Soft Robotics Research Articles

Photomechanical Crystals as Light-Activated Organic Soft Microrobots.

In the field of materials science, dynamic molecular crystals have attracted significant attention as a novel class of energy-transducing materials. However, their development into becoming fully functional actuators remains somewhat limited. This study focuses on one family of dynamic crystalline materials and delves into exploring the efficiency of conversion of light energy to mechanical work. A simple setup is designed to determine a set of performance indices of anthracene-based crystals as an exemplary class of dynamic molecular crystals. The ability of these crystals to reversibly bend due to dimerization is realistically assessed from the perspective of the envisaged soft robotics applications, where wireless photomechanical grippers manipulate and assemble microscopic objects driven and controlled by light instead of lines and motors. The approach described here not only guides the quantification of responsive molecular crystals' actuation potential but also aims to attract an interdisciplinary interest to further develop this class of materials into controllable all-organic actuating elements to be used in microrobotics for engineering or biomedicine.

Recent progress in soft robots: principles, designs, and applications

Abstract With advancements in the manufacturing industry persisting, soft robots have experienced rapid development, progressively emerging as a pivotal focus in the future trajectory of robotic technology. As a new type of robot technology, soft robots have significant differences from traditional robots in terms of principles, driving methods, design control, and other aspects. Here, we sort out and summarize the latest developments in soft robotics. Firstly, typical principles and driving methods were introduced, including rope drive, variable stiffness drive (gas negative pressure, intelligent fluids, etc), electromagnetic drive, and so on. Secondly, the main materials and characteristics of soft robots are analyzed, including hydrogels, shape memory alloys, photosensitive materials, electromagnetic rheological elastomer, biodegradable materials, etc. Then, typical soft robot structures and processing methods were introduced, including fluid static skeleton structures, muscle fluid static skeleton structures, and others. Finally, the problems of soft robots are analyzed, and the future development direction and importance are summarized. This paper highlights the recent progress in smart functional materials, typical biomimetic structures, and assembly methods applicable to soft robots, which is expected to assist the development and advancement of the next generation of soft robots.

Shape-Morphing in Oxide Ceramic Kirigami Nanomembranes.

Interfacial strain engineering in ferroic nanomembranes can broaden the scope of ferroic nanomembrane assembly as well as facilitate the engineering of multiferroic-based devices with enhanced functionalities. Geometrical engineering in these material systems enables the realization of 3-D architectures with unconventional physical properties. Here, 3-D multiferroic architectures are introduced by incorporating barium titanate (BaTiO3, BTO) and cobalt ferrite (CoFe2O4, CFO) bilayer nanomembranes. Using photolithography and substrate etching techniques, complex 3-D microarchitectures including helices, arcs, and kirigami-inspired frames are developed. These 3-D architectures exhibit remarkable mechanical deformation capabilities, which can be attributed to the superelastic behavior of the membranes and geometric configurations. It is also demonstrated that dynamic shape reconfiguration of these nanomembrane architectures under electron beam exposure showcases their potential as electrically actuated microgrippers and for other micromechanical applications. This research highlights the versatility and promise of multi-dimensional ferroic nanomembrane architectures in the fields of micro actuation, soft robotics, and adaptive structures, paving the way for incorporating these architectures into stimulus-responsive materials and devices.

