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Mansilla Navarro P, Copaci D, Arias J, Blanco Rojas D. Design of an SMA-Based Actuator for Replicating Normal Gait Patterns in Pediatric Patients with Cerebral Palsy. Biomimetics (Basel) 2024; 9:376. [PMID: 39056817 PMCID: PMC11275206 DOI: 10.3390/biomimetics9070376] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/03/2024] [Revised: 06/19/2024] [Accepted: 06/19/2024] [Indexed: 07/28/2024] Open
Abstract
Cerebral Palsy refers to a group of incurable motor disorders affecting 0.22% of the global population. Symptoms are managed by physiotherapists, often using rehabilitation robotics. Exoskeletons, offering advantages over conventional therapies, are evolving to be more wearable and biomimetic, requiring new flexible actuators that mimic human tissue. The main objective behind this article is the design of a flexible exosuit based on shape-memory-alloy-based artificial muscles for pediatric patients that replicate the walking cycle pattern in the ankle joint. Thus, four shape-memory-alloy-based actuators were sewn to an exosuit at the desired actuation points and controlled by a two-level controller. The loop is closed through six inertial sensors that estimate the real angular position of both ankles. Different frequencies of actuation have been tested, along with the response of the actuators to different walking cycle patterns. These tests have been performed over long periods of time, comparing the reference created by a reference generator based on pediatric walking patterns and the response measured by the inertial sensors. The results provide important measurements concerning errors, working frequencies and cooling times, proving that this technology could be used in this and similar applications and highlighting its limitations.
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Affiliation(s)
- Paloma Mansilla Navarro
- Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, 28911 Leganes, Spain; (D.C.); (J.A.); (D.B.R.)
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2
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Ismail R, Ariyanto M, Setiawan JD, Hidayat T, Paryanto, Nuswantara LK. Design and testing of fabric-based portable soft exoskeleton glove for hand grasping assistance in daily activity. HARDWAREX 2024; 18:e00537. [PMID: 38784668 PMCID: PMC11111837 DOI: 10.1016/j.ohx.2024.e00537] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/12/2023] [Revised: 04/27/2024] [Accepted: 05/02/2024] [Indexed: 05/25/2024]
Abstract
Hand exoskeleton robots have been developed as rehabilitation robots and assistive devices. Based on the material used, they can be soft or hard exoskeletons. Soft materials such as fabric can be used as a component of the wearable robot to increase comfortability. In this paper, we proposed an affordable soft hand exoskeleton based on fabric and motor-tendon actuation for hand flexion/extension motion assistance in daily activities. On-off control and PI compensator were implemented to regulate finger flexion and extension of the soft exoskeleton. The controllers were embedded into a microcontroller using Simulink software. The input signal command comes from the potentiometer and electromyography (EMG) sensor to drive the flexion/extension movement. Based on the experiments, the proposed controller successfully controlled the exoskeleton hand to facilitate a user in grasping various objects. The proposed soft hand exoskeleton is lightweight, comfortable, portable, and affordable, making it easily manufactured using available hardware and open-source code. The developed soft exoskeleton is a potential assistive device for a person who lost the ability to grasp objects.
