Applications In Soft Robotics Research Articles

Active stiffness tuning of lattice metamaterials

In this paper, surface conductive heating was utilized to actively control the stiffness of lattice metamaterials manufactured employing multi-material 3D printing. To create an electrical surface conduction, additively manufactured samples in single and dual material configurations were dip coated in a solution of carbon black in water. Electro-thermo-mechanical tests conducted successfully demonstrated that the low-cost conductive coating can be used to actively alter the stiffness of the structure through surface joule heating. The process was found to result in repeatable and reproduceable stiffness tuning. Stiffness reductions of 56% and 94% were demonstrated for single and dual material configurations under the same electrical loading. The proposed methodology can be implemented to actively control the properties of polymeric lattice materials/structures where the change in the composition of polymers (introduce bulk electrical conductivity) is difficult and can have a wide range of applications in soft robotics, shape-changing, and deployable structures.

Bending, electroadhesion and sensing performances of single compliant electrode dielectric elastomer actuator based on SEBS gel

Abstract Dielectric elastomer actuators (DEAs) have great potential for application in soft robotics due to their ability to undergo substantial deformations, rapid response times, and high energy density when subjected to external electrical stimuli. However, the application of DEAs in the field of soft grippers is limited by their restricted direct electro-bending capability, output force, self-sensing capacity, and pre-stretching requirement. In this study, we fabricated a single compliant electrode dielectric elastomer actuator (SCE-DEA) which was made by sandwiching a compliant electrode between two layers of poly(styrene-b-ethylene-co-butylene-b-styrene) (SEBS)/white mineral oil (WO) dielectric elastomer films. The SCE-SEBS/WO was demonstrated to have the capacities of bending, sensing, and electroadhesion. The SCE-SEBS/WO can be used in various soft actuator modes, such as the unipolar electroadhesion actuator, soft gripper, and soft vibrator. The grabbing mechanism of SCE-SEBS/WO-based soft grippers with opposite bipolar configuration is caused by electric field induced bending of SEC-SEBS/WO and subsequent electrostatic attraction between both SEC-SEBS/WO. The SEC-SEBS/WO based soft grippers have rapid response detachment, and ability to grasp various types of objects. Three-layer stacked SCE-SEBS/WO-60 (with 60 wt% of WO) exhibited 531 mN/cm2 of electroadhesion stress on the paper at 3.0 kV applied voltage, and the soft gripper made by four SCE-SEBS/WO-60 can successfully grab wood blocks weighing 162.4 g at 5 kV applied voltage. The sensing capacity of SCE-SEBS/WO based soft gripper was based on the bending strain dependent resistance changes of the compliant electrode. Our results provide new insights into the fabrication of DEA based soft grippers.

Electronic skin with shape sensing and Bending-Insensitive pressure sensing for soft robotic grippers object recognition

Soft robotic grippers rely on accurate contact surface information to perform gripping and sorting tasks safely. Difficulty in obtaining accurate contact surface information for recognizing objects with a single type of sensor hinders the advanced capabilities of soft robotic grippers. To obtain contact surface information more accurately for object recognition, in this paper a shape-pressure dual-mode electronic skin for contact surface detection of soft robotic grippers is proposed. It consists of pressure sensing units and curvature sensing units. The pressure sensing unit is insensitive to curvature through an ingenious structural design. It can detect pressure in the range of 0–––7.5 N with a measurement error of 3.92 %. The curvature sensing unit can detect curvature in the range of 0–––0.5 cm−1 with a sensitivity of 63.66 % / cm-1. The experimental results show that the electronic skin can help the soft robotic gripper obtain information on the contact surface. The electronic skin is expected to accelerate the application of soft robots in advanced tasks such as recognition and classification.

Functional soft robotic composites based on organic photovoltaic and dielectric elastomer actuator.

Improving the energy efficiency of robots remains a crucial challenge in soft robotics, with energy harvesting emerging as a promising approach to address it. This study presents a functional soft robotic composite called OPV-DEA, which integrates flexible organic photovoltaic (OPV) and dielectric elastomer actuator (DEA). The composite can simultaneously generate electrostatic bending actuation and harvest energy from external lights. Owing to its simplicity and inherent flexibility, the OPV-DEA is poised to function as a fundamental building block for soft robots. This study aimed to validate this concept by initially establishing the fabrication process of OPV-DEA. Subsequently, experimental samples are fabricated and characterized. The results show that the samples exhibit a voltage-controllable bending actuation of up to 15.6° and harvested power output of 1.35 mW under an incident power irradiance of 11.7 mW/cm2. These performances remain consistent even after 1000 actuation cycles. Finally, to demonstrate the feasibility of soft robotic applications, an untethered swimming robot equipped with two OPV-DEAs is fabricated and tested. The robot demonstrates swimming at a speed of 21.7mm/s. The power consumption of the robot is dominated by a high-voltage DC-DC converter, with a value approximately 1.5 W. As a result, the on-board OPVs cannot supply the necessary energy during locomotion simultaneously. Instead, they contribute to the overall system by charging a battery used for the controller on board. Nevertheless, these findings suggest that the OPV-DEA could pave the way for the development of an unprecedented range of functional soft robots.

