共查询到20条相似文献，搜索用时 15 毫秒
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One of the key challenges in soft robotics today is in providing sensory feedback of an object to a gripper. In this work, a soft microtubular actuator which can not only interact but also sense its environment is reported. As the sensor is enclosed within the same structure as the actuator, the sensor is able to conform well to the whole range of actuating motion and is able to provide accurate sensor readings. As a proof of concept, the sensorized microtubular actuator is deployed as a microgripper. The microgripper demonstrates the ability to grip a variety of objects, including an ant, without damaging it. While similar grippers with integrated sensing elements do exist, the grippers produced in this work have a maximum diameter of 2 mm, which translate to a tenfold reduction in size over the state of the art. This allows the microgripper to conduct in situ monitoring of strain levels or establish if contact with an object has been made. The sensor experiences minimal electrical drift and hysteresis despite repeated loading cycles (1000 cycles). Taken together, these advantages demonstrate the potential of the microgripper for a variety of applications, especially in soft medical robotics. 相似文献
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Shoue Chen Yunteng Cao Morteza Sarparast Hongyan Yuan Lixin Dong Xiaobo Tan Changyong Cao 《Advanced Materials Technologies》2020,5(2)
Soft crawling robots have attracted great attention due to their anticipated effective interactions with humans and uncertain environments, as well as their potential capabilities of completing a variety of tasks encompassing search and rescue, infrastructure inspection, surveillance, drug delivery, and human assistance. Herein, a comprehensive survey on recent advances of soft crawling robots categorized by their major actuation mechanisms is provided, including pneumatic/hydraulic pressure, chemical reaction, and soft active material‐based actuations, which include dielectric elastomers, shape memory alloys, magnetoactive elastomers, liquid crystalline elastomers, piezoelectric materials, ionic polymer–metal composites, and twisted and coiled polymers. For each type of actuation, the prevalent modes of locomotion adopted in representative robots, the design, working principle and performance of their soft actuators, and the performance of each locomotion approach, as well as the advantages and drawbacks of each design are discussed. This review summarizes the state‐of‐the‐art progresses and the critical knowledge in designing soft crawling robots and offers a guidance and insightful outlook for the future development of soft robots. 相似文献
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Yunsong Yan Tommaso Santaniello Luca Giacomo Bettini Chloé Minnai Andrea Bellacicca Riccardo Porotti Ilaria Denti Gabriele Faraone Marco Merlini Cristina Lenardi Paolo Milani 《Advanced materials (Deerfield Beach, Fla.)》2017,29(23)
Electroactive ionic gel/metal nanocomposites are produced by implanting supersonically accelerated neutral gold nanoparticles into a novel chemically crosslinked ion conductive soft polymer. The ionic gel consists of chemically crosslinked poly(acrylic acid) and polyacrylonitrile networks, blended with halloysite nanoclays and imidazolium‐based ionic liquid. The material exhibits mechanical properties similar to that of elastomers (Young's modulus ≈ 0.35 MPa) together with high ionic conductivity. The fabrication of thin (≈100 nm thick) nanostructured compliant electrodes by means of supersonic cluster beam implantation (SCBI) does not significantly alter the mechanical properties of the soft polymer and provides controlled electrical properties and large surface area for ions storage. SCBI is cost effective and suitable for the scaleup manufacturing of electroactive soft actuators. This study reports the high‐strain electromechanical actuation performance of the novel ionic gel/metal nanocomposites in a low‐voltage regime (from 0.1 to 5 V), with long‐term stability up to 76 000 cycles with no electrode delamination or deterioration. The observed behavior is due to both the intrinsic features of the ionic gel (elasticity and ionic transport capability) and the electrical and morphological features of the electrodes, providing low specific resistance (<100 Ω cm?2), high electrochemical capacitance (≈mF g?1), and minimal mechanical stress at the polymer/metal composite interface upon deformation. 相似文献
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Edouard Leroy Ronan Hinchet Herbert Shea 《Advanced materials (Deerfield Beach, Fla.)》2020,32(36):2002564
The sense of touch is underused in today’s virtual reality systems due to lack of wearable, soft, mm-scale transducers to generate dynamic mechanical stimulus on the skin. Extremely thin actuators combining both high force and large displacement are a long-standing challenge in soft actuators. Sub-mm thick flexible hydraulically amplified electrostatic actuators are reported here, capable of both out-of-plane and in-plane motion, providing normal and shear forces to the user’s fingertip, hand, or arm. Each actuator consists of a fluid-filled cavity whose shell is made of a metalized polyester boundary and a central elastomer region. When a voltage is applied to the annular electrodes, the fluid is rapidly forced into the stretchable region, forming a raised bump. A 6 mm × 6 mm × 0.8 mm actuator weighs 90 mg, and generates forces of over 300 mN, out-of-plane displacements of 500 µm (over 60% strain), and lateral motion of 760 µm. Response time is below 5 ms, for a specific power of 100 W kg−1. In user tests, human subjects distinguished normal and different 2-axis shear forces with over 80% accuracy. A flexible 5 × 5 array is demonstrated, integrated in a haptic sleeve. 相似文献