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Affiliation(s)
- Rifky Ismail
- Depertment of Mechanical Engineering, Faculty of Engineering, Diponegoro University, Semarang, Indonesia
- Center for Biomechanics Biomaterials Biomechatronics and Biosignal Processing (CBIOM3S) Diponegoro University, Semarang, Indonesia
- Professional Education of Engineers, Faculty of Engineering, Diponegoro University, Semarang, Indonesia
| | - Mochammad Ariyanto
- Depertment of Mechanical Engineering, Faculty of Engineering, Diponegoro University, Semarang, Indonesia
- Graduate School of Engineering, Mechanical Engineering Department, Osaka University, Suita, Japan
| | - Joga D. Setiawan
- Depertment of Mechanical Engineering, Faculty of Engineering, Diponegoro University, Semarang, Indonesia
- Center for Biomechanics Biomaterials Biomechatronics and Biosignal Processing (CBIOM3S) Diponegoro University, Semarang, Indonesia
| | - Taufik Hidayat
- Depertment of Mechanical Engineering, Faculty of Engineering, Diponegoro University, Semarang, Indonesia
- Center for Biomechanics Biomaterials Biomechatronics and Biosignal Processing (CBIOM3S) Diponegoro University, Semarang, Indonesia
| | - Paryanto
- Depertment of Mechanical Engineering, Faculty of Engineering, Diponegoro University, Semarang, Indonesia
- Professional Education of Engineers, Faculty of Engineering, Diponegoro University, Semarang, Indonesia
| | - Limbang K. Nuswantara
- Professional Education of Engineers, Faculty of Engineering, Diponegoro University, Semarang, Indonesia
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3
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Wang Y, Wang Y, Mushtaq RT, Wei Q. Advancements in Soft Robotics: A Comprehensive Review on Actuation Methods, Materials, and Applications. Polymers (Basel) 2024; 16:1087. [PMID: 38675005 PMCID: PMC11054840 DOI: 10.3390/polym16081087] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2024] [Revised: 04/10/2024] [Accepted: 04/11/2024] [Indexed: 04/28/2024] Open
Abstract
The flexibility and adaptability of soft robots enable them to perform various tasks in changing environments, such as flower picking, fruit harvesting, in vivo targeted treatment, and information feedback. However, these fulfilled functions are discrepant, based on the varied working environments, driving methods, and materials. To further understand the working principle and research emphasis of soft robots, this paper summarized the current research status of soft robots from the aspects of actuating methods (e.g., humidity, temperature, PH, electricity, pressure, magnetic field, light, biological, and hybrid drive), materials (like hydrogels, shape-memory materials, and other flexible materials) and application areas (camouflage, medical devices, electrical equipment, and grippers, etc.). Finally, we provided some opinions on the technical difficulties and challenges of soft robots to comprehensively comprehend soft robots, lucubrate their applications, and improve the quality of our lives.
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Affiliation(s)
- Yanmei Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
| | - Yanen Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
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4
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Jia Z, Han G, Jin H, Xu M, Dong E. Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix. Biomimetics (Basel) 2024; 9:38. [PMID: 38248612 PMCID: PMC11154483 DOI: 10.3390/biomimetics9010038] [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: 08/19/2023] [Revised: 10/27/2023] [Accepted: 01/02/2024] [Indexed: 01/23/2024] Open
Abstract
Inspired by the natural skeletal muscles, this paper presents a novel shape memory alloy-based artificial muscle matrix (AMM) with advantages of a large output force and displacement, flexibility, and compactness. According to the composition of the AMM, we propose a matrix control strategy to achieve independent control of the output force and displacement of the AMM. Based on the kinematics simulation and experiments, we obtained the output displacement and bearing capacity of the smart digital structure (SDS) and confirmed the effectiveness of the matrix control strategy to achieve force and displacement output independently and controllably. A bionic mechanical ankle actuated by AMM was proposed to demonstrate the actuating capability of the AMM. Experimental results show that the angle and force of the bionic mechanical ankle are output independently and have a significant gradient. In addition, by using a self-sensing method (resistance self-feedback) and PD control strategy, the output angle and force of the bionic mechanical ankle can be maintained for a long time without overheating of the AMM.
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Affiliation(s)
| | | | | | | | - Erbao Dong
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China; (Z.J.); (G.H.); (H.J.); (M.X.)
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5
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Pan B, Park SM, Ying WB, Yoon DK, Lee KJ. Azo-Functionalized Thermoplastic Polyurethane for Light-Driven Shape Memory Materials. Macromol Rapid Commun 2023; 44:e2200650. [PMID: 36350231 DOI: 10.1002/marc.202200650] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2022] [Revised: 10/24/2022] [Indexed: 11/11/2022]
Abstract
Shape memory polymers have great potential in the fields of soft robotics, injectable medical devices, and as essential materials for advanced electronic devices. Herein, light-triggered shape-memory thermoplastic polyurethane (TPU) is reported using azido TPU grafted by the photoswitchable azo compound. The trans-cis transitions of the azobenzene on the side chain of the TPU induce the recoiling of the main chain, leading to shaping memory behavior. Under UV irradiation, cis-azo allows the oriented main chain to recoil to release residual stress and realize light-triggered shape memory behavior. The facile method proposed here for the preparation of azo-functionalized TPU can provide viable opportunities for soft robotics and smart TPU applications.