Fluid Ejections in Nature.

From microscopic fungi to colossal whales, fluid ejections are universal and intricate phenomena in biology, serving vital functions such as animal excretion, venom spraying, prey hunting, spore dispersal, and plant guttation. This review delves into the complex fluid physics of ejections across various scales, exploring both muscle-powered active systems and passive mechanisms driven by gravity or osmosis. It introduces a framework using dimensionless numbers to delineate transitions from dripping to jetting and elucidate the governing forces. Highlighting the understudied area of complex fluid ejections, this review not only rationalizes the biophysics involved but also uncovers potential engineering applications in soft robotics, additive manufacturing, and drug delivery. By bridging biomechanics, the physics of living systems, and fluid dynamics, this review offers valuable insights into the diverse world of fluid ejections and paves the way for future bioinspired research across the spectrum of life.

A Soft Collaborative Robot for Contact-based Intuitive Human Drag Teaching.

Soft material-based robots, known for their safety and compliance, are expected to play an irreplaceable role in human-robot collaboration. However, this expectation is far from real industrial applications due to their complex programmability and poor motion precision, brought by the super elasticity and large hysteresis of soft materials. Here, a soft collaborative robot (Soft Co-bot) with intuitive and easy programming by contact-based drag teaching, and also with exceptional motion repeatability (< 0.30% of body length) and ultra-low hysteresis (< 2.0%) is reported. Such an unprecedented capability is achieved by a biomimetic antagonistic design within a pneumatic soft robot, in which cables are threaded to servo motors through tension sensors to form a self-sensing system, thus providing both precise actuation and dragging-aware collaboration. Hence, the Soft Co-bots can be first taught by human drag and then precisely repeat various tasks on their own, such as electronics assembling, machine tool installation, etc. The proposed Soft Co-bots exhibit a high potential for safe and intuitive human-robot collaboration in unstructured environments, promoting the immediate practical application of soft robots.

Design, analysis, and testing of a variable-stiffness soft grabbing robot coupling particle jamming and layer jamming

Variable-stiffness soft robots feature high flexibility in motion and high stiffness in task execution, so they are in wide demand. A coupled variable stiffening method and actuator structures based on layer jamming and particle jamming were developed. The influences of different coupled modes of particles and layers on variable stiffening were evaluated, and coupled variable-stiffness soft actuators were designed. Then, the finite element method was used to simulate the multi-airbag driving structure and variable-stiffness mechanical models were established for three coupled structures to optimize parameters influencing the stiffness. Furthermore, the prototypes of the coupled variable-stiffness soft actuators were prepared, and the test platform was built to estimate the bending performance and variable stiffening capacity. Finally, a soft grabbing robot was prepared using the coupled variable-stiffness soft actuator and application tests were performed. The theoretical analysis and test results show that the soft grabbing robot can grab objects in diverse shapes and the maximum mass of objects that can be grasped is 1.25 kg, which verifies the variable stiffening capacity of the coupled soft actuator. The research provides new theoretical and technological support for the design and application of variable-stiffness soft robots.

On the effective thermal conductivity of gallium-based liquid metal filled elastomers

Gallium based alloys are liquid at ambient temperature, combining both metal-like high thermal conductivity and fluidity characteristics, which contributes to their applications in thermal management, soft robotics, stretchable electronics and etc. A great number of experimental researches have been performed in preparing Ga-based liquid metal filled elastomers (LMFEs) with various constituent systems, processing techniques, droplet morphology and filler sizes in attempt to obtain the best thermal conductive efficiency. The thermal conductive mechanisms in these LMFEs are still lacking a comprehensive understanding up to date, and therefore the present work aimed to conduct a thorough analysis on this topic using both theoretical models and finite element method (FEM) simulations. The predictability of four classic micromechanics models was compared with the experiments and FEM simulations, and their relevant thermal conductive principles were identified from the simulated thermal flux evolution. Some deficiencies of these analytical models are identified and amended by reconsidering their special architectures. This work is favorable for establishing a general and quantitative relationship between the effective thermal conductivity and microstructures for most of the synthesized LMFEs available in the literatures.

