Machines,
Год журнала:
2024,
Номер
12(12), С. 887 - 887
Опубликована: Дек. 5, 2024
This
paper
is
dedicated
to
soft
grippers,
robot
tools
with
a
wide
application
area
in
various
activities
where
an
accurate
and
delicate
grabbing
movement
required
such
as
routine
manipulation
tasks
fragile
objects,
operation
unknown
or
dangerous
environments,
shape
well
exploring
the
depths
of
sea
harvesting
vegetables
agriculture.
The
main
goal
this
review
systematize
ideas
about
achievements
grippers
published
from
2015
2024.
provides
statistical
analysis
performed
research
systematized
advancements
according
their
operating
principle,
forces
effects
that
enable
operation,
properties
potential
objects.
Grippers
inspired
by
nature
are
also
discussed,
most
successful
solutions
based
on
derived
nature.
study
discusses
latest
applications
presents
unique
distribution
physical
principle
they
act
on,
size
object
be
grasped,
technological
realizations.
results
can
useful
for
practical
gripper
users
aiming
improve
workplace
find
optimal
design
solutions,
manufacturers
developers,
scientists
material
sciences
looking
products.
Biomimetics,
Год журнала:
2025,
Номер
10(3), С. 152 - 152
Опубликована: Март 2, 2025
The
muscle-like
movement
and
speed
of
the
electrohydraulic
actuator
have
granted
it
much
attention
in
soft
robotics.
Our
aim
is
to
review
advancements
actuators
inspired
by
Hydraulically
Amplified
Self-healing
Electrostatic
(HASEL)
actuator.
With
this
paper,
we
focus
on
performance
21
designs
developed
across
five
Universities,
ranging
from
earliest
HASEL
latest
designs.
These
reported
up
60
N
forces
contracting
strains
99%.
with
best
overall
so
far
been
Quadrant
HEXEL
actuator,
at
University
Colorado
Boulder.
However,
notable
also
HALVE
(produced
ETH
Zürich,
Switzerland),
which,
using
a
5
µm
PVDF-TrFE-CTFE
film
relative
permittivity
40,
produced
100
times
electrostatic
force
any
under
review.
latter
shows
that
there
room
for
improvement
as
low
displacement
still
limit
viability
real-life
applications.
Polymers,
Год журнала:
2025,
Номер
17(6), С. 746 - 746
Опубликована: Март 12, 2025
Soft
robots,
constructed
from
deformable
materials,
offer
significant
advantages
over
rigid
robots
by
mimicking
biological
tissues
and
providing
enhanced
adaptability,
safety,
functionality
across
various
applications.
Central
to
these
are
electroactive
polymer
(EAP)
actuators,
which
allow
large
deformations
in
response
external
stimuli.
This
review
examines
EAP
including
dielectric
elastomers,
liquid
crystal
elastomers
(LCEs),
ionic
polymers,
focusing
on
their
potential
as
artificial
muscles.
EAPs,
particularly
electronic
varieties,
noted
for
high
actuation
strain,
flexibility,
lightweight
nature,
energy
efficiency,
making
them
ideal
applications
mechatronics,
robotics,
biomedical
engineering.
also
highlights
piezoelectric
polymers
like
polyvinylidene
fluoride
(PVDF),
known
biocompatibility,
ease
of
fabrication,
contributing
tactile
pressure
sensing
robotic
systems.
Additionally,
conducting
with
fast
speeds
strain
capabilities,
explored,
alongside
magnetic
composites
(MPCs)
biomedicine
electronics.
The
integration
machine
learning
(ML)
the
Internet
Things
(IoT)
is
transforming
soft
enhancing
actuation,
control,
design.
Finally,
paper
discusses
future
directions
self-healing
composites,
bio-inspired
designs,
sustainability,
continued
IoT
ML
intelligent,
adaptive,
responsive
Beni-Suef University Journal of Basic and Applied Sciences,
Год журнала:
2025,
Номер
14(1)
Опубликована: Март 23, 2025
Abstract
Background
The
interdisciplinary
nature
of
mechatronics
has
spurred
huge
progress
in
medicine
to
facilitate
the
creation
robotic
surgery,
wearable
health
monitoring,
and
bio-inspired
robots.
All
these
technologies
enhance
precision
boost
diagnostic
capability,
enable
real-time
patient
monitoring.
For
example,
robotic-assisted
surgeries
have
recorded
a
50%
cut
complications
40%
reduction
healing
times,
while
technology
enhanced
early
anomaly
detection
by
80%,
saving
emergency
hospitalisation.
Main
body
This
review
critically
examines
evolution
applications
focusing
on
problems
including
financial
burdens,
confidentiality
data,
compliance
with
regulation.
Emphasis
is
placed
heavily
regulatory
approval
processes
required
organisations
such
as
US
Food
Drug
Administration
(FDA)
International
Organisation
for
Standardisation
(ISO)
that
typically
delay
use
life-saving
equipment
3–5
years.
In
addition,
expensive
price
surgery
systems
(~$2
million
per
unit)
extensive
training
(20–40
procedures
be
proficient)
are
inhibiting
factors.
New
trends
robots
nanomedicine
also
considered
here,
which
exhibited
fantastic
potential
minimally
invasive
therapy,
nanorobot-based
cancer
therapies
tumour
growth
inhibition
limiting
systemic
side
effects.
