共查询到20条相似文献，搜索用时 15 毫秒
1.
Francesco Visentin Saravana Prashanth Murali Babu Fabian Meder Barbara Mazzolai 《Advanced functional materials》2021,31(32):2101121
Nature has inspired a new generation of robots that not only imitate the behavior of natural systems but also share their adaptability to the environment and level of compliance due to the materials used to manufacture them, which are typically made of soft matter. In order to be adaptable and compliant, these robots need to be able to locally change the mechanical properties of their soft material-based bodies according to external feedback. In this work, a soft actuator that embodies a highly controllable thermo-responsive hydrogel and changes its stiffness on direct stimulation is proposed. At a critical temperature, this stimulation triggers the reversible transition of the hydrogel, which locally stiffens the elastomeric containment at the targeted location. By dividing the actuator into multiple sections, it is possible to control its macroscopic behavior as a function of the stiffened sections. These properties are evaluated by arranging three actuators into a gripper configuration used to grasp objects. The results clearly show that the approach can be used to develop soft actuators that can modify their mechanical properties on-demand in order to conform to objects or to exert the required force. 相似文献
2.
Ramses V. Martinez Carina R. Fish Xin Chen George M. Whitesides 《Advanced functional materials》2012,22(7):1376-1384
The development of soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible is described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into 3D structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while being light in weight. These soft actuators can manipulate objects with moderate performance; for example, they can lift loads up to 120 times their weight. They can also be combined with other components, for example, electrical components, to increase their functionality. 相似文献
3.
Matthew Wei Ming Tan Gurunathan Thangavel Pooi See Lee 《Advanced functional materials》2021,31(34):2103097
Soft robots are susceptible to premature failure from physical damages incurred within dynamic environments. To address this, we report an elastomer with high toughness, room temperature self-healing, and strong adhesiveness, allowing both prevention of damages and recovery for soft robotics. By functionalizing polyurethane with hierarchical hydrogen bonds from ureido-4[1H]-pyrimidinone (UPy) and carboxyl groups, high toughness (74.85 MJ m−3), tensile strength (9.44 MPa), and strain (2340%) can be achieved. Furthermore, solvent-assisted self-healing at room temperature enables retention of high toughness (41.74 MJ m−3), tensile strength (5.57 MPa), and strain (1865%) within only 12 h. The elastomer possesses a high dielectric constant (≈9) that favors its utilization as a self-healing dielectric elastomer actuator (DEA) for soft robotics. Displaying high area strains of ≈31.4% and ≈19.3% after mechanical and electrical self-healing, respectively, the best performing self-healable DEA is achieved. With abundant hydrogen bonds, high adhesive strength without additional curing or heating is also realized. Having both actuation and adhesive properties, a “stick-on” strategy for the assembly of robust soft robots is realized, allowing soft robotic components to be easily reassembled or replaced upon severe damage. This study highlights the potential of soft robots with extreme ruggedness for different operating conditions. 相似文献
4.
Alex Chortos Jie Mao Jochen Mueller Ehsan Hajiesmaili Jennifer A. Lewis David R. Clarke 《Advanced functional materials》2021,31(22):2010643
Active soft materials that change shape on demand are of interest for a myriad of applications, including soft robotics, biomedical devices, and adaptive systems. Despite recent advances, the ability to rapidly design and fabricate active matter in complex, reconfigurable layouts remains challenging. Here, the 3D printing of core-sheath-shell dielectric elastomer fibers (DEF) and fiber bundles with programmable actuation is reported. Complex shape morphing responses are achieved by printing individually addressable fibers within 3D architectures, including vertical coils and fiber bundles. These DEF devices exhibit resonance frequencies up to 700 Hz and lifetimes exceeding 2.6 million cycles. The multimaterial, multicore-shell 3D printing method opens new avenues for creating active soft matter with fast programable actuation. 相似文献
5.
