezoelectric actuating elements have the advantages of compact structure, high power density, fast response, high resolution, and no electromagnetic interference, which make them greatly suitable for actuating miniature robots, and capture the attentions and favor of numerous scholars. In this paper, a comprehensive review of recent developments in miniature piezoelectric robots (MPRs) is provided. The MPRs are classified and summarized in detail from three aspects of operating environment, structure of piezoelectric actuating element, and working principle. In addition, new manufacturing methods and piezoelectric materials in MPRs, as well as the application situations, are sorted out and outlined. Finally, the challenges and future trends of MPRs are evaluated and discussed. It is hoped that this review will be of great assistance for determining appropriate designs and guiding future developments of MPRs, and provide a destination board to the researchers interested in MPRs.
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Affiliation(s)
- Jing Li
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Deng
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Shijing Zhang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Weishan Chen
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Zhao
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Yingxiang Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
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12
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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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13
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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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14
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Miao Z, Liang J, Chen H, Lu J, Sun X, Liu Y, Tang F, Zhang M. Power Autonomy and Agility Control of an Untethered Insect-Scale Soft Robot. Soft Robot 2023; 10:749-759. [PMID: 36787456 DOI: 10.1089/soro.2021.0201] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/16/2023] Open
Abstract
It is still challenging to achieve agility and trajectory control for untethered soft robots on an insect scale given their low mechanical impedance and compact structures. In this study, fast translational movements and swift turning motions are demonstrated on a power autonomous soft robot with a piezoelectric-thin-film-actuated body and electrostatic turning footpads. A high relative running speed of 2.5 body length per second compared with existing untethered robots is realized on a 24-mm-long untethered prototype integrated with power source, control, and wireless communication modules. An arc-shaped leg structure is adopted to self-regulate the frication forces on different footpads during turning by an inclination-induced redistribution of the payload gravity on legs and footpads. The trajectory maneuverability is demonstrated by navigating a 380 mg robot prototype with an 1810 mg payload to pass through a 58-cm-long S-shaped path with wireless control in 43.4 s. Due to the flexibility of the all-polymer body structure, the robustness of the untethered robot to large strain is demonstrated when compressed by 91 times the weight of the robot. A maximum travel distance of 58.6 m is achieved for the robot equipped with a 40 mA·h lithium battery, corresponding to the cost of transport of 261. This work provides a feasible solution to achieve high agility and advance the practicability of untethered soft robots on an insect scale.
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Affiliation(s)
- Zicong Miao
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | | | - Huimin Chen
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Jiangfeng Lu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Xiang Sun
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Ying Liu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Fei Tang
- State Key Laboratory of Precision Measurement Technology and Instruments, Department of Precision Instruments, Tsinghua University, Beijing, China
| | - Min Zhang
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
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15
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Liu Y, Liang J, Lu J, Chen H, Miao Z, Wang D, Wang X, Zhang M. Complex Three-Dimensional Terrains Traversal of Insect-Scale Soft Robot. Soft Robot 2023; 10:612-623. [PMID: 36576417 DOI: 10.1089/soro.2022.0073] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/29/2022] Open
Abstract
This article proposes a piezoelectric-driven insect-scale soft robot with ring-like curved legs, enabling it to traverse complex three-dimensional (3D) terrain only by body-terrain mechanical action. Relying on the repeated deformation of the main body's n and u shapes, the robot's leg-ground mechanical action produces an "elastic gait" to move. Regarding the detailed design, first, a theoretical curve of the front leg with a fixed angle of attack of 75° is designed by finite element simulation and comparative experiments. It ensures no increase in drag and no decrease in the lift when climbing steps. Second, a ring-like leg structure with 100% closed degree is proposed to ensure a smooth pass through small-sized uneven terrain without getting stuck. Then, the design of the overall asymmetrical structure of the robot can improve the conversion ratio of vibration to forward force. The shape of curved legs is controlled by pulling the flexible leg structure with two metal wires working as spokes. The semirigid leg structure made of fully flexible materials has shape stability and structural robustness. Compared with the plane-legged robot, the curved-legged robot can smoothly traverse different rugged 3D terrains and cross the terrain covering obstacles 0.36 times body height (BH) at a speed of >4 body lengths per second. Moreover, the curved-legged robot shows 100% and 64% chances of climbing steps with 1.2- and 1.9-times BH, respectively.
