Abstract
Soft robotics is a growing area of research which utilises the compliance and adaptability of soft structures to develop highly adaptive robotics for soft interactions. One area in which soft robotics has the ability to make significant impact is in the development of soft grippers and manipulators. With an increased requirement for automation, robotics systems are required to perform task in unstructured and not well defined environments; conditions which conventional rigid robotics are not best suited. This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments. One solution to this is soft robotics, which enables soft interactions with the surroundings whilst maintaining the ability to apply significant force. This review paper assess the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and this paper concludes with a discussion on the potential impacts of soft manipulators on industry and society.
Highlights
Interaction with the environment is a requirement for survival of intelligent life in nature
The field of Soft Robotics is very broad, as such, in this review, we aim to cover the key areas of soft robotics manipulation, presenting a representative sample of relevant publications
Several actuation methods have been studied to this end in soft robotics, by either transmitting the force coming from rigid actuators via cables or pneumatic channels, or by building actuators that can be deformed such as shape memory alloys (SMA)
Summary
Interaction with the environment is a requirement for survival of intelligent life in nature. With its ability to elongate, compress, and bend in multiple directions simultaneously, the octopus arm is the representative of soft manipulators in nature (Kier and Stella, 2007). Another example is the human hand; the rigid bone phalanges and the soft ligamentous joints contribute to the overall strength while providing the necessary flexibility of the human fingers (Kapandji, 1987). With such a manipulator design humans are undoubtedly the most advanced animals, as their manipulator design evolved to allow the crafting of objects and construction of complex structures, from micro-machinery to large buildings
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