A novel morphing soft robot design to minimize deviations

A novel morphing soft robot design to minimize deviations

Optimizing the grasping behavior of a soft robot's gripper

AbstractIn this study, smart composite materials based on 4D printing technology were used to determine the grasping ability of four‐claw gripper of soft robot. First, fused deposition modeling (FDM) is used to prepare polylactic acid (PLA) strips on the surface of a rectangular bamboo substrate to create a single‐claw gripper for a smart composite soft robot, while using stimulus (heat) to deform and recover its original shape. Here, the authors first evaluate the deformation and recovery angle of the single‐claw gripper of the smart composite soft robot, as well as various processing parameters such as heating temperature and time. This study then used FDM to print PLA ribbons on cross‐shaped bamboo sheets to design the four‐claw gripper of soft robot and its gripper technology was actuation type. Then, the four‐claw gripper of soft robot was used to grab the table tennis ball to test its grasping ability. Finally, four processing parameters (width of claw, pitch of PLA ribbon, heating temperature, and heating time) were applied to determine the grasping ability of the four‐claw gripper of soft robot. The optimal processing parameters for the grasping ability of the four‐claw gripper of soft robot were width of claw of 20.2 mm, pitch of PLA ribbon of 1 mm, heating temperature of 200°C, and the heating time of 15 s. The authors also applied the operation window of two processing parameters to discuss the success of the grasping ability of the four‐claw gripper of soft robot. The innovation of this study is the use of PLA/bamboo composite materials as the four‐claw gripper of soft robot and these materials are cheap, easy to obtain, and can be recycled naturally. This study uses a simple thermal stimulus to enable the four‐claw gripper of soft robot to easily grasp irregular objects.Highlights The innovative composite material of polylactic acid and bamboo fabricated by 3D printing. Width of claw and heating temperature are the key factors on grasping ability. Operating window of grasping ability appears on four‐claw gripper of soft robot.

Main-Chain Azobenzene Poly(ether ester) Multiblock Copolymers for Strong and Tough Light-Driven Actuators.

The stimulus-responsive polymeric materials have attracted great research interest, especially those remotely manipulated materials with potential applications in actuators and soft robotics. Here we report a photoresponsive main-chain actuator based on azobenzene poly(ether ester) multiblock copolymer (mBCP) thermoplastic elastomers, (PTAD-b-PTMO-b-PTAD)n, which were synthesized by a cascade polycondensation-coupling ring-opening polymerization method using poly(tetramethylene oxide) (PTMO) and azobenzene-containing cyclic oligoesters (COTADs) as monomers. The thermal, mechanical, and microphase separation behaviors of mBCPs could be flexibly tuned by altering the ratios of soft-to-hard segments and block number (n). The oriented azobenzene mBCP fibers were prepared by melt spinning, showing reversible photoresponsive properties with remarkably high strength (∼1000 MPa) and high elongation at break comparable to spider silks. Fast photoinduced bending and contraction were successfully achieved in these fibers with high work and power densities and energy conversion efficiency, enabling it to lift up about 250 times of its own weight. Moreover, it can take out materials inside the tube by UV-light control. These fibers could be applied in light-driven actuators or telecontrolled robot arms.

Directional soft jumper by harnessing asymmetric snapping of a semi-open shell

Precise control of the jumping direction and trajectory of soft robotics poses a challenge due to their large deformation and low stiffness. In this paper, we propose a pneumatic soft actuator consisting of an inward semi-spherical shell with a pre-existing T-shaped incision, which exhibits asymmetric snapping-through buckling under an increasing internal pressure. During the dynamic snapping, the shell deforms rapidly, resulting in an asymmetric, inclined impact with the ground. The impact force drives the soft actuator to jump in a controllable direction, and the adopted semi-open pneumatic system greatly improves the efficient utilization of air ejection energy. This design not only enhances the jumping performance, but also allows the control of the trajectory through adjusting the air pressure. Our experiments demonstrate that the actuator can achieve various jumping functions, for examples, to jump over obstacles of varying heights and depths, to execute rapid and continuous locomotion, and even to escape from a deep bottle. This work offers a paradigmatic idea for designing highly maneuverable and controllable soft robots.

Reinforced Magnetic-Responsive Electro-Ionic Artificial Muscles by 3D Laser-Induced Graphene Nano-Heterostructures.