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Xiaoyu Zhao;Hongyi Yao;Yaoyi Lv;Zhixian Chen;Lina Dong;Jiajun Huang;Shengli Mi; 《Small (Weinheim an der Bergstrasse, Germany)》2024,20(28):2310009
Magnetic soft actuators and robots have attracted considerable attention in biomedical applications due to their speedy response, programmability, and biocompatibility. Despite recent advancements, the fabrication process of magnetic actuators and the reprogramming approach of their magnetization profiles continue to pose challenges. Here, a facile fabrication strategy is reported based on arrangements and distributions of reusable magnetic pixels on silicone substrates, allowing for various magnetic actuators with customizable architectures, arbitrary magnetization profiles, and integration of microfluidic technology. This approach enables intricate configurations with decent deformability and programmability, as well as biomimetic movements involving grasping, swimming, and wriggling in response to magnetic actuation. Moreover, microfluidic functional modules are integrated for various purposes, such as on/off valve control, curvature adjustment, fluid mixing, dynamic microfluidic architecture, and liquid delivery robot. The proposed method fulfills the requirements of low-cost, rapid, and simplified preparation of magnetic actuators, since it eliminates the need to sustain pre-defined deformations during the magnetization process or to employ laser heating or other stimulation for reprogramming the magnetization profile. Consequently, it is envisioned that magnetic actuators fabricated via pixel-assembly will have broad prospects in microfluidics and biomedical applications. 相似文献
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Qiji Ze Xiao Kuang Shuai Wu Janet Wong S. Macrae Montgomery Rundong Zhang Joshua M. Kovitz Fengyuan Yang H. Jerry Qi Ruike Zhao 《Advanced materials (Deerfield Beach, Fla.)》2020,32(4):1906657
Shape-programmable soft materials that exhibit integrated multifunctional shape manipulations, including reprogrammable, untethered, fast, and reversible shape transformation and locking, are highly desirable for a plethora of applications, including soft robotics, morphing structures, and biomedical devices. Despite recent progress, it remains challenging to achieve multiple shape manipulations in one material system. Here, a novel magnetic shape memory polymer composite is reported to achieve this. The composite consists of two types of magnetic particles in an amorphous shape memory polymer matrix. The matrix softens via magnetic inductive heating of low-coercivity particles, and high-remanence particles with reprogrammable magnetization profiles drive the rapid and reversible shape change under actuation magnetic fields. Once cooled, the actuated shape can be locked. Additionally, varying the particle loadings for heating enables sequential actuation. The integrated multifunctional shape manipulations are further exploited for applications including soft magnetic grippers with large grabbing force, reconfigurable antennas, and sequential logic for computing. 相似文献
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《Advanced Materials Technologies》2017,2(10)
A hybrid manufacturing paradigm is introduced that combines pop‐up book microelectromechanical systems (MEMS) manufacturing with soft‐lithographic techniques to produce millimeter‐scale mechanisms with embedded sensing and user‐defined distributed compliance. This method combines accuracy, flexibility in material selection, scalability, and topological complexity with soft, biocompatible materials and microfluidics, paving the way for applications of soft fluid‐powered biomedical robotics. This paper proposes two classes of fully soft fluidic microactuators and two integration strategies to demonstrate the hybrid soft pop‐up actuators. Fatigue properties, blocked torque, maximum deflection, stiffness, and maximum speed are analyzed and the performance of the hybrid mechanisms is compared to their fully soft counterparts. The manufacturing approach allows integrating capacitive sensing elements in the mechanisms to achieve proprioceptive actuation. Multiple hybrid soft pop‐up actuators are combined into a multiarticulated robotic arm that is integrated with current flexible endoscopes to improve distal dexterity and enable tissue retraction in an ex vivo proof of concept experiment. 相似文献
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Benjamin Gorissen Edoardo Milana Arne Baeyens Eva Broeders Jeroen Christiaens Klaas Collin Dominiek Reynaerts Michael De Volder 《Advanced materials (Deerfield Beach, Fla.)》2019,31(3)
Soft robots are an interesting alternative for classic rigid robots in applications requiring interaction with organisms or delicate objects. Elastic in?atable actuators are one of the preferred actuation mechanisms for soft robots since they are intrinsically safe and soft. However, these pneumatic actuators each require a dedicated pressure supply and valve to drive and control their actuation sequence. Because of the relatively large size of pressure supplies and valves compared to electrical leads and electronic controllers, tethering pneumatic soft robots with multiple degrees of freedom is bulky and unpractical. Here, a new approach is described to embed hardware intelligence in soft robots where multiple actuators are attached to the same pressure supply, and their actuation sequence is programmed by the interaction between nonlinear actuators and passive ?ow restrictions. How to model this hardware sequencing is discussed, and it is demonstrated on an 8‐degree‐of‐freedom walking robot where each limb comprises two actuators with a sequence embedded in their hardware. The robot is able to carry pay loads of 800 g in addition to its own weight and is able to walk at travel speeds of 3 body lengths per minute, without the need for complex on‐board valves or bulky tethers. 相似文献