Shape Programmable and Multifunctional Soft Textile Muscles for Wearable and Soft Robotics

Textiles are promising candidates for use in soft robots and wearable devices due to their inherent compliance, high versatility, and skin comfort. Planar fluidic textile‐based actuators exhibit low profile and high conformability, and can seamlessly integrate additional components (e.g., soft sensors or variable stiffness structures [VSSs]) to create advanced, multifunctional smart textile actuators. In this article, a new class of programmable, fluidic soft textile muscles (STMs) that incorporate multilayered silicone sheets with embedded fluidic channels is introduced. The STMs are scalable and fabricated by apparel engineering techniques, offering a fabrication approach able to create large‐scaled multilayered structures that can be challenging for current microfluidic bonding methods. They are also highly automation compatible due to no manual insertion of elastic tubes/bladders into textile structures. Liquid metal is employed for creating fluidic channels. It is not only used for actuation but also used as channels for additional features such as soft piezoresistive sensors with enhanced sensitivity to STMs’ pressure‐induced elongation, or VSSs of either low‐melting‐point alloys or a new thermo‐responsive epoxy with low viscosity and transition temperature. The STMs hold promising prospects for soft robotic and wearable applications, which is demonstrated by an example of a textile‐based wearable 3D skin‐stretch haptic interface.

Light-Responsive Soft Robot Integrating Actuation and Function Based on Laser Cutting.

Soft robots with good deformability and adaptability have important prospects in the bionics and intelligence field. However, current research into soft robots is primarily limited to the study of actuators and ignores the integrated use of functional devices and actuators. To enrich the functions of soft robots and expand their application fields, it is necessary to integrate various functional electronic devices into soft robots to perform diverse functions during dynamic deformation. Therefore, this paper discusses methods and strategies to manufacture optical stimuli-responsive soft actuators and integrate them into functional devices for soft robots. Specifically, laser cutting allows us to fabricate an optically responsive actuator structure, e.g., the curling direction can be controlled by adjusting the direction of the cutting line. Actuators with different bending curvatures, including nonbending, can be obtained by adjusting the cutting depth, cutting width, and the spacing of the cutting line, which makes it easy to obtain a folded structure. Thus, various actuators with complex shape patterns can be obtained. In addition, we demonstrate a fabrication scheme for a worm-like soft robot integrated with functional devices (LEDs are used in this paper). The local nonbending design provides an asymmetric structure that provides driving power and avoids damage to the functional circuit caused by the large deformation during movement. The integration of drive and function provides a new path for the application of soft robots in the intelligence and bionics field.

Advanced Flexible Sensing Technologies for Soft Robots

AbstractSoft robots have recently attracted increasing interest due to their advantages in durability, flexibility, and deformability, which enable them to adapt to unstructured environments and perform various complex tasks. Perception is crucial for soft robots. To better mimic biological systems, sensors need to be integrated into soft robotic systems to obtain both proprioceptive and external perception for effective usage. This review summarizes the latest advancements in flexible sensing feedback technologies for soft robotic applications. It begins with an introduction to the development of various flexible sensors for soft robots, followed by an in‐depth exploration of smart materials and advanced manufacturing methods. A detailed description of flexible sensing modalities and methodologies is also included in the review to illustrate the continuous breakthrough of the technology. In addition, the applications of soft robots based on these advanced sensing technologies are concluded as well. The challenges of flexible sensing technologies for soft robots and promising solutions are finally discussed and analyzed to provide a prospect for future development. By examining the recent advances in intelligent flexible sensing technologies, this review is dedicated to highlighting the potential of soft robotics and motivating innovation within the field.

Scalable Approach to Molecular Motor-Polymer Conjugates for Light-Driven Artificial Muscles.