Efficient ion transport and enriched responsive modals via modulating electrochemical properties of conductivity and capacitance are essential for soft electro-ionic actuators. However, cost-effective and straightforward approaches to achieve expedited fabrication of active electrode materials capable of multimodal-responsiveness remain limited. Herein, this work reports the one-step ultrafast laser direct patterning method, to readily synthesize electro- and magneto-active electrode material, derived from the unique cobalt-phosphorus co-doped core-shell heterostructures within 3D graphene frameworks, for fulfilling the dual-mode responsive electro-ionic actuators. The designed nanofiber-structured heterointerfaces across electrodes and electrolytes further promote highly efficient electron/ion transfer. The developed soft actuator exhibits superior actuation performance of peak-to-peak displacement to 13.08mm under an ultra-low ±0.5V, with doubled direct current deflection under 200 mT at 1V, an ultrafast response of 1.38 s and long-term stability (>90% retention for ≈106000 cycles), even detectable bending to ≈280µm under exceptional ±10mV. The promising demonstration of promoting differentiation and proliferation of stem cells under mechanical strain and electrical stimuli, sheds more light as well on the possibility of facilitating biomedical soft robotics with ultrahigh actuation performance.

A Koopman-based residual modeling approach for the control of a soft robot arm

Soft robots are challenging to model and control due to their poorly defined kinematics and nonlinear dynamics. Recently, Koopman operator theory has been shown capable of constructing control-oriented soft robot models from data. However, building these models requires extensive data collection and they do not necessarily generalize well outside of the training observations. This paper presents a more data-efficient and generalizable approach to soft robot modeling that first identifies a physics-based Koopman model then supplements it with a data-driven residual Koopman model. The resulting combined model is linear and thus compatible with real-time model-based control techniques such as Model Predictive Control (MPC). The efficacy of the approach is demonstrated on several simulated systems and on a real soft robot arm, where it is shown to generate models that are more accurate than purely physics-based models and require less data to construct than purely data-driven models. Using a model-based controller, the soft arm is able to successfully track end effector trajectories, perform a pick-and-place task, and write on a dry-erase board, showcasing the applicability of this framework to increase the capabilities of soft robotic systems.

Frequency-Controlled Fluidic Oscillators for Soft Robots.

Electronic-free controls have recently emerged as one of the main topics in soft robotics. However, electronic-free fluidic circuits still lack controllability and reconfigurability to achieve different functions. Here, reconfigurable pneumatic valves that widen the design space of fluidic circuits are presented. The significance of two parameters on the valve's operation: a pre-defined manufacturing parameter that sets the initial operational range of the valve, and a second, on-the-fly modifiable geometric parameter that shifts the behavior of the valve during operation is shown. It is demonstrated that equipping the valve with these reconfigurable features enables the tuning of fluidic oscillatory circuits as illustrated by two examples: a frequency-controlled relaxation oscillator and a reconfigurable ring oscillator. The relaxation oscillator is employed to control the actuation frequency of a soft hopper, which is able to achieve 80 to 125 hops min-1 and a hopping speed ranging from ≈1 to ≈1.185 BL s-1. Additionally, the reconfigurable ring oscillator is used to demonstrate how each output frequency can be controlled independently, via a soft robotic crawler that can navigate in three directions, and a volume-controlled fluidic pump able to achieve mixing of solutions in environments where electronic components cannotoperate.

From paper to innovation: revolutionising technology with the ancient art of origami and kirigami

From paper to innovation: revolutionising technology with the ancient art of origami and kirigami The S-FOAM project aims to enhance metamaterial design by integrating origami/kirigami techniques into cellular structures, allowing for self-foldability and shape-morphing in response to stimuli. This research seeks to optimise material stiffness, strength and resilience. Potential applications include soft robotics, wearable devices, adaptive medical devices and flexible solar panels that adjust their shape according to sunlight.

Double-Chamber Underwater Thruster Diaphragm with Flexible Displacement Detection Function.