Xingrui Wang Shane K. Mitchell Ellen H. Rumley Philipp Rothemund Christoph Keplinger 《Advanced functional materials》2020,30(7)
Soft robots are intrinsically safe for use near humans and adaptable when operated in unstructured environments, thereby offering capabilities beyond traditional robots based on rigid components. Soft actuators are key components of soft robots; recently developed hydraulically amplified self‐healing electrostatic (HASEL) actuators provide a versatile framework to create high‐speed actuators with excellent all‐around performance. Peano‐HASEL actuators linearly contract upon application of voltage, closely mimicking the behavior of muscle. Peano‐HASEL actuators, however, produce a maximum strain of ≈15%, while skeletal muscles achieve ≈20% on average. Here, a new type of HASEL is introduced, termed high‐strain Peano‐HASEL (HS‐Peano‐HASEL) actuator, that achieves linear contraction up to ≈24%. A wide range of performance metrics are investigated, and the maximum strain of multiunit HS‐Peano‐HASEL actuators is optimized by varying materials and geometry. Furthermore, an artificial circular muscle (ACM) based on the HS‐Peano‐HASEL acts as a tubular pump, resembling the primordial heart of an ascidian. Additionally, a strain‐amplifying pulley system is introduced to increase the maximum strain of an HS‐Peano‐HASEL to 42%. The muscle‐like maximum actuation strain and excellent demonstrated all‐around performance of HS‐Peano‐HASEL actuators make them promising candidates for use in artificial organs, life‐like robotic faces, and a variety of other robotic systems. 相似文献
6.
Ramses V. Martinez Ana C. Glavan Christoph Keplinger Alexis I. Oyetibo George M. Whitesides 《Advanced functional materials》2014,24(20):3003-3010
This paper characterizes the ability of soft pneumatic actuators and robots to resist mechanical insults that would irreversibly damage or destroy hard robotic systems—systems fabricated in metals and structural polymers, and actuated mechanically—of comparable sizes. The pneumatic networks that actuate these soft machines are formed by bonding two layers of elastomeric or polymeric materials that have different moduli on application of strain by pneumatic inflation; this difference in strain between an extensible top layer and an inextensible, strain‐limiting, bottom layer causes the pneumatic network to expand anisotropically. While all the soft machines described here are, to some extent, more resistant to damage by compressive forces, blunt impacts, and severe bending than most corresponding hard systems, the composition of the strain‐limiting layers confers on them very different tensile and compressive strengths. 相似文献
7.
Muhammad Taha Manzoor Van Hiep Nguyen Sima Umrao Jae‐Hwan Kim Rassoul Tabassian Ji‐Eun Kim Il‐Kwon Oh 《Advanced functional materials》2019,29(48)
Future smart mobile electronics and wearable robotics that can perform delicate activities controlled by artificial intelligence can require rapid motion actuators working at low voltages with acceptable safety and improved energy efficiency. Accordingly, ionic soft actuators can have great potential over other counterparts because they exhibit gentle movements at low voltages, less than 2 V. However, these actuators currently show deficient performances at sub‐1 V voltages in the high‐frequency range because of the lack of electrode materials with the vital antagonistic properties of high capacitance and good conductivity. Herein, a mutually exclusive nanohybrid electrode (pMoS2‐nSNrGO) is reported consisting of oxide‐doped p‐type molybdenum‐disulfide and sulfur‐nitrogen‐codoped n‐type reduced‐graphene‐oxide. The pMoS2‐nSNrGO electrode derives high capacitance from MoS2 and good charge transfer between the two components from p‐n nano‐junctions, resulting in excellent actuation performances (670% improvement compared with rGO electrode at 0.5 V and 1 Hz, together with fast responses up to 15 Hz). With such excellent performances, these actuators can be successfully applied to realize an artificial soft robotic finger system for delicately touching the fragile surfaces of smartphones and tablets. The mutually exclusive pMoS2‐nSNrGO electrode can open a new way to develop high‐performance soft actuators for soft robotic applications in the future. 相似文献
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Fan Wang Qinchuan Li Jong-Oh Park Shaohui Zheng Eunpyo Choi 《Advanced functional materials》2021,31(13):2007749
The development of ultralow voltage high-performance bioartificial muscles with large bending strain, fast response time, and excellent actuation durability is highly desirable for promising applications such as soft robotics, active biomedical devices, flexible haptic displays, and wearable electronics. Herein, a novel high-performance low-priced bioartificial muscle based on functional carboxylated bacterial cellulose (FCBC) and polypyrrole (PPy) nanoparticles is reported, exhibiting a large bending strain of 0.93%, long actuated bending durability (96% retention for 5 h) under an ultralow harmonic input of 0.5 V, broad frequency bandwidth up to 10 Hz, fast response time (≈4 s) in DC responses, high energy density (6.81 KJ m−3), and high power density (5.11 KW m−3), all of which mainly stem from its high surface area and porosity, large specific capacitance, tuned mechanical properties, and strong ionic interactions of cations and anions in ionic liquid with FCBC and PPy nanoparticles. More importantly, bioinspired applications such as the grapple robot, bionic medical stent, bionic flower, and wings-vibrating have been realized. These successful demonstrations offer a viable means for developing high-performance bioartificial muscles for next-generation soft bioelectronics including bioinspired robotics, biomedical microdevices, and wearable electronics. 相似文献
10.