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Affiliation(s)
- Ying Liu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | | | - Jiangfeng Lu
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Huimin Chen
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Zicong Miao
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Dongkai Wang
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
| | - Xiaohao Wang
- Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Min Zhang
- Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
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16
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Karg A, Kuznetsov V, Helfricht N, Lippitz M, Papastavrou G. Electrochemical grippers based on the tuning of surface forces for applications in micro- and nanorobotics. Sci Rep 2023; 13:7885. [PMID: 37193686 DOI: 10.1038/s41598-023-33654-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2022] [Accepted: 04/17/2023] [Indexed: 05/18/2023] Open
Abstract
Existing approaches to robotic manipulation often rely on external mechanical devices, such as hydraulic and pneumatic devices or grippers. Both types of devices can be adapted to microrobots only with difficulties and for nanorobots not all. Here, we present a fundamentally different approach that is based on tuning the acting surface forces themselves rather than applying external forces by grippers. Tuning of forces is achieved by the electrochemical control of an electrode's diffuse layer. Such electrochemical grippers can be integrated directly into an atomic force microscope, allowing for 'pick and place' procedures typically used in macroscopic robotics. Due to the low potentials involved, small autonomous robots could as well be equipped with these electrochemical grippers that will be particularly useful in soft robotics as well as nanorobotics. Moreover, these grippers have no moving parts and can be incorporated in new concepts for actuators. The concept can easily be scaled down and applied to a wide range of objects, such as colloids, proteins, and macromolecules.
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Affiliation(s)
- A Karg
- Physical Chemistry II, University of Bayreuth, Universitätsstraße 30, 95440, Bayreuth, Germany
| | - V Kuznetsov
- Physical Chemistry II, University of Bayreuth, Universitätsstraße 30, 95440, Bayreuth, Germany
| | - N Helfricht
- Physical Chemistry II, University of Bayreuth, Universitätsstraße 30, 95440, Bayreuth, Germany
| | - M Lippitz
- Experimental Physics III, University of Bayreuth, Universitätsstraße 30, 95440, Bayreuth, Germany
| | - G Papastavrou
- Physical Chemistry II, University of Bayreuth, Universitätsstraße 30, 95440, Bayreuth, Germany.
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17
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Hui X, Luo J, Wang R, Sun H. Multiresponsive Microactuator for Ultrafast Submillimeter Robots. ACS NANO 2023; 17:6589-6600. [PMID: 36976705 DOI: 10.1021/acsnano.2c12203] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Untethered submillimeter microrobots have significant application prospects in environment monitoring, reconnaissance, and biomedicine. However, they are practically limited to their slow movement. Here, an electrical/optical-actuated microactuator is reported and developed into several untethered ultrafast submillimeter robots. Composed of multilayer nanofilms with exquisitely designed patterns and high surface-to-volume ratios, the microrobot exhibits flexible, precise, and rapid response under voltages and lasers, resulting in controllable and ultrafast inchworm-type movement. The proposed design and microfabrication approach allows various improved and distinctive 3D microrobots simultaneously. The motion speed is highly related to the laser frequency and reaches 2.96 mm/s (3.66 body length/s) on the polished wafer surface. Excellent movement adaptability of the robot is also verified on other rough substrates. Moreover, directional locomotion can be realized simply by the bias of the irradiation of the laser spot, and the maximum angular speed reaches 167.3°/s. Benefiting from the bimorph film structure and symmetrical configuration, the microrobot is able to maintain functionalized after being crashed by a payload 67 000 times heavier than its weight, or at the unexpectedly reversed state. These results provide a strategy for 3D microactuators with precise and rapid response, and microrobots with fast movement for delicate tasks in narrow and restrictive scenarios.
