Sensing in Soft Robotics

ACS Nano, Год журнала: 2023, Номер 17(16), С. 15277 - 15307

Опубликована: Авг. 2, 2023

Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. can handle delicate care, access remote areas, offer realistic feedback on their handling performance. However, increased dexterity mechanical compliance soft come the need for accurate control position shape these robots. Therefore, must be equipped sensors better perception surroundings, location, force, temperature, shape, other stimuli effective usage. This review highlights recent progress in sensing technologies robotic applications. It begins introduction actuation material selection robotics, followed by in-depth exploration various types sensors, integration methods, benefits multimodal sensing, signal processing, strategies. A short description current market leaders also included illustrate growing demands this technology. By examining latest advancements robots, aims highlight potential inspire innovation field.

Язык: Английский

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3D printing of magneto-active smart materials for advanced actuators and soft robotics applications

European Polymer Journal, Год журнала: 2024, Номер 205, С. 112718 - 112718

Опубликована: Янв. 2, 2024

In the contemporary era, novel manufacturing technologies like additive (AM) have revolutionized different engineering sectors including biomedical, aerospace, electronics, etc. Four-dimensional (4D) printing aka AM of smart materials is gaining popularity among scientific community, which has excellent ability to make soft structures such as robots, actuators, and grippers. These are developed by applying various stimuli pH, temperature, magnetic field, many combinations onto materials. Stimuli in 3D permit shape-morphing behaviors bending, twisting, folding, swelling, rolling, shrinking, origami, or locomotion. A wide variety can be fabricated through incorporation hard particles into resulting magneto-active (MASMs). With this integration, magneto-thermal coupling actuation allows diverse magneto-deformations, facilitating development personalized devices that capable enhanced deformation. review, guidelines provided on for MASMs polymers (MAPs), composites, hydrogels (MAHs) booming flexible wearable biomimetic devices. Moreover, 3D-printed robotics an outstanding capacity adapt complicated situations advanced actuating applications. Finally, some current challenges emerging areas exciting technology been proposed. Lastly, it anticipated technological advancements developing intelligent will a significant impact design real-world

Язык: Английский

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Vision-controlled jetting for composite systems and robots

Nature, Год журнала: 2023, Номер 623(7987), С. 522 - 530

Опубликована: Ноя. 15, 2023

Abstract Recreating complex structures and functions of natural organisms in a synthetic form is long-standing goal for humanity 1 . The aim to create actuated systems with high spatial resolutions material arrangements that range from elastic rigid. Traditional manufacturing processes struggle fabricate such 2 It remains an open challenge functional automatically quickly wide properties, resolutions, integrated actuation sensing channels 2,3 We propose inkjet deposition process called vision-controlled jetting can robots. Hereby, scanning system captures the three-dimensional print geometry enables digital feedback loop, which eliminates need mechanical planarizers. This contactless allows us use continuously curing chemistries and, therefore, broader families moduli. advances properties are characterized by standardized tests comparing our printed materials state-of-the-art. directly fabricated high-resolution composite robots: tendon-driven hands, pneumatically walking manipulators, pumps mimic heart metamaterial structures. Our approach provides automated, scalable, high-throughput manufacture high-resolution, multimaterial systems.

Язык: Английский

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Integrated Actuation and Sensing: Toward Intelligent Soft Robots

Cyborg and Bionic Systems, Год журнала: 2024, Номер 5

Опубликована: Янв. 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

Язык: Английский

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3D-printed digital pneumatic logic for the control of soft robotic actuators

Science Robotics, Год журнала: 2024, Номер 9(86)

Опубликована: Янв. 31, 2024

Soft robots are paving their way to catch up with the application range of metal-based machines and occupy fields that challenging for traditional machines. Pneumatic actuators play an important role in this development, allowing construction bioinspired motion systems. logic gates provide a powerful alternative controlling pressure-activated soft robots, which often controlled by metallic valves electric circuits. Many existing approaches fully compliant pneumatic control suffer from high manual effort low pressure tolerance. In our work, we invented three-dimensional (3D) printable, perform Boolean operations imitate Within 7 hours, filament printer is able produce module serves as OR, AND, or NOT gate; function defined assigned input signals. The gate contains two alternately acting valves, whose work principle based on interaction pressurized chambers 3D-printed 1-millimeter tube inside. design does not require any kind support material its hollow parts, makes modules ready use directly after printing. Depending chosen material, can operate supply between 80 more than 750 kilopascals. capabilities were verified implementing electronics-free drink dispenser ring oscillator 1-bit memory. Their compliance demonstrated driving car over flexible, robotic walker integrated circuit.