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Affiliation(s)
- Baohai Pan
- Department of Chemical Engineering and Applied Chemistry, College of Engineering, Chungnam National University, Daejeon, 34134, Republic of Korea
| | - Soon Mo Park
- Graduate School of Nanoscience and Technology, Korea Advanced Institute of Science and Technology, Daejeon, 34141, Republic of Korea
| | - Wu Bin Ying
- Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, Zhejiang, 315201, P. R. China
| | - Dong Ki Yoon
- Graduate School of Nanoscience and Technology, Korea Advanced Institute of Science and Technology, Daejeon, 34141, Republic of Korea.,Department of Chemistry, Korea Advanced Institute of Science and Technology, Daejeon, 34141, Republic of Korea
| | - Kyung Jin Lee
- Department of Chemical Engineering and Applied Chemistry, College of Engineering, Chungnam National University, Daejeon, 34134, Republic of Korea
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6
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Atia MGB, Mohammad A, Gameros A, Axinte D, Wright I. Reconfigurable Soft Robots by Building Blocks. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2203217. [PMID: 36192162 PMCID: PMC9685464 DOI: 10.1002/advs.202203217] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/31/2022] [Revised: 09/03/2022] [Indexed: 06/16/2023]
Abstract
Soft robots are of increasing interest as they can cope with challenges that are poorly addressed by conventional rigid-body robots (e.g., limited flexibility). However, due to their flexible nature, the soft robots can be particularly prone to exploit modular designs for enhancing their reconfigurability, that is, a concept which, to date, has not been explored. Therefore, this paper presents a design of soft building blocks that can be disassembled and reconfigured to build different modular configurations of soft robots such as robotic fingers and continuum robots. First, a numerical model is developed for the constitutive building block allowing to understand their behavior versus design parameters, then a shape optimization algorithm is developed to permit the construction of different types of soft robots based on these soft building blocks. To validate the approach, 2D and 3D case studies of bio-inspired designs are demonstrated: first, soft fingers are introduced as a case study for grasping complex and delicate objects. Second, an elephant trunk is used for grasping a flower. Third, a walking legged robot. These case studies prove that the proposed modular building approach makes it easier to build and reconfigure different types of soft robots with multiple complex shapes.
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Affiliation(s)
- Mohamed G. B. Atia
- Rolls‐Royce UTC in Manufacturing and On‐Wing TechnologyThe University of NottinghamNottinghamNG8 1BBUK
| | - Abdelkhalick Mohammad
- Rolls‐Royce UTC in Manufacturing and On‐Wing TechnologyThe University of NottinghamNottinghamNG8 1BBUK
| | - Andres Gameros
- Rolls‐Royce UTC in Manufacturing and On‐Wing TechnologyThe University of NottinghamNottinghamNG8 1BBUK
| | - Dragos Axinte
- Rolls‐Royce UTC in Manufacturing and On‐Wing TechnologyThe University of NottinghamNottinghamNG8 1BBUK
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7
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Ozair H, Baluch AH, ur Rehman MA, Wadood A. Shape Memory Hybrid Composites. ACS OMEGA 2022; 7:36052-36069. [PMID: 36278059 PMCID: PMC9583341 DOI: 10.1021/acsomega.2c02436] [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: 04/19/2022] [Accepted: 09/15/2022] [Indexed: 06/16/2023]
Abstract
Smart structures can help to resolve many issues related to conventional materials that are being used in different industries. Shape memory alloys (SMAs) are smart materials with better actuation response, vibration damping characteristics, and large strain recovery, making them good candidates due to their high strength and corrosion resistance for various engineering applications. The performance of fiber-reinforced polymer (FRP) composite materials that are replacing many conventional materials due to their good strength, stiffness, and lightweight potential especially in fuel-consuming industries such as aerospace and automotive, can further be improved by impregnation with SMAs. This review discusses the SMA-reinforced FRP composites, leading to shape memory hybrid composite materials, the issues and limitations in composite manufacturing, and their uses in different research arenas including impact and damping applications, seismic protection applications, crack closure applications, shape morphing applications, and self-deployable structures.