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Affiliation(s)
- Xusheng Hui
- School of Astronautics, Northwestern Polytechnical University, Shaanxi 710072, China
| | - Jianjun Luo
- School of Astronautics, Northwestern Polytechnical University, Shaanxi 710072, China
| | - Rong Wang
- School of Astronautics, Northwestern Polytechnical University, Shaanxi 710072, China
| | - Hao Sun
- Beijing Advanced Medical Technologies, Ltd. Inc., Beijing 102609, China
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18
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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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19
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Liu P, Ma S, Liu S, Li Y, Li B. Omnidirectional Jump Control of a Locust-Computer Hybrid Robot. Soft Robot 2023; 10:40-51. [PMID: 35333662 DOI: 10.1089/soro.2021.0137] [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: 11/12/2022] Open
Abstract
Jumping locomotion is critical for microrobots to overcome obstacles. Among the microjumping robots, the development of an omnidirectional jumping mechanism is challenging. To avoid the complicated microfabrication process, we present an insect-computer hybrid robot by controlling the locomotions of an Oriental Migratory Locust (Locusta migratoria manilensis, Meyen 1835). The insect-computer hybrid robot achieves repetitive omnidirectional jumps of ∼100 mm high. A series of experiments on jumping control, turning control, and collaborative directional jumping control are carried out. We also demonstrate the implementation of a wireless stimulator backpack that provides remote locomotion control, which transforms the insect into a hybrid robot. Moreover, a feedback jump control system is subsequently presented. The results indicate that the hybrid robot could easily achieve an omnidirectional jump and maintain body righting after landing. This robot is well-suited for applications that require locomotion on uneven terrains, such as environmental surveillance and search and rescue.
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Affiliation(s)
- Peng Liu
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, Shenzhen, China
| | - Songsong Ma
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, Shenzhen, China.,State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Shen Liu
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, Shenzhen, China
| | - Yao Li
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, Shenzhen, China
| | - Bing Li
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, Shenzhen, China.,State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
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20
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Zhang S, Ke X, Jiang Q, Chai Z, Wu Z, Ding H. Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200671. [PMID: 35732070 DOI: 10.1002/adma.202200671] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/21/2022] [Revised: 06/12/2022] [Indexed: 06/15/2023]
Abstract
Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.
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Affiliation(s)
- Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Xingxing Ke
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhiping Chai
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
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21
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Han L, Wang R, Dong Y, Zhang X, Wu C, Zhao X. A wireless "Janus" soft gripper with multiple tactile sensors. NANOSCALE ADVANCES 2022; 4:4756-4765. [PMID: 36381512 PMCID: PMC9642356 DOI: 10.1039/d2na00208f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/02/2022] [Accepted: 10/04/2022] [Indexed: 06/16/2023]
Abstract
Biomimetic properties allow soft robots to complexly interact with the environment. As the bridge between the robot and the operating object, the gripping hand is an important organ for its connection with the outside world, which requires the ability to provide feedback from the grasped object, similar to the human sensory and nervous system. In this work, to cope with the difficulty of integrating complex sensing and communication systems into flexible soft grippers, we propose a GO/PI composite bilayer film-based gripper with two types of tactile sensors and a LC passive wireless transmission module to obtain the grip information and transmit it to the processor. The bilayer film structure demonstrates good photothermal driving performance. Pressure and material sensors are located at the tips of the gripper's fingers to acquire tactile information which is wirelessly transmitted to the processor for analysis via the LC circuit. The grasping and feedback of the gripper are presented through an intelligent display system, realizing the wireless interconnection between the robot terminal and processing system, exhibiting broad application potential.