The integration of molecular machines and motors into materials represents a promising avenue for creating dynamic and functional molecular systems, with potential applications in soft robotics or reconfigurable biomaterials. However, the development of truly scalable and controllable approaches for incorporating molecular motors into polymeric matrices has remained a challenge. Here, we show that light-driven molecular motors with sensitive photo-isomerizable double bonds can be converted into initiators for Cu-mediated controlled/living radical polymerization enabling the synthesis of star-shaped motor-polymer conjugates. This approach enables scalability, precise control over molecular structure, block copolymer structures, and high end group fidelity. Moreover, we demonstrate that these materials can be crosslinked to form gels with quasi-ideal network topology, exhibiting light-triggered contraction. We investigate the influence of arm length and polymer structure, and develop the first molecular dynamics simulation framework to gain deeper insights into the contraction processes. Leveraging this scalable methodology, we showcase the creation of bilayer soft robotic devices and cargo-lifting artificial muscles, highlighting the versatility and potential applications of this advanced polymer chemistry approach. We anticipate that our integrated experimental and simulation framework will accelerate scalable approaches for active polymer materials based on molecular machines, opening up new horizons in materials science and bioscience. This article is protected by copyright. All rights reserved.

Reconfigurable Liquid Crystal Elastomer Director Patterns for Multi-Mode Shape Morphing

Liquid crystal elastomers (LCEs) are a monolithic material with programmable three-dimensional (3D) morphing modes stemming from their designable non-uniform molecular orientations (or director). However, the shape morphing mode is generally fixed when director patterns of LCEs are determined. Multi-mode shape morphing is difficult to achieve since director patterns cannot be reconfigured. Herein, we demonstrate the ability to reconfigure LCE director patterns and initial shapes—and thus shape morphing modes—by the manual assembly and de-assembly of LCE pixels. We measured the mechanical properties of LCEs with and without UV glue and found their Young’s moduli were 9.6 MPa and 11.6 MPa. We firstly fabricate LCE pixels with designed director fields and then assemble 24 pixels with required director fields into an LCE film with a designed director pattern, which corresponds to a programmed shape morphing mode. We further exhibit that we can de-assemble the LCE film back into original pixels or new pixels with different shapes and then re-assemble them into a new film with a different initial shape and director pattern, which corresponds to a second programmed shape morphing mode. Principally, we can have a large amount of shape morphing modes if we have enough pixels. The demonstrated capability of multi-mode shape morphing enhances functions of LCEs, which broadens their applications in soft robotics, programmable origami/kirigami, responsive surfaces, and so on.

Advancements and Challenges in Underwater Soft Robotics: Materials, Control and Integration

This article focuses on the progress of underwater robots and the importance of software architectures in building robust and autonomous systems. The researchers underscore the challenges linked to implementation and stress the need for comprehensive validation of both reliability and efficacy. Their argument is on the extensive implementation of a globally applicable architectural framework that complies with established standards and guarantees interoperability within the field of robotics. The research also covers advancements in underwater soft robotics, which include the development of models, materials, sensors, control systems, power storage, and actuation techniques. This article explores the challenges and potential applications of underwater soft robotics, highlighting the need of collaboration across many fields and advancements in mechanical design and control methods. In the last section of the paper, the control approach and algorithms used to underwater exploration robots are reviewed. Particular attention is given to the application of Proportional Integral Derivative (PID) control and the incorporation of Backpropagation Neural Network (BPNN) for PID parameter determination.

Soft Polymer Optical Fiber Sensors for Intelligent Recognition of Elastomer Deformations and Wearable Applications.

In recent years, soft robotic sensors have rapidly advanced to endow robots with the ability to interact with the external environment. Here, we propose a polymer optical fiber (POF) sensor with sensitive and stable detection performance for strain, bending, twisting, and pressing. Thus, we can map the real-time output light intensity of POF sensors to the spatial morphology of the elastomer. By leveraging the intrinsic correlations of neighboring sensors and machine learning algorithms, we realize the spatially resolved detection of the pressing and multi-dimensional deformation of elastomers. Specifically, the developed intelligent sensing system can effectively recognize the two-dimensional indentation position with a prediction accuracy as large as ~99.17%. The average prediction accuracy of combined strain and twist is ~98.4% using the random forest algorithm. In addition, we demonstrate an integrated intelligent glove for the recognition of hand gestures with a high recognition accuracy of 99.38%. Our work holds promise for applications in soft robots for interactive tasks in complex environments, providing robots with multidimensional proprioceptive perception. And it also can be applied in smart wearable sensing, human prosthetics, and human-machine interaction interfaces.

Chemical and Photochemical-Driven Dissipative Fe3+/Fe2+-Ion Cross-Linked Carboxymethyl Cellulose Gels Operating Under Aerobic Conditions: Applications for Transient Controlled Release and Mechanical Actuation.