The purpose of this paper is to develop a self-detecting diaphragm integrated with a flexible sensor, which is utilized in an underwater thruster. Resistive strain sensors are easy to manufacture and integrate due to their advantages in reliable stretchability and ductility. Inspired by the structure of neurons, we fabricated resistive flexible sensors using silica gel as the matrix with carbon black and carbon nanotubes as additives. All fabricated sensors demonstrated positive resistance characteristics under 60% strain conditions, with the sensor containing a mass ratio of 9 wt % carbon black and carbon nanotubes exhibiting the best resistance-strain linearity. To verify the anti-interference capability of sensors with silica gel substrates of varying hardness values under changing environmental pressure, we tested the pressure sensitivity of the sensors by altering the hardness of the silica gel. The results indicate that silica gel with the highest hardness value provides the best resistance to environmental pressure interference. To detect the motion and deformation of the internal functional components of the thruster, we combined strain detection with the movement operation function of a silica gel diaphragm, resulting in a new integrated diaphragm with sensor detection capabilities. The integrated diaphragm was evaluated by using a tensile testing machine and an LCR tester. The results demonstrate that the mechanical properties of the diaphragm are stable, exhibiting reliable resistance characteristics and a sensitive response during underwater operation. This research can also be applied to the detection of motion amplitudes of other types of soft robots.

Analysis of Robot–Environment Interaction Modes in Anguilliform Locomotion of a New Soft Eel Robot

Bio-inspired robots with elongated anatomy, like eels, are studied to discover anguilliform swimming principles and improve the robots’ locomotion accordingly. Soft continuum robots replicate animal–environment physics better than noncompliant, rigid, multi-body eel robots. In this study, a slender soft robot was designed and tested in an actual swimming experiment in a still-water tank. The robot employs soft pneumatic muscles laterally connected to a flexible backbone and activated with a rhythmic input. The position of seven markers mounted on the robot’s backbone was recorded using QualiSys® Tracking Manager (QTM) 1.6.0.1. The system was modeled as a fully coupled fluid–solid interaction (FSI) system using COMSOL Multiphysics® 6.1. Further data postprocessing and analysis were conducted, proposing a new mode decomposition algorithm using simulation data. Experiments show the success of swimming with a velocity of 28 mm/s and at a frequency of 0.9 Hz. The mode analysis allowed the modeling and explanation of the fluctuation. Results disclose the presence of traveling waves related to anguilliform waves obtained by the superposition of two main modes. The similarities of the results with natural anguilliform locomotion are discussed. It is concluded that soft robot undulation is ruled by dynamic modes induced by robot–environment interaction.

Modeling the Dynamic Response of a Light-Driven Liquid Crystal Elastomer Fiber/Baffle/Spring-Coupled System

Abstract A self-oscillating system can harness energy from the external environment to sustain its continuous motion, making it highly suitable for applications in soft robotics, military industry, energy, and other fields. This article introduces a system composed of a light-responsive liquid crystal elastomer fiber, a baffle, and a spring, capable of achieving self-oscillation under stable lighting conditions. Considering the established dynamic model of light-responsive liquid crystal elastomers (LCEs), a nonlinear dynamic model is introduced and used as the basis for exploring its dynamic characteristics. Numerical computations reveal that the coupled system exhibits two distinct motion states: self-oscillation and static states. The behavior of the system is sustained through the interaction of light energy and damping dissipation. Furthermore, a detailed investigation is conducted on the key system parameters affecting the frequency and amplitude of self-oscillation. In contrast to the complexity of current self-oscillating systems, this particular self-oscillating system features simplicity in structure, ease of manufacture, and strong adaptability. These advantages are expected to provide broader design possibilities for micro-machines and mechanical production processes.

'Golden Ratio Yoshimura' for meta-stable and massively reconfigurable deployment.