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Affiliation(s)
- Lei Han
- Key Laboratory of MEMS of the Ministry of Education, Southeast University Nanjing 210096 China
| | - Rui Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University Nanjing 210096 China
| | - Yupeng Dong
- Key Laboratory of MEMS of the Ministry of Education, Southeast University Nanjing 210096 China
| | - Xun Zhang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University Nanjing 210096 China
| | - Chenggen Wu
- Key Laboratory of MEMS of the Ministry of Education, Southeast University Nanjing 210096 China
| | - Xiaoguang Zhao
- Department of Precision Instruments, Tsinghua University Beijing 100084 China
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22
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Meder F, Naselli GA, Mazzolai B. Wind dynamics and leaf motion: Approaching the design of high-tech devices for energy harvesting for operation on plant leaves. FRONTIERS IN PLANT SCIENCE 2022; 13:994429. [PMID: 36388505 PMCID: PMC9644130 DOI: 10.3389/fpls.2022.994429] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/14/2022] [Accepted: 10/04/2022] [Indexed: 06/16/2023]
Abstract
High-tech sensors, energy harvesters, and robots are increasingly being developed for operation on plant leaves. This introduces an extra load which the leaf must withstand, often under further dynamic forces like wind. Here, we took the example of mechanical energy harvesters that consist of flat artificial "leaves" fixed on the petioles of N. oleander, converting wind energy into electricity. We developed a combined experimental and computational approach to describe the static and dynamic mechanics of the natural and artificial leaves individually and join them together in the typical energy harvesting configuration. The model, in which the leaves are torsional springs with flexible petioles and rigid lamina deforming under the effect of gravity and wind, enables us to design the artificial device in terms of weight, flexibility, and dimensions based on the mechanical properties of the plant leaf. Moreover, it predicts the dynamic motions of the leaf-artificial leaf combination, causing the mechanical-to-electrical energy conversion at a given wind speed. The computational results were validated in dynamic experiments measuring the electrical output of the plant-hybrid energy harvester. Our approach enables us to design the artificial structure for damage-safe operation on leaves (avoiding overloading caused by the interaction between leaves and/or by the wind) and suggests how to improve the combined leaf oscillations affecting the energy harvesting performance. We furthermore discuss how the mathematical model could be extended in future works. In summary, this is a first approach to improve the adaptation of artificial devices to plants, advance their performance, and to counteract damage by mathematical modelling in the device design phase.
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Affiliation(s)
- Fabian Meder
- *Correspondence: Fabian Meder, ; Giovanna Adele Naselli, ; Barbara Mazzolai,
| | | | - Barbara Mazzolai
- *Correspondence: Fabian Meder, ; Giovanna Adele Naselli, ; Barbara Mazzolai,
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23
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Ko J, Kim C, Kim D, Song Y, Lee S, Yeom B, Huh J, Han S, Kang D, Koh JS, Cho J. High-performance electrified hydrogel actuators based on wrinkled nanomembrane electrodes for untethered insect-scale soft aquabots. Sci Robot 2022; 7:eabo6463. [DOI: 10.1126/scirobotics.abo6463] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
Hydrogels have diverse chemical properties and can exhibit reversibly large mechanical deformations in response to external stimuli; these characteristics suggest that hydrogels are promising materials for soft robots. However, reported actuators based on hydrogels generally suffer from slow response speed and/or poor controllability due to intrinsic material limitations and electrode fabrication technologies. Here, we report a hydrogel actuator that operates at low voltages (<3 volts) with high performance (strain > 50%, energy density > 7 × 10
5
joules per cubic meter, and power density > 3 × 10
4
watts per cubic meter), surpassing existing hydrogel actuators and other types of electroactive soft actuators. The enhanced performance of our actuator is due to the formation of wrinkled nanomembrane electrodes that exhibit high conductivity and excellent mechanical deformation through capillary-assisted assembly of metal nanoparticles and deswelling-induced wrinkled structures. By applying an electric potential through the wrinkled nanomembrane electrodes that sandwich the hydrogel, we were able to trigger a reversible and substantial electroosmotic water flow inside a hydrogel film, which drove the controlled swelling of the hydrogel. The high energy efficiency and power density of our wrinkled nanomembrane electrode–induced actuator enabled the fabrication of an untethered insect-scale aquabot integrated with an on-board control unit demonstrating maneuverability with fast locomotion speed (1.02 body length per second), which occupies only 2% of the total mass of the robot.