Vanessa Sanchez Kausalya Mahadevan Gabrielle Ohlson Moritz A. Graule Michelle C. Yuen Clark B. Teeple James C. Weaver James McCann Katia Bertoldi Robert J. Wood 《Advanced functional materials》2023,33(26):2212541
Soft robots adapt passively to complex environments due to their inherent compliance, allowing them to interact safely with fragile or irregular objects and traverse uneven terrain. The vast tunability and ubiquity of textiles has enabled new soft robotic capabilities, especially in the field of wearable robots, but existing textile processing techniques (e.g., cut-and-sew, thermal bonding) are limited in terms of rapid, additive, accessible, and waste-free manufacturing. While 3D knitting has the potential to address these limitations, an incomplete understanding of the impact of structure and material on knit-scale mechanical properties and macro-scale device performance has precluded the widespread adoption of knitted robots. In this work, the roles of knit structure and yarn material properties on textile mechanics spanning three regimes–unfolding, geometric rearrangement, and yarn stretching–are elucidated and shown to be tailorable across unique knit architectures and yarn materials. Based on this understanding, 3D knit soft actuators for extension, contraction, and bending are constructed. Combining these actuation primitives enables the monolithic fabrication of entire soft grippers and robots in a single-step additive manufacturing procedure suitable for a variety of applications. This approach represents a first step in seamlessly “printing” conformal, low-cost, customizable textile-based soft robots on-demand. 相似文献
11.
Shuguang Li Daniel M. Vogt Nicholas W. Bartlett Daniela Rus Robert J. Wood 《Advanced functional materials》2019,29(30)
Pistons are ubiquitous devices used for fluid‐mechanical energy conversion. However, despite this ubiquity and centuries of development, the forces and motions produced by conventional rigid pistons are limited by their design. The use of flexible materials and structures opens a door to the design of a piston with unconventional features. In this study, an architecture for pistons that utilizes a combination of flexible membrane materials and compressible rigid structures is proposed. In contrast to conventional pistons, the fluid‐pressure‐induced tension forces in the flexible membrane play a primary role in the system, rather than compressive forces on the internal surfaces of the piston. The compressive skeletal structures offer the opportunity for the production of tunable forces and motions in the “tension piston” system. The experimental results indicate that the tension piston concept is able to produce substantially greater force (more than three times), higher power, and higher energy efficiency (more than 40% improvement at low pressures) compared to a conventional piston, and these features enable myriad potential applications for the tension piston as a drop‐in replacement for existing pistons. 相似文献
12.