A Fe3+-ion cross-linked carboxymethyl cellulose, Fe3+-CMC, redox-active gel exhibiting dissipative, transient stiffness properties is introduced. Chemical or photosensitized reduction of the higher-stiffness Fe3+-CMC to the lower-stiffness Fe2+-CMC gel, accompanied by the aerobic reoxidation of the Fe2+-CMC matrix, leads to the dissipative, transient stiffness, functional matrix. The light-induced, temporal, transient release of a load (Texas red dextran) and the light-triggered, transient mechanical bending of a poly-N-isopropylacrylamide (p-NIPAM)/Fe3+-CMC bilayer construct are introduced, thus demonstrating the potential use of the dissipative Fe3+-CMC gel for controlled drug release or soft robotic applications.

Selection of a suitable additive manufacturing process for soft robotics application using three-way decision-making

Selection of a suitable additive manufacturing process for soft robotics application using three-way decision-making

Three-Dimensional Printing Strategies for Enhanced Hydrogel Applications.

This study explores the dynamic field of 3D-printed hydrogels, emphasizing advancements and challenges in customization, fabrication, and functionalization for applications in biomedical engineering, soft robotics, and tissue engineering. It delves into the significance of tailored biomedical scaffolds for tissue regeneration, the enhancement in bioinks for realistic tissue replication, and the development of bioinspired actuators. Additionally, this paper addresses fabrication issues in soft robotics, aiming to mimic biological structures through high-resolution, multimaterial printing. In tissue engineering, it highlights efforts to create environments conducive to cell migration and functional tissue development. This research also extends to drug delivery systems, focusing on controlled release and biocompatibility, and examines the integration of hydrogels with electronic components for bioelectronic applications. The interdisciplinary nature of these efforts highlights a commitment to overcoming material limitations and optimizing fabrication techniques to realize the full potential of 3D-printed hydrogels in improving health and well-being.

Nanocellulose-mediated bilayer hydrogel actuators with thermo-responsive, shape memory and self-sensing performances

Inspired by creatures, abundant stimulus-responsive hydrogel actuators with diverse functionalities have been manufactured for applications in soft robotics. However, constructing a shape memory and self-sensing bilayer hydrogel actuator with high mechanical strength and strong interfacial bonding still remains a challenge. Herein, a novel bilayer hydrogel with a stimulus-responsive TEMPO-oxidized cellulose nanofibers/poly(N-isopropylacrylamide) (TOCN/PNIPAM) layer and a non-responsive TOCN/polyacrylamide (TOCN/PAM) layer is proposed as a thermosensitive actuator. TOCNs as a nano-reinforced phase provide a high mechanical strength and endow the hydrogel actuator with a strong interfacial bonding. Due to the incorporation of TOCNs, the TOCN/PNIPAM hydrogel exhibits a high compressive strength (~89.2 kPa), elongation at break (~170.7 %) and tensile strength (~24.0 kPa). The prepared PNIPAM/TOCN/PAM hydrogel actuator performs the roles of an encapsulation, jack, temperature-controlled fluid valve and temperature-control manipulator. The incorporation of Fe3+ further endows the bilayer hydrogel actuator with a synergistic performance of shape memory and temperature-driven, which can be used as a temperature-responsive switch to detect ambient temperature. The PNIPAM/TOCN/PAM-Fe3+ conductive hydrogel can be assembled into a flexible sensor and generate sensing signals when driven by temperature changes to achieve real-time feedback. This research may lead to new insights into the design and manufacturing of intelligent flexible soft robots.

Dielectric elastomers with large actuation strain and high output force

AbstractDielectric elastomer actuator (DEA) is considered as an ideal artificial muscle with soft and light in nature, widespread application in soft robotics and sensors. Dielectric elastomer (DE), the core component of DEA, with high output force and large actuation strain under relatively low driving electric field is critical for high‐performance DEA. However, the widely used VHB series (3M) DE suffered from very large pre‐strain and high driving voltage to get their high actuation performance, limiting their scope of application. In this work, the DEs with good mechanical and dielectric properties were prepared via UV curing method consisting of acrylic acid (AA) with strong polar groups as functional monomer, n‐butyl acrylate (BA) as soft monomer and urethane acrylate as cross‐linker (c‐p(BA‐AA)). The c‐p(BA‐AA) DE films obtained the simultaneous increasing of dielectric constant and breakdown strength with the increasing content of AA, which guaranteed the good actuation performance. The c‐p(BA‐AA) film exhibited excellent actuating performance (44.11% actuation strain at 45 kV/mm) without pre‐strain. Besides, a simple linear actuator based on the c‐p(BA‐AA) film could easily output weight that is tens of times of its own active weight (654.1 mN/g at 30 kV/mm).