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Affiliation(s)
- Jongkuk Ko
- Department of Chemical and Biological Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea
| | - Changhwan Kim
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon 16499, Republic of Korea
| | - Dongjin Kim
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon 16499, Republic of Korea
| | - Yongkwon Song
- Department of Chemical and Biological Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea
| | - Seokmin Lee
- Department of Chemical and Biological Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea
| | - Bongjun Yeom
- Department of Chemical Engineering, Hanyang University, Seongdong-gu, Seoul 04763, Republic of Korea
| | - June Huh
- Department of Chemical and Biological Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea
- Department of Life Sciences, Korea University, Seoul 02841, Republic of Korea
| | - Seungyong Han
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon 16499, Republic of Korea
| | - Daeshik Kang
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon 16499, Republic of Korea
| | - Je-Sung Koh
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon 16499, Republic of Korea
| | - Jinhan Cho
- Department of Chemical and Biological Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea
- KU-KIST Graduate School of Converging Science and Technology, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea
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Kim S, Kim S, Ho DH, Roe DG, Choi YJ, Kim MJ, Kim UJ, Le ML, Kim J, Kim SH, Cho JH. Neurorobotic approaches to emulate human motor control with the integration of artificial synapse. SCIENCE ADVANCES 2022; 8:eabo3326. [PMID: 36170364 PMCID: PMC9519054 DOI: 10.1126/sciadv.abo3326] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/28/2022] [Accepted: 08/11/2022] [Indexed: 06/16/2023]
Abstract
The advancement of electronic devices has enabled researchers to successfully emulate human synapses, thereby promoting the development of the research field of artificial synapse integrated soft robots. This paper proposes an artificial reciprocal inhibition system that can successfully emulate the human motor control mechanism through the integration of artificial synapses. The proposed system is composed of artificial synapses, load transistors, voltage/current amplifiers, and a soft actuator to demonstrate the muscle movement. The speed, range, and direction of the soft actuator movement can be precisely controlled via the preset input voltages with different amplitudes, numbers, and signs (positive or negative). The artificial reciprocal inhibition system can impart lifelike motion to soft robots and is a promising tool to enable the successful integration of soft robots or prostheses in a living body.
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Affiliation(s)
- Seonkwon Kim
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul 03722, Republic of Korea
| | - Seongchan Kim
- SKKU Advanced Institute of Nanotechnology (SAINT), Sungkyunkwan University, Suwon 16419, Republic of Korea
| | - Dong Hae Ho
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul 03722, Republic of Korea
| | - Dong Gue Roe
- School of Electrical and Electronic Engineering, Yonsei University, Seoul 03722, Republic of Korea
| | - Young Jin Choi
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul 03722, Republic of Korea
| | - Min Je Kim
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul 03722, Republic of Korea
| | - Ui Jin Kim
- School of Electrical and Electronic Engineering, Yonsei University, Seoul 03722, Republic of Korea
| | - Manh Linh Le
- Department of Advanced Materials Engineering, Kangwon National University, Samcheok 25931, Republic of Korea
| | - Juyoung Kim
- Department of Advanced Materials Engineering, Kangwon National University, Samcheok 25931, Republic of Korea
| | - Se Hyun Kim
- Division of Chemical Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Jeong Ho Cho
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul 03722, Republic of Korea
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25
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Liu Y, Chen Y, Feng B, Wang D, Liu T, Zhou H, Li H, Qu S, Yang W. S 2worm: A Fast-Moving Untethered Insect-Scale Robot With 2-DoF Transmission Mechanism. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3176435] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Yide Liu
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
| | - Yanhong Chen
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
| | - Bo Feng
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
| | - Dongqi Wang
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
| | - Taishan Liu
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
| | - Haofei Zhou
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
| | - Hua Li
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
| | - Shaoxing Qu
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
| | - Wei Yang
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, China
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26
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Guo ZH, Wang HL, Shao J, Shao Y, Jia L, Li L, Pu X, Wang ZL. Bioinspired soft electroreceptors for artificial precontact somatosensation. SCIENCE ADVANCES 2022; 8:eabo5201. [PMID: 35622923 PMCID: PMC9140963 DOI: 10.1126/sciadv.abo5201] [Citation(s) in RCA: 24] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/10/2023]
Abstract
Artificial haptic sensors form the basis of touch-based human-interfaced applications. However, they are unable to respond to remote events before physical contact. Some elasmobranch fishes, such as seawater sharks, use electroreception somatosensory system for remote environmental perception. Inspired by this ability, we design a soft artificial electroreceptor for sensing approaching targets. The electroreceptor, enabled by an elastomeric electret, is capable of encoding environmental precontact information into a series of voltage pulses functioning as unique precontact human interfaces. Electroceptor applications are demonstrated in a prewarning system, robotic control, game operation, and three-dimensional object recognition. These capabilities in perceiving proximal precontact events can lenrich the functionalities and applications of human-interfaced electronics.