Yoshimura origami is a classical folding pattern that has inspired many deployable structure designs. Its applications span from space exploration, kinetic architectures and soft robots to even everyday household items. However, despite its wide usage, Yoshimura has been fixated on a set of design constraints to ensure its flat foldability. Through extensive kinematic analysis and prototype tests, this study presents a new Yoshimura that intentionally defies these constraints. Remarkably, one can impart a unique meta-stability by using the Golden Ratio angle ([Formula: see text]) to define the triangular facets of a generalized Yoshimura (with [Formula: see text], where [Formula: see text] is the number of rhombi shapes along its cylindrical circumference). As a result, when its facets are strategically popped out, a 'Golden Ratio Yoshimura' boom with [Formula: see text] modules can be theoretically reconfigured into [Formula: see text] geometrically unique and load-bearing shapes. This result not only challenges the existing design norms but also opens up a new avenue to create deployable and versatile structural systems.This article is part of the theme issue 'Origami/Kirigami-inspired structures: from fundamentals to applications'.

Chaotic self-beating of left ventricle modeled by liquid crystal elastomer

Self-vibration systems using active materials generate sustained vibrations spontaneously through synergistic actions between internal structure and external environment. Therefore, the self-vibration systems have a wide application prospect in bionic design and soft robots. Inspired by the human left ventricle, a novel chaotic self-beating system modeled by an electrothermal responsive liquid crystal elastomer balloon is proposed. To study the self-beating characteristics of the liquid crystal elastomer left ventricle, a simplified theoretical framework is formed by combining the electric joule heat conduction model, the left ventricle circulatory system model and the dynamic principle. The numerical results show that the left ventricle has two typical self-beating modes: periodic beating and chaotic beating. The mechanisms of periodic beating and chaotic beating are elucidated by analyzing the balance between the work done by each force on the left ventricle. In addition, the effects of key system parameters on self-beating behavior are investigated in detail. This research will promote the application of chaotic dynamics in artificial hearts and medical devices, while providing a new perspective for the study of chaotic behavior and mechanism in biology.

Magneto-viscoelastic rod model for hard-magnetic soft rods under 3D large deformation: Theory and numerical implementation

The main purpose of this work is to develop a three-dimensional (3D) viscoelastic rod model for hard-magnetic soft (HMS) rods under large deformation which are widely used active structures in soft robotics. To do so, the Simo’s viscoelasticity theory has been rationally incorporated into the geometrically exact 3D curved rod model. The proposed model includes the deformation modes of axial tension, shear, bending, and torsion, which is applicable to the HMS rods with arbitrarily initial curved and twisted geometries under 3D large deformation. The viscoelastic constitutive equations of the HMS rod in the present formulation are formulated, which include the general relaxation functions. To obtain the expression for the magnetic load, the rotation-based magnetic free energy density is introduced, and the governing equations of the HMS rod with magnetic load and body force are presented. To obtain the numerical implementation, an implicit time integration algorithm that simply extends the generalized-α method for the rotation group, and the corresponding variational formulation and its linearization of the rod model are derived. To validate the model, five numerical examples, including 2D dynamic buckling, 3D static, and 3D dynamic problem are presented. The dynamic problems include the dynamic snap-through behavior of a bistable HMS arch and damped oscillation of a quarter arc cantilever under 3D deformation. The simulation results show good agreement with the results reported in the literature.

Spiking neural networks-based generation of caterpillar-like soft robot crawling motions

Robots have been widely used in daily life in recent years. Unlike conventional robots made of rigid materials, soft robots utilize stretchable and flexible materials, allowing flexible movements similar to those of living organisms, which are difficult for traditional robots. Previous studies have used periodic signals to control soft robots, which lead to repetitive motions and make it challenging to generate environment-adapted motions. To address this issue, control methods can be learned through deep reinforcement learning to enable soft robots to select appropriate actions based on observations, improving their adaptability to environmental changes. In addition, as mobile robots have limited onboard resources, it is necessary to conserve battery consumption and achieve low-power control. Therefore, the use of spiking neural networks (SNNs) with neuromorphic chips enables low-power control of soft robots. In this study, we investigated the learning methods for SNNs aimed at controlling soft robots. Experiments were conducted using a caterpillar-like soft robot model based on previous studies, and the effectiveness of the learning method was evaluated.