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8
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Cortez Vega R, Cubas G, Sandoval-Chileño MA, Castañeda Briones LÁ, Lozada-Castillo NB, Luviano-Juárez A. Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator. SENSORS (BASEL, SWITZERLAND) 2022; 22:7460. [PMID: 36236559 PMCID: PMC9572442 DOI: 10.3390/s22197460] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/04/2022] [Revised: 09/24/2022] [Accepted: 09/27/2022] [Indexed: 06/16/2023]
Abstract
This article presents the design and implementation of a linear actuator based on NiTi Shape Memory Alloys with temperature and position measurements based on a magnetic sensor array and a set of thermistors. The position instrumentation is contact free to avoid friction perturbations; the position signal conditioning is carried out through the calculation of the response of each magnetic sensor, selecting the closest sensor to ensure accurate results on the full range of movement. Experimental results validate the accuracy of the position sensing with a competitive behaviour.
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Affiliation(s)
- Ricardo Cortez Vega
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Ciudad de México 07340, Mexico
| | - Gabriel Cubas
- Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Ciudad de México 07360, Mexico
| | - Marco Antonio Sandoval-Chileño
- Unidad Profesional Interdisciplinaria de Energía y Movilidad, Instituto Politécnico Nacional, Ciudad de México 07738, Mexico
| | | | - Norma Beatriz Lozada-Castillo
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Ciudad de México 07340, Mexico
| | - Alberto Luviano-Juárez
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Ciudad de México 07340, Mexico
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9
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Saito S, Oka S, Onodera R. Modelling of a shape memory alloy actuator for feedforward hysteresis compensator considering load fluctuation. CAAI TRANSACTIONS ON INTELLIGENCE TECHNOLOGY 2022. [DOI: 10.1049/cit2.12129] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022] Open
Affiliation(s)
- Seiji Saito
- Department of Electronics and Information Science Polytechnic University Kodaira Tokyo Japan
| | - Shouta Oka
- Department of Electronics and Information Science Polytechnic University Kodaira Tokyo Japan
| | - Ribun Onodera
- Department of Electronics and Information Science Polytechnic University Kodaira Tokyo Japan
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10
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Ruth DJS, Sohn JW, Dhanalakshmi K, Choi SB. Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade. SENSORS 2022; 22:s22134860. [PMID: 35808360 PMCID: PMC9269604 DOI: 10.3390/s22134860] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/10/2022] [Revised: 06/10/2022] [Accepted: 06/15/2022] [Indexed: 02/04/2023]
Abstract
This paper mainly focuses on various types of robots driven or actuated by shape memory alloy (SMA) element in the last decade which has created the potential functionality of SMA in robotics technology, that is classified and discussed. The wide spectrum of increasing use of SMA in the development of robotic systems is due to the increase in the knowledge of handling its functional characteristics such as large actuating force, shape memory effect, and super-elasticity features. These inherent characteristics of SMA can make robotic systems small, flexible, and soft with multi-functions to exhibit different types of moving mechanisms. This article comprehensively investigates three subsections on soft and flexible robots, driving or activating mechanisms, and artificial muscles. Each section provides an insight into literature arranged in chronological order and each piece of literature will be presented with details on its configuration, control, and application.