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Affiliation(s)
- Zi Hao Guo
- Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
| | - Hai Lu Wang
- Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, P. R. China
| | - Jiajia Shao
- Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
| | - Yangshi Shao
- Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
| | - Luyao Jia
- Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
| | - Longwei Li
- Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
| | - Xiong Pu
- Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
- Center on Nanoenergy Research, School of Physical Science and Technology, GuangXi University, Nanning 530004, P. R. China
- Corresponding author. (X.P.); (Z.L.W.)
| | - Zhong Lin Wang
- Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, P. R. China
- School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
- School of Materials Science and Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
- Corresponding author. (X.P.); (Z.L.W.)
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27
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Development and Analysis of Key Components of a Multi Motion Mode Soft-Bodied Pipe Robot. ACTUATORS 2022. [DOI: 10.3390/act11050125] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
In order to enhance the environmental adaptability of peristaltic soft-bodied pipe robots, based on the nonlinear and hyperelastic characteristics of silicone rubber combined with the biological structure and motion characteristics of worms, a hexagonal prism soft-bodied bionic actuator is proposed. The actuator adopts different inflation patterns to produce different deformations, so that the soft-bodied robot can realize different motion modes in the pipeline. Based on the Yeoh binomial parameter silicone rubber constitutive model, the deformation analysis model of the hexagonal prism soft-bodied bionic actuator is established, and the numerical simulation algorithm is used to ensure both that the drive structure and deformation mode are reasonable, and that the deformation analysis theoretical model is accurate. The motion and dynamic characteristics of the prepared hexagonal prism soft-bodied bionic actuator are tested and analyzed, the motion and dynamic characteristic curves of the actuator are obtained, and the empirical deformation formula of the actuator is fitted. The experimental results are consistent with the deformation analysis model and numerical simulation result, which shows that the deformation analysis model and numerical simulation method are accurate and can provide design methods and reference basis for the development of a pneumatic soft-bodied body bionic actuator. The above research results can also prove that the hexagonal prism soft-bodied bionic actuator is reasonable and feasible.
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28
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Wang R, Han L, Wu C, Dong Y, Zhao X. Localizable, Identifiable, and Perceptive Untethered Light-Driven Soft Crawling Robot. ACS APPLIED MATERIALS & INTERFACES 2022; 14:6138-6147. [PMID: 35050581 DOI: 10.1021/acsami.1c20539] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Soft robots based on bionics have attracted extensive attention in recent years. However, most of previous works focused on the motion of robots that were incapable of communication and perception. In this work, an untethered crawling robot is proposed with integration of motion, communication, and location based entirely on a flexible material, which is capable of being utilized as a sensing platform. The hydrophilic graphene oxide film, capable of photothermal conversion, allows the robot to undergo a large deformation stimulated by near-infrared light. Conductive fabric with low resistivity and high mechanical strength, replacing the traditional rigid circuit, is utilized to complete the communication of the robot. The designed communication module allows an electrical signal to be inductively coupled to the soft robot instead of being generated by batteries or through transmission lines. The perception of the robot is demonstrated by covering sensitive materials. Furthermore, the positioning and identification of the robot are verified by an external coil array. The proposed soft crawling robot provides an innovative strategy for the integration of multifunctional robots and shows great potential in bionic devices, intelligent robots, and advanced sensors.
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Affiliation(s)
- Rui Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Lei Han
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Chenggen Wu
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Yupeng Dong
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Xiaoguang Zhao
- Department of Precision Instruments, Tsinghua University, Beijing 100084, China
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Ren Z, Kim S, Ji X, Zhu W, Niroui F, Kong J, Chen Y. A High-Lift Micro-Aerial-Robot Powered by Low-Voltage and Long-Endurance Dielectric Elastomer Actuators. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2106757. [PMID: 34839551 DOI: 10.1002/adma.202106757] [Citation(s) in RCA: 20] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/26/2021] [Revised: 11/09/2021] [Indexed: 06/13/2023]
Abstract
Dielectric elastomer actuators (DEAs) are a special class of artificial muscles that have been used to construct animal-like soft robotic systems. However, compared with state-of-the-art rigid actuators such as piezoelectric bimorphs and electromagnetic motors, most DEAs require higher driving voltages, and their power density and lifetime remain substantially lower. These limitations pose significant challenges for developing agile and powered autonomous soft robots. Here, a low-voltage, high-endurance, and power-dense DEA based on novel multiple-layering techniques and electrode-material optimization, is reported. When operated at 400 Hz, the 143 mg DEA generates forces of 0.36 N and displacements of 1.15 mm. This DEA is incorporated into an aerial robot to demonstrate high performance. The robot achieves a high lift-to-weight ratio of 3.7, a low hovering voltage of 500 V, and a long lifetime that exceeds 2 million actuation cycles. With 20 s of hovering time, and position and attitude error smaller than 2.5 cm and 2°, respectively, the robot demonstrates the longest and best-performing flight among existing sub-gram aerial robots. This important milestone demonstrates that soft robots can outperform their state-of-the-art rigid counterparts, and it provides an important step toward realizing power autonomy in soft robotic flights.