Endowing robots with reversible phase transition ability, especially between elastomer and fluid states, can significantly broaden their functionality and applicability. Limited attempts have been made to realize the reversible elastomer–fluid transition. Existing phase transition materials in robotics have over-hard (≈4 GPa) or over-soft (≈4 kPa) stiffness in the solid states, which should be further investigated to perform more compliant motions. To address these challenges, a reversible elastomer–fluid transition mechanism enabled by magnetically induced hot melt materials (MIMMs) is presented. The transition principle is explained and material characterizations are conducted. MIMMs-based metamorphosic robots endow self-metamorphosing abilities, such as self-healing, spatial reshaping, self-division/assembly, and additive manufacturability. When interacting with external environments, MIMMs-based robots can perform further multifunctional abilities, such as collaborations for structure repairs, swimming by symbiosis with external objects, flowing through a narrow terrain by transiting to fluid, and working with elastomeric structures for stiffness-variable fluid soft actuators. The proposed elastomer–fluid transitions open a new path for robots to generate more flexible and metamorphosic motions, thereby addressing the cross-phase transformation challenges that soft robots face. 相似文献
13.
Zachary Yoder Daniela Macari Gavriel Kleinwaks Ingemar Schmidt Eric Acome Christoph Keplinger 《Advanced functional materials》2023,33(3):2209080
Soft robotic grippers achieve increased versatility and reduced complexity through intelligence embodied in their flexible and conformal structures. The most widely used soft grippers are pneumatically driven; they are simple and effective but require bulky air compressors that limit their application space and external sensors or computationally expensive vision systems for pick verification. In this study, a multi-material architecture for self-sensing electrohydraulic bending actuators is presented that enables a new class of highly versatile and reconfigurable soft grippers that are electrically driven and feature capacitive pick verification and object size detection. These electrohydraulic grippers are fast (step input results in finger closure in 50 ms), draw low power (6.5 mW per finger to hold grasp), and can pick a wide variety of objects with simple binary electrical control. Integrated high-voltage driving electronics are presented that greatly increase the application space of the grippers and make them readily compatible with commercially available robotic arms. 相似文献
14.
Textiles have emerged as a promising class of materials for developing wearable robots that move and feel like everyday clothing. Textiles represent a favorable material platform for wearable robots due to their flexibility, low weight, breathability, and soft hand-feel. Textiles also offer a unique level of programmability because of their inherent hierarchical nature, enabling researchers to modify and tune properties at several interdependent material scales. With these advantages and capabilities in mind, roboticists have begun to use textiles, not simply as substrates, but as functional components that program actuation and sensing. In parallel, materials scientists are developing new materials that respond to thermal, electrical, and hygroscopic stimuli by leveraging textile structures for function. Although textiles are one of humankind's oldest technologies, materials scientists and roboticists are just beginning to tap into their potential. This review provides a textile-centric survey of the current state of the art in wearable robotic garments and highlights metrics that will guide materials development. Recent advances in textile materials for robotic components (i.e., as sensors, actuators, and integration components) are described with a focus on how these materials and technologies set the stage for wearable robots programmed at the material level. 相似文献
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16.
Maura R. O'Neill Eric Acome Shannon Bakarich Shane K. Mitchell Julia Timko Christoph Keplinger Robert F. Shepherd 《Advanced functional materials》2020,30(40)
A comprehensive material system is introduced for the additive manufacturing of electrohydraulic (HASEL) tentacle actuators. This material system consists of a photo‐curable, elastomeric silicone‐urethane with relatively strong dielectric properties (εr ≈ 8.8 at 1 kHz) in combination with ionically‐conductive hydrogel and silver paint electrodes that displace a vegetable‐based liquid dielectric under the application of an electric field. The electronic properties of the silicone material as well as the mechanical properties of the constitutive silicone and hydrogel materials are investigated. The hydraulic pressure exerted on the dielectric working fluid in these capacitive actuators is measured in order to characterize their quasi‐static behavior. Various design features enabled by 3D printing influence this behavior—decreasing the voltage at which actuation begins or increasing the force density in the system. Using a capacitance change of >35% across the actuators while powered, a demonstration of self‐sensing inherent to HASELs is shown. Antagonistic pairs of the 3D printed actuators are shown to exert a blocked force of over 400 mN. An electrohydraulic tentacle actuator is then fabricated to demonstrate the use of this material and actuation system in a synthetic hydrostat. This tentacle actuator is shown to achieve motion in a multi‐dimensional space. 相似文献
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18.