Conclusions
To
propel
ethical
sustainable
adoption
healthcare,
this
proposed
development
partnerships
among
engineers,
clinicians,
policymakers,
simplifies
clearance
processes,
designs
low-cost,
scalable
products.
Through
avenues,
can
proceed
revolutionise
enhancing
outcomes
expanding
accessibility
cutting-edge
medical
technology.
Macromolecular Rapid Communications,
Год журнала:
2025,
Номер
unknown
Опубликована: Апрель 2, 2025
Liquid
crystalline
polymer
networks
(LCNs)
and
liquid
elastomers
(LCEs)
possess
unique
properties
that
enable
structural
deformation
in
response
to
external
stimuli
such
as
temperature,
light,
electric
fields.
These
deformations
occur
across
a
wide
range
of
scales,
from
nanometers
macroscopic
scales.
This
review
aims
comprehensively
address
the
actuation
mechanisms
observed
LCN
LCE-based
structures
various
First,
phenomena
are
explored
at
nanoscale
investigate
potential
applications
these
nanodevices
systems.
Next,
microscale,
presenting
case
studies
involving
micro-robotics
micro-actuators,
analyzed.
Finally,
it
is
examined
how
macroscale
can
be
utilized
large
systems,
macro
devices
soft
robotics.
By
investigating
scale-dependent
characteristics,
this
paper
provides
an
integrated
perspective
on
LCE
research,
emphasizing
their
transformative
for
next-generation
applications.
Robotics,
Год журнала:
2024,
Номер
13(9), С. 128 - 128
Опубликована: Авг. 27, 2024
Our
study
presents
a
novel
design
for
cable-driven
robotic
arm,
emphasizing
low
cost,
inertia
movement,
and
long-term
cable
durability.
The
arm
shares
similar
specifications
with
the
UR5
featuring
total
of
six
degrees
freedom
(DOF)
distributed
in
1:1:1:3
ratio
at
base,
shoulder,
elbow,
wrist,
respectively.
three
DOF
wrist
joints
are
driven
by
system,
heavy
motors
relocated
from
end-effector
to
shoulder
base.
This
repositioning
results
lighter
cable-actuated
(weighing
0.8
kg),
which
enhances
safety
during
human
interaction
reduces
torque
requirements
elbow
motors.
Consequently,
overall
cost
weight
reduced,
achieving
payload-to-body
5:8.4
kg.
To
ensure
good
positional
repeatability,
joints,
influence
longer
moment
arms,
designed
direct-drive
structure.
evaluate
design’s
performance,
tests
were
conducted
on
loading
capability,
durability,
position
manipulation.
demonstrated
that
could
manipulate
5
kg
payload
repeatability
error
less
than
0.1
mm.
Additionally,
tightener
was
introduced,
served
dual
functions:
conveniently
tightening
reducing
high-stress
concentration
near
locking
end
minimize
loosening.
When
subjected
an
initial
tension
100
kg,
this
retained
approximately
80%
load
after
10
years
room
temperature
24
°C.
Advances in Mechanical Engineering,
Год журнала:
2024,
Номер
16(10)
Опубликована: Окт. 1, 2024
This
paper
presents
a
comprehensive
study
on
the
design
optimization
of
robotic
gripper,
focusing
both
gripper
modeling
and
its
parallel
mechanism
structure.
integrates
Black-winged
Kite
Algorithm
(BKA),
Finite
Element
Analysis
(FEA),
Backpropagation
Neural
Network
(BPNN),
response
surface
techniques.
The
Good
Point
Set
(GPS),
nonlinear
convergence
factor,
adaptive
t-distribution
method
improve
BKA,
which
enhances
exploration
exploitation
performance,
speed,
solution
quality.
Subsequently,
structure
is
designed
to
minimize
total
mass,
deformation,
maximum
equivalent
stress.
central
composite
(CCD)
was
used
FEA
experiment
establish
BKA-BPNN
regression
prediction
model.
RMSE
this
model’s
training
set
test
are
0.001615
0.0029328.
A
model
constructed
determine
best
solution.
optimized
achieves
33.12%
reduction
in
stress,
1.47%
decrease
0.16%
deformation.
provides
valuable
insights
into
process
for
grippers,
showcasing
effectiveness
proposed
methodologies
enhancing
performance
while
reducing
mass
improving
structural
integrity.
Actuators,
Год журнала:
2024,
Номер
13(9), С. 359 - 359
Опубликована: Сен. 16, 2024
In
this
paper,
using
a
honeycomb-velcro
structure
to
generate
novel
jamming
gripper
is
explored.
Each
finger
of
the
consists
multi-layers
with
honeycomb
sandwich
acting
as
core
wrapped
by
fabric
sheet
and
sealed
latex
membrane.
This
can
transit
between
unjammed
(flexible)
jammed
(rigid)
states
thanks
vacuum
pressure.
Various
materials
structure,
fabric,
reinforcements
are
investigated
seek
optimal
combinations
for
making
fingers.
Then,
such
fingers
deployed
in
experiments
evaluate
stiffness
surface
friction
different
loads
terms
or
without
vacuum.
Vacuum
pressure
boosts
all
compared
without-vacuum
case.
Attached
gripper,
shows
good
performance
diverse
manipulation
food,
metal
component,
toy,
can,
bottle.
Furthermore,
variable-stiffness
under
be
utilized
perform
assembly
installation
operations
pushing
bolt
into
an
aligned
hole.