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Affiliation(s)
| | - Jung-Woo Sohn
- Department of Mechanical Design Engineering, Kumoh National Institute of Technology, Daehak-Ro 61, Gumi-si 39177, Korea;
| | - Kaliaperumal Dhanalakshmi
- Department of Instrumentation and Control Engineering, National Institute of Technology Tiruchirappalli, Tiruchirappalli 620015, India;
| | - Seung-Bok Choi
- Department of Mechanical Engineering, The State University of New York, Korea (SUNY Korea), 119 Songdo Moonhwa-Ro, Yeonsu-Gu, Incheon 21985, Korea
- Department of Mechanical Engineering, Industrial University of Ho Chi Minh City (IUH), 12 Nguyen Van Bao Street, Go Vap District, Ho Chi Minh City 70000, Vietnam
- Correspondence:
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11
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In-Depth Assessment and Optimized Actuation Method of a Novel Solar-Driven Thermomechanical Actuator via Shape Memory Alloy. ENERGIES 2022. [DOI: 10.3390/en15103807] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Currently, energy demand is more significant than ever due to population growth and advances in recent technologies. In order to supply more energy while maintaining a healthy environment, renewable energy resources are employed. This paper proposes a novel solar-driven shape memory alloy thermomechanical actuator as an eco-friendly solution for solar thermal applications. The proposed actuator was assessed numerically and experimentally. The numerical tests showed that the designed actuation mechanism’s inner temperature has a minimum variation per day of about 14 °C and a temperature variation of 19 °C for most days of the year, which allows for proper activation and deactivation of the actuator. As for the experimental tests, the presented actuation mechanism achieved a bi-directional force of over 150 N, where the inner temperatures of the actuator were recorded at about 70.5 °C while pushing forces and 28.9 °C while pulling forces. Additionally, a displacement of about 127 mm was achieved as the internal temperature of the actuator reached 70.4 °C. The work presented adds to the body of knowledge of a novel solar-based self-driven actuation mechanism that facilitates various applications for solar thermal systems.
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12
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Janghorban A, Dehghani R. Design and Motion Analysis of a Bio-Inspired Soft Robotic Finger Based on Multi-Sectional Soft Reinforced Actuator. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01579-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
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13
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Garcia L, Kerns G, O'Reilley K, Okesanjo O, Lozano J, Narendran J, Broeking C, Ma X, Thompson H, Njapa Njeuha P, Sikligar D, Brockstein R, Golecki HM. The Role of Soft Robotic Micromachines in the Future of Medical Devices and Personalized Medicine. MICROMACHINES 2021; 13:28. [PMID: 35056193 PMCID: PMC8781893 DOI: 10.3390/mi13010028] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/03/2021] [Revised: 11/24/2021] [Accepted: 12/02/2021] [Indexed: 12/16/2022]
Abstract
Developments in medical device design result in advances in wearable technologies, minimally invasive surgical techniques, and patient-specific approaches to medicine. In this review, we analyze the trajectory of biomedical and engineering approaches to soft robotics for healthcare applications. We review current literature across spatial scales and biocompatibility, focusing on engineering done at the biotic-abiotic interface. From traditional techniques for robot design to advances in tunable material chemistry, we look broadly at the field for opportunities to advance healthcare solutions in the future. We present an extracellular matrix-based robotic actuator and propose how biomaterials and proteins may influence the future of medical device design.