Riccardo Tognato Angela R. Armiento Valentina Bonfrate Riccardo Levato Jos Malda Mauro Alini David Eglin Gabriele Giancane Tiziano Serra 《Advanced functional materials》2019,29(9)
Stimuli‐responsive materials have the potential to enable the generation of new bioinspired devices with unique physicochemical properties and cell‐instructive ability. Enhancing biocompatibility while simplifying the production methodologies, as well as enabling the creation of complex constructs, i.e., via 3D (bio)printing technologies, remains key challenge in the field. Here, a novel method is presented to biofabricate cellularized anisotropic hybrid hydrogel through a mild and biocompatible process driven by multiple external stimuli: magnetic field, temperature, and light. A low‐intensity magnetic field is used to align mosaic iron oxide nanoparticles (IOPs) into filaments with tunable size within a gelatin methacryloyl matrix. Cells seeded on top or embedded within the hydrogel align to the same axes of the IOPs filaments. Furthermore, in 3D, C2C12 skeletal myoblasts differentiate toward myotubes even in the absence of differentiation media. 3D printing of the nanocomposite hydrogel is achieved and creation of complex heterogeneous structures that respond to magnetic field is demonstrated. By combining the advanced, stimuli‐responsive hydrogel with the architectural control provided by bioprinting technologies, 3D constructs can also be created that, although inspired by nature, express functionalities beyond those of native tissue, which have important application in soft robotics, bioactuators, and bionic devices. 相似文献
19.
Yuhao Wang Wenju Wu Shushan Li Yingjie Jiang Wenpeng Zang Wenhan Fu Xuesong Hao Nanying Ning Ming Tian Liqun Zhang 《Advanced functional materials》2024,34(52):2411229
Given the great importance of human-robot collaboration (HRC), the development of robotic arms tends to prioritize high flexibility, safety as well as low energy consumption. Dielectric elastomer actuators (DEAs), with their high energy density and lightweight characteristics, present a promising alternative for the design of soft robotic arms suitable for HRC setting. Hence, a soft mimic robotic arm powered by dual cone DEA (DCDEA) driver unit is developed that demonstrates high energy density and low energy consumption. The resultant elaborate DCDEA driver unit exhibits a significant bi-direction actuation stroke with a high load-to-weight ratio up to 1,300, ensuring sufficient mechanical power output for powering the robotic arm. The well-designed efficient transmission mechanism and control system together with DCDEA allow the robotic arm to conduct lifting and twisting action, mimicking the movements of a human arm. During the transportation of a 10 g weight, the robotic arm consumes only ≈35 mJ of energy, while achieving an energy density of 42.1 J kg−1. Encased in soft outer shells, the robotic arm displays full flexibility, high safety, and excellent impact resistance, underscoring its potential as a next-generation soft robotic arm for HRC setting. 相似文献
20.
Wenhuan Sun Avery S. Williamson Ravesh Sukhnandan Carmel Majidi Lining Yao Adam W. Feinberg Victoria A. Webster-Wood 《Advanced functional materials》2023,33(36):2303659
Despite the impressive performance of recent marine robots, many of their components are non-biodegradable or even toxic and may negatively impact sensitive ecosystems. To overcome these limitations, biologically-sourced hydrogels are a candidate material for marine robotics. Recent advances in embedded 3D printing have expanded the design freedom of hydrogel additive manufacturing. However, 3D printing small-scale hydrogel-based actuators remains challenging. In this study, Free form reversible embedding of suspended hydrogels (FRESH) printing is applied to fabricate small-scale biologically-derived, marine-sourced hydraulic actuators by printing thin-wall structures that are water-tight and pressurizable. Calcium-alginate hydrogels are used, a sustainable biomaterial sourced from brown seaweed. This process allows actuators to have complex shapes and internal cavities that are difficult to achieve with traditional fabrication techniques. Furthermore, it demonstrates that fabricated components are biodegradable, safely edible, and digestible by marine organisms. Finally, a reversible chelation-crosslinking mechanism is implemented to dynamically modify alginate actuators' structural stiffness and morphology. This study expands the possible design space for biodegradable marine robots by improving the manufacturability of complex soft devices using biologically-sourced materials. 相似文献