Integrated Actuation and Sensing: Toward Intelligent Soft Robots

Cyborg and Bionic Systems, Journal Year: 2024, Volume and Issue: 5

Published: Jan. 1, 2024

Soft robotics has received substantial attention due to its remarkable deformability, making it well-suited for a wide range of applications in complex environments, such as medicine, rescue operations, and exploration. Within this domain, the interaction actuation sensing is utmost importance controlling movements functions soft robots. Nonetheless, current research predominantly focuses on isolated capabilities, often neglecting critical integration these 2 domains achieve intelligent functionality. In review, we present comprehensive survey fundamental strategies multimodal while also delving into advancements proprioceptive haptic their fusion. We emphasize integrating robotics, presenting 3 methodologies, namely, sensor surface integration, internal closed-loop system based feedback. Furthermore, highlight challenges field suggest compelling directions future research. Through synthesis, aim stimulate further curiosity among researchers contribute development genuinely

Language: Английский

---

Magnetically driven capsules with multimodal response and multifunctionality for biomedical applications

Nature Communications, Journal Year: 2024, Volume and Issue: 15(1)

Published: Feb. 29, 2024

Abstract Untethered capsules hold clinical potential for the diagnosis and treatment of gastrointestinal diseases. Although considerable progress has been achieved recently in this field, constraints imposed by narrow spatial structure capsule complex tract environment cause many open-ended problems, such as poor active motion limited medical functions. In work, we describe development small-scale magnetically driven with a distinct magnetic soft valve made dual-layer ferromagnetic composite films. A core technological advancement is flexible opening closing using competitive interactions between gradient force torque, laying foundation functional integration both drug release sampling. Meanwhile, propose actuation strategy based on multi-frequency response control demonstrate that it can achieve effective decoupled regulation capsule’s global local responses. Finally, through comprehensive approach encompassing ideal models, animal ex vivo assessment, versatility developed their multiple applications biomedical targeted delivery sampling, selective dual-drug release, light/thermal-assisted therapy.

Language: Английский

---

Battery-free, wireless, and electricity-driven soft swimmer for water quality and virus monitoring

Science Advances, Journal Year: 2024, Volume and Issue: 10(2)

Published: Jan. 10, 2024

Miniaturized mobile electronic system is an effective candidate for in situ exploration of confined spaces. However, realizing such still faces challenges powering issue, untethered mobility, wireless data acquisition, sensing versatility, and integration small scales. Here, we report a battery-free, wireless, miniaturized soft electromagnetic swimmer (SES) that achieves multiple monitoring capability water environments. Through radio frequency powering, the battery-free SES demonstrates motions spaces with considerable moving speed under resonance. This adopts technologies to integrate thin multifunctional bio/chemical sensors acquisition module, performs real-time quality virus contamination detection demonstrated promising limits high sensitivity. All are transmitted synchronously displayed on smartphone graphical user interface via near-field communication. Overall, this smart broad potential space exploration, ranging from pathogen pollution investigation.

Language: Английский

---

Reversible negative compressibility metamaterials inspired by braess's paradox

Smart Materials and Structures, Journal Year: 2024, Volume and Issue: 33(7), P. 075036 - 075036

Published: June 28, 2024

Abstract Negative compressibility metamaterials have attracted significant attention due to their distinctive properties and promising applications. has been interpreted in two ways. Regarding the negative induced by a uniaxial load, it can only occur abruptly when load reaches certain threshold. Hence, be termed as transient compressibility. However, fabrication experiments of such rarely reported. Herein, we demonstrate them. Inspired Braess’s paradox, novel mechanical model is proposed with reversible It shows multiple types force responses during loading-unloading cycle, including hysteresis. Phase diagrams are employed visualize relationship between system parameters. Besides, explicit expressions for conditions intensity obtained design optimization. The replacement method inspired compliant mechanism then introduced derive specific unit cell structures, thus avoiding intuition-based approaches. Additive manufacturing technology utilized fabricate prototypes, validated via simulations experiments. Furthermore, demonstrated that activated through electrical heating function actuators, thereby possessing machine-like properties. metamaterial methodology potentials impact micro-electromechanical systems, sensors, protective devices, other

Language: Английский

---

Magnetic Soft Microrobot Design for Cell Grasping and Transportation

Cyborg and Bionic Systems, Journal Year: 2024, Volume and Issue: 5

Published: Jan. 1, 2024

Manipulating cells at a small scale is widely acknowledged as complex and challenging task, especially when it comes to cell grasping transportation. Various precise methods have been developed remotely control the movement of microrobots. However, manipulation micro-objects necessitates use end-effectors. This paper presents study on operations magnetic microrobot, utilizing only 3 pairs electromagnetic coils. A specially designed microgripper employed microrobot for efficient To ensure grasping, bending deformation model formulated subsequently validated. achieve reliable transportation specific positions, an approach that combines extended Kalman filter with predictive method adopted accomplish trajectory tracking task. Through experiments, we observe by applying proposed strategy, mean absolute error path found be less than 0.155 mm. Remarkably, this value accounts 1.55% microrobot’s size, demonstrating efficacy accuracy our strategy. Furthermore, experiment involving zebrafish embryonic (diameter: 800 μm) successfully conducted. The results not validate precision effectiveness its associated models but also highlight tremendous potential in vitro vivo.