Язык: Английский

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Skin‐Inspired Multi‐Modal Mechanoreceptors for Dynamic Haptic Exploration

Advanced Materials, Год журнала: 2024, Номер 36(21)

Опубликована: Фев. 16, 2024

Abstract Active sensing is a fundamental aspect of human and animal interactions with the environment, providing essential information about hardness, texture, tackiness objects. This ability stems from presence diverse mechanoreceptors in skin, capable detecting wide range stimuli sensorimotor control biological mechanisms. In contrast, existing tactile sensors for robotic applications typically excel identifying only limited types information, lacking versatility requisite strategies to extract proactively. Here, inspired by haptic perception, skin‐inspired artificial 3D mechanoreceptor (SENS) multiple mechanical developed bridge action closed‐loop system dynamic exploration. A tensor‐based non‐linear theoretical model established characterize deformation (e.g., tensile, compressive, shear deformation) SENS, guidance design optimization multimode properties high fidelity. Based on recognizing objects improved accuracy (≈96%) further demonstrated. exploration approach shows promise such as autonomous learning, healthcare, space deep‐sea

Язык: Английский

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Low-voltage electrohydraulic actuators for untethered robotics

Science Advances, Год журнала: 2024, Номер 10(1)

Опубликована: Янв. 5, 2024

Rigid robots can be precise but struggle in environments where compliance, robustness to disturbances, or energy efficiency is crucial. This has led researchers develop biomimetic incorporating soft artificial muscles. Electrohydraulic actuators are promising muscles that perform comparably mammalian speed and power density. However, their operation requires several thousand volts. The high voltage leads bulky inefficient driving electronics. Here, we present hydraulically amplified low-voltage electrostatic (HALVE) match skeletal average density (50.5 watts per kilogram) peak strain rate (971% second) at a 4.9 times lower (1100 volts) compared the state of art. HALVE safe touch, waterproof, exhibit self-clearing properties. We characterize, model, validate key performance metrics our actuator. Last, demonstrate utility on robotic gripper swimmer.

Язык: Английский

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Control of soft robots with inertial dynamics

Science Robotics, Год журнала: 2023, Номер 8(81)

Опубликована: Авг. 30, 2023

Soft robots promise improved safety and capability over rigid when deployed near humans or in complex, delicate, dynamic environments. However, infinite degrees of freedom the potential for highly nonlinear dynamics severely complicate their modeling control. Analytical machine learning methodologies have been applied to model soft but with constraints: quasi-static motions, quasi-linear deflections, both. Here, we advance control into inertial, regime. We controlled motions a soft, continuum arm velocities 10 times larger accelerations 40 than those previous work did so high-deflection shapes more 110° curvature. leveraged data-driven approach modeling, based on Koopman operator theory, introduce concept static as pregain term optimal Our is rapid, requiring less 5 min training; computationally low cost, little 0.5 s build model; design agnostic, accurately controlling two morphologically different robots. This advances rapid from realm laying groundwork next generation compliant

Язык: Английский

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Wearable and Implantable Soft Robots

Chemical Reviews, Год журнала: 2024, Номер 124(20), С. 11585 - 11636

Опубликована: Окт. 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.

Язык: Английский

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Interlinking spatial dimensions and kinetic processes in dissipative materials to create synthetic systems with lifelike functionality

Nature Nanotechnology, Год журнала: 2023, Номер 19(2), С. 146 - 159

Опубликована: Дек. 6, 2023

Язык: Английский

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