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Affiliation(s)
- Lourdes Garcia
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Genevieve Kerns
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Kaitlin O'Reilley
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Omolola Okesanjo
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Jacob Lozano
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Jairaj Narendran
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Conor Broeking
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Xiaoxiao Ma
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Hannah Thompson
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Preston Njapa Njeuha
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Drashti Sikligar
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Reed Brockstein
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Holly M Golecki
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
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14
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Zhang B, Chen J, Ma X, Wu Y, Zhang X, Liao H. Pneumatic System Capable of Supplying Programmable Pressure States for Soft Robots. Soft Robot 2021; 9:1001-1013. [PMID: 34918970 DOI: 10.1089/soro.2021.0016] [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: 11/13/2022] Open
Abstract
Pneumatic soft robots are of great interest in varieties of potential applications due to their unique capabilities compared with rigid structures. As a part of the soft robotic system, the pneumatic system plays a very important role as all motion performance is ultimately related to the pressure control in air chambers. With the increasing flexibility and complexity of robotic tasks, diverse pneumatic robots driven by positive, negative, or even hybrid pressure are developed, and this comes with higher requirements of pneumatic system and air pressure control precision. In this study, we aim to propose a simplified pneumatic design capable of generating programmable pressure states ranging from negative to positive pressure in each air branch. Based on the design concept and system configuration, special inflation and deflation strategies and closed-loop feedback control strategy are proposed to achieve precise pressure control. Then, a prototype of the pneumatic system with six independent air supply branches is designed and fabricated. Experimental results show that the pneumatic system can achieve a wide range of pressure from -59 to 112 kPa. The speed of inflation and deflation is controllable. Finally, we demonstrate three robotic applications and design the related algorithms to verify the feasibility and practicability of the pneumatic system. Our proposed pneumatic design can satisfy the pressure control requirements of a variety of soft robots driven by both positive and negative pressure. It can be used as a universal pneumatic platform, which is inspiring for actuation and control in the soft robotic field.
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Affiliation(s)
- Boyu Zhang
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China.,Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province, School of Engineering, Westlake University, Hangzhou, China
| | - Jiaqi Chen
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China
| | - Xin Ma
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China
| | - Yi Wu
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China
| | - Xinran Zhang
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China
| | - Hongen Liao
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China
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15
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Wang M, Li W, Tang G, Garciamendez-Mijares CE, Zhang YS. Engineering (Bio)Materials through Shrinkage and Expansion. Adv Healthc Mater 2021; 10:e2100380. [PMID: 34137213 PMCID: PMC8295236 DOI: 10.1002/adhm.202100380] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/28/2021] [Revised: 04/27/2021] [Indexed: 12/12/2022]
Abstract
Although various (bio)fabrication technologies have achieved revolutionary progress in the past decades, engineered constructs still fall short of expectations owing to their inability to attain precisely designable functions. Shrinkable and expandable (bio)materials feature unique characteristics leading to size-/shape-shifting and thus have exhibited a strong potential to equip current engineering technologies with promoted capacities toward applications in biomedicine. In this progress report, the advances of size-/shape-shifting (bio)materials enabled by various stimuli, are evaluated; furthermore, representative biomedical applications associated with size-/shape-shifting (bio)materials are also exemplified. Toward the future, the combination of size-/shape-shifting (bio)materials and 3D/4D fabrication technologies presents a wide range of possibilities for further development of intricate functional architectures.
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Affiliation(s)
- Mian Wang
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, Cambridge, MA, 02139, USA
| | - Wanlu Li
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, Cambridge, MA, 02139, USA
| | - Guosheng Tang
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, Cambridge, MA, 02139, USA
| | - Carlos Ezio Garciamendez-Mijares
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, Cambridge, MA, 02139, USA
| | - Yu Shrike Zhang
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, Cambridge, MA, 02139, USA
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16
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Efficiency Analysis of SMA-Based Actuators: Possibilities of Configuration According to the Application. ACTUATORS 2021. [DOI: 10.3390/act10030063] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Shape memory alloy (SMA) actuators have recently demonstrated their potential for various applications in fields such as robotics, medicine, aerospace, and automotive. Its features, such as low weight and high force, simplicity, noiseless operation, and low cost compared with other conventional actuator, are only a few advantages of this actuator, which is receiving increasing interest among researchers. However, the use of these actuators is still limited by some of their characteristics: high position error in the cooling stage when the actuator works at frequencies that exceed the necessary cooling time and high electrical energy consumption. Different actuator configurations can help minimize these disadvantages through modifying the length, the number of cables, or the sheath used in the actuator, which modify the characteristics of the complete system. In this work, we developed different configurations of SMA actuators and tested their performance in terms of efficiency and the position error in the cooling stage. The findings demonstrate that over-dimensioned actuators are more energetically efficient and present a faster initial form recovery. The multi-wires actuator configuration produce a better response in terms of position but are less energy efficient. These conclusions allow for the selection of the most appropriate configuration based on the requirements of each particular application.
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