Language: Английский

---

Wearable and Implantable Soft Robots

Chemical Reviews, Journal Year: 2024, Volume and Issue: 124(20), P. 11585 - 11636

Published: Oct. 11, 2024

Soft robotics presents innovative solutions across different scales. The flexibility and mechanical characteristics of soft robots make them particularly appealing for wearable implantable applications. scale level invasiveness required depend on the extent human interaction. This review provides a comprehensive overview robots, including applications in rehabilitation, assistance, organ simulation, surgical tools, therapy. We discuss challenges such as complexity fabrication processes, integration responsive materials, need robust control strategies, while focusing advances actuation sensing mechanisms, techniques. Finally, we future outlook, highlighting key proposing potential solutions.

Language: Английский

---

Microrobots for Targeted Delivery and Therapy in Digestive System

ACS Nano, Journal Year: 2022, Volume and Issue: 17(1), P. 27 - 50

Published: Dec. 19, 2022

Untethered miniature robots enable targeted delivery and therapy deep inside the gastrointestinal tract in a minimally invasive manner. By combining actuation systems imaging tools, significant progress has been made toward development of functional microrobots. These can be actuated by external fields fuels while featuring real-time tracking feedback certain regions perform therapeutic process rational exertion local environment (e.g., pH, enzyme). Compared with conventional surgical such as endoscopic devices catheters, feature diagnosis treatment, multifunctionality, high safety adaptivity, embodied intelligence, easy access to tortuous narrow lumens. In addition, active motion microrobots enhances penetration retention drugs tissues compared common passive oral drug delivery. Based on dissimilar microenvironments various sections tract, this review introduces advances for diseases along tract. The modalities their application scenarios are also discussed. We finally evaluate challenges barriers that retard applications hint future research directions field.

Language: Английский

---

Nanomaterials and nanotechnology for biomedical soft robots

Materials Today Advances, Journal Year: 2022, Volume and Issue: 17, P. 100338 - 100338

Published: Dec. 31, 2022

Soft robots have opened an emerging research direction in robotics due to their promising performance enabled by functional materials and fabrication technology. Recent progress of has brought soft with advanced functionalities greatly expanded potential applications various fields. Biomedical attracted significant interests become field. Particular trends been shifted the submillimeter-scale biomedical integrated manipulatable devices well controllability compatibility. Functionalities these are dominated nanomaterials nanotechnology. However, lack study overviewed development nanotechnology for applications. It is worthwhile review such important but not yet fully exposed trend. To address gap, this article focuses on recent achievements, technological challenges future used robots. We provide a state-of-the-art current while mainly focusing explaining mechanism functionality respect In end, we summarize main envision outlooking

Language: Английский

---

Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots

ACS Nano, Journal Year: 2023, Volume and Issue: 17(10), P. 8899 - 8917

Published: May 4, 2023

With the development of advanced biomedical theragnosis and bioengineering tools, smart soft responsive microstructures nanostructures have emerged. These structures can transform their body shape on demand convert external power into mechanical actions. Here, we survey key advances in design polymer–particle nanocomposites that led to shape-morphing microscale robotic devices. We overview technological roadmap field highlight emerging opportunities programming magnetically nanomaterials polymeric matrixes, as magnetic materials offer a rich spectrum properties be encoded with various magnetization information. The use fields tether-free control easily penetrate biological tissues. nanotechnology manufacturing techniques, microrobotic devices realized desired reconfigurability. emphasize future fabrication techniques will bridging gaps between integrating sophisticated functionalities nanoscale reducing complexity footprints intelligent robots.

Language: Английский

---

Two-photon polymerization-based 4D printing and its applications

International Journal of Extreme Manufacturing, Journal Year: 2023, Volume and Issue: 6(1), P. 012001 - 012001

Published: Sept. 21, 2023

Abstract Two-photon polymerization (TPP) is a cutting-edge micro/nanoscale three-dimensional (3D) printing technology based on the principle of two-photon absorption. TPP surpasses diffraction limit in achieving feature sizes and excels fabricating intricate 3D micro/nanostructures with exceptional resolution. The concept 4D entails fabrication structures utilizing smart materials capable undergoing shape, property, or functional changes response to external stimuli over time. integration introduces possibility producing responsive accuracy, thereby enhancing capabilities potential applications both technologies. This paper comprehensively reviews TPP-based its diverse applications. First, working principles recent advancements are introduced. Second, optional suitable for discussed. Finally, this review highlights several noteworthy printing, including domains such as biomedical microrobots, bioinspired microactuators, autonomous mobile transformable devices robots, well anti-counterfeiting microdevices. In conclusion, provides valuable insights into current status future prospects technology, serving guide researchers practitioners.

Language: Английский

---