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Affiliation(s)
- Zhijian Ren
- Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, USA
| | - Suhan Kim
- Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, USA
| | - Xiang Ji
- Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, USA
| | - Weikun Zhu
- Department of Chemical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, USA
| | - Farnaz Niroui
- Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, USA
| | - Jing Kong
- Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, USA
| | - Yufeng Chen
- Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139, USA
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30
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3D-Printed Miniature Robots with Piezoelectric Actuation for Locomotion and Steering Maneuverability Applications. ACTUATORS 2021. [DOI: 10.3390/act10120335] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
The miniaturization of robots with locomotion abilities is a challenge of significant technological impact in many applications where large-scale robots have physical or cost restrictions. Access to hostile environments, improving microfabrication processes, or advanced instrumentation are examples of their potential use. Here, we propose a miniature 20 mm long sub-gram robot with piezoelectric actuation whose direction of motion can be controlled. A differential drive approach was implemented in an H-shaped 3D-printed motor platform featuring two plate resonators linked at their center, with built-in legs. The locomotion was driven by the generation of standing waves on each plate by means of piezoelectric patches excited with burst signals. The control of the motion trajectory of the robot, either translation or rotation, was attained by adjusting the parameters of the actuation signals such as the applied voltage, the number of applied cycles, or the driving frequency. The robot demonstrated locomotion in bidirectional straight paths as long as 65 mm at 2 mm/s speed with a voltage amplitude of only 10 V, and forward and backward precise steps as low as 1 µm. The spinning of the robot could be controlled with turns as low as 0.013 deg. and angular speeds as high as 3 deg./s under the same conditions. The proposed device was able to describe complex trajectories of more than 160 mm, while carrying 70 times its own weight.
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31
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Yan Y, Shui L, Liu S, Liu Z, Liu Y. Terrain Adaptability and Optimum Contact Stiffness of Vibro-bot with Arrayed Soft Legs. Soft Robot 2021; 9:981-990. [PMID: 34842452 DOI: 10.1089/soro.2021.0029] [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: 10/19/2022] Open
Abstract
The terrain adaptability of the state-of-the-art robot is far behind natural animals, partly because of limited sensing, intelligence, controlling, and actuating ability. One possible solution is to explore the flexible locomotion structure and locomotion mode with good adaptability and fault tolerance. Based on this idea, we presented a type of vibro-bot with arrayed soft legs (VBASL) with excellent terrain adaptability by utilizing the rapid vibration of the soft belt array. With the resistance to local terrain blocking and combing the vibrational actuation, the VBASL has an advantage of multi-leg collaboration, so that very simple structure can achieve good terrain adaptability, such as steady locomotion on complex terrains like steep slope, ladders, steps, discrete pillars, and soft sands. Besides, the effects of soft leg geometry, stiffness, and ground topography on terrain adaptability and locomotion speed were also studied, indicating the similar contact stiffness to maximize the locomotion speed on different grounds. Then, a theoretical model was developed to describe the experiments well, which can guide the design of optimum contact stiffness of VBASL to achieve fast locomotion speed and good load capacity. By further modifying the robot structure, more practical functions such as turning, climbing, and anti-impacting were easily realized. The resistance to local terrain blocking and optimum contact stiffness are two important factors to improve the performance of VBASL, which may address the terrain adaptability challenge of robots working in practical unstructured environments.
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Affiliation(s)
- Yingbo Yan
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Langquan Shui
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, PR China
| | - Siyu Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Zeming Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Yilun Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
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