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Soft actuators are typically designed to be inherently stress‐free and stable. Relaxing such a design constraint allows exploration of harnessing mechanical prestress and elastic instability to achieve potential high‐performance soft robots. Here, the strategy of prestrain relaxation is leveraged to design pre‐curved soft actuators in 2D and 3D with tunable monostability and bistability that can be implemented for multifunctional soft robotics. By bonding stress‐free active layer with embedded pneumatic channels to a uniaxially or biaxially pre‐stretched elastomeric strip or disk, pre‐curved 2D beam‐like bending actuators and 3D doming actuators are generated after prestrain release, respectively. Such pre‐curved soft actuators exhibit tunable monostable and bistable behavior under actuation by simply manipulating the prestrain and the biased bilayer thickness ratio. Their implications in multifunctional soft robotics are demonstrated in achieving high performance in manipulation and locomotion, including energy‐efficient soft gripper to holding objects through prestress, fast‐speed larva‐like jumping soft crawler with average locomotion speed of 0.65 body‐length s−1 (51.4 mm s−1), and fast swimming bistable jellyfish‐like soft robot with an average speed of 53.3 mm s−1. 相似文献
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Lindsey Hines Kirstin Petersen Guo Zhan Lum Metin Sitti 《Advanced materials (Deerfield Beach, Fla.)》2017,29(13)
This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer‐ to centimeter‐scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than a centimeter, they belong to an even more special subcategory of robots or devices, in that they often lack on‐board power, sensing, computation, and control. Soft, active materials are particularly well suited for this task, with a wide range of stimulants and a number of impressive examples, demonstrating large deformations, high motion complexities, and varied multifunctionality. Recent research includes both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials. 相似文献
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Dielectric elastomer actuators (DEAs) are a class of soft transducers with broad potential applications in soft robotics. DEAs consist of two stretchable electrodes on a dielectric elastomer, which deform and generate force when charged. The generated force is increased by placing many DEAs on top of one another to form a stack actuator. Next-generation stack actuators require high permittivity inks that are solvent-free processable and cross-linkable into thin elastic films. Here, a process toward elastomers with tuneable permittivity that can be prepared solvent-free is reported. Polycondensation of chlorosilanes yields polymers with vinyl end-groups and cross-linkers with multiple hydrosilane groups that both carry polar chloromethyl groups. Their dielectric permittivity and mechanical properties are tuned by changing the polar group content and the molar mass of the vinyl-terminated polymer, respectively. Solvent-free doctor blading provides thin films, which are cross-linked by heating. DEAs prepared from the films reach a lateral actuation of promising 4.6% at a low electric field of 11.2 V µm-1 and can be operated at frequencies up to 5 Hz. The high-permittivity polymer ink is used in a solvent-free layer-by-layer stack actuator fabrication, which yields an actuator with three active layers that gives a thickness strain of 1.0% at 12.4 V µm-1. 相似文献
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Benjamin Gorissen Dominiek Reynaerts Satoshi Konishi Kazuhiro Yoshida Joon‐Wan Kim Michael De Volder 《Advanced materials (Deerfield Beach, Fla.)》2017,29(43)
The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications. 相似文献
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《Advanced Materials Technologies》2018,3(2)
Soft robotic technologies have been known to have various advantages over their rigid counterparts due to their compliant and deformable properties. They can carry out delicate object manipulation and perform complex maneuvers in confined spaces, which traditional robotics has difficulty with. The most widely adopted fabrication method for traditional soft elastomeric fluidic actuators is mold‐casting, which is cumbersome and involves several manual steps. Therefore, a substantial variability in performance and quality of these actuators arises directly from the manufacturing process. This paper presents on a novel fold‐based design of a 3D‐printed soft pneumatic bending actuator. In contrast to other works that rely on high‐end multimaterial 3D printers, a consumer‐grade open source 3D printer to fabricate soft pneumatic actuators in a fast and cheap way using fused deposition modeling technology has been adapted. This allows for consistency in both the quality of the actuators and their mechanical performance. The key findings in (1) a 3D‐printed fold‐based actuator fabrication process, (2) actuator characterization, and (3) a design‐centric approach toward different bending profiles for different applications are presented. 相似文献
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