Sulphonated-graphene oxide nanocomposite membranes with PVA-ZnO nanostructures and mechanized agitation-enhanced pt coating for soft robotics bending actuator

Ionic Polymer-Metal Composite (IPMC) actuators have garnered significant scientific attention in robotics and artificial muscles for their ability to operate at low voltage, high strain capacity, and lightweight construction. The lack of uniform bending in IPMC actuators undermines their control precision and restricts their range of potential applications. This study utilized the unique properties of nanoscale materials and Polyvinyl alcohol (PVA) to develop a membrane for soft robotic bending actuation. Subsequently, a platinum coating was applied to the membrane to mitigate the limitations of IPMCs in soft robotics applications. Herein, mechanized agitation was employed during the solution-casting process to enhance platinum metal (Pt-metal) coating on zinc oxide (ZnO) nanostructures within a PVA- sulphonated graphene oxide nanocomposite, achieving enhanced soft robotics bending actuation capabilities. The resultant membrane composed of sulphonated-graphene oxide and polyvinyl-zinc oxide coated with pt (PsGZ-Pt) was examined by exploring advanced analytical techniques such as Fourier transform infrared spectroscopy (FTIR), scanning electron microscopy (SEM), transmission electron microscopy (TEM), and X-ray diffraction spectroscopy (XRD). Furthermore, the ionic exchange capacity (IEC), proton conductivity (PC), water uptake and water loss characteristics were evaluated to be 2.1 meq. g−1, 1.95 × 10−3 Scm−1, 59.62% at 45 °C and water loss at 9 min immersion found 38%, respectively. Electromechanical studies of the PsGZ-Pt membrane (size 30 mm length, 10 mm width, 0.07 mm thickness) showed an actuation force of 0.3253 mN and a displacement of roughly 22.8 mm at ± 3 VDC. These findings highlighted the PsGZ-Pt membrane’s potential as a low-cost alternative to expensive commercial IPMC actuators based on polymers. These results presented a straightforward, low-cost approach for synthesizing PsGZ-Pt utilizing conventional technologies. The PsGZ-Pt membrane shows promise for generating low-cost, high-performance actuation materials with a wide range of industrial applications.

Active Fréedericksz Transition in Active Nematic Droplets

Active nematic liquid crystals have the remarkable ability to spontaneously deform and flow in the absence of any external driving force. While living materials with orientational order, such as the mitotic spindle, can self-assemble in quiescent active phases, reconstituted active systems often display chaotic, periodic, or circulating flows under confinement. Quiescent active nematics are, therefore, quite rare, despite the prediction from active hydrodynamic theory that confinement between two parallel plates can suppress flows. This spontaneous flow transition—named the active Fréedericksz transition by analogy with the conventional Fréedericksz transition in passive nematic liquid crystals under a magnetic field—has been a cornerstone of the field of active matter. Here, we report experimental evidence that confinement in spherical droplets can stabilize the otherwise chaotic dynamics of a 3D extensile active nematics, giving rise to a quiescent—yet still out-of-equilibrium—nematic liquid crystal. The active nematics spontaneously flow when confined in larger droplets. The composite nature of our model system composed of extensile bundles of microtubules and molecular motors dispersed in a passive colloidal liquid crystal allows us to demonstrate how the interplay of activity, nematic elasticity, and confinement impacts the spontaneous flow transition. The critical diameter increases when motor concentration decreases or nematic elasticity increases. Experiments and simulations also demonstrate that the critical confinement depends on the confining geometry, with the critical diameter in droplets being larger than the critical width in channels. Biochemical assays reveal that neither confinement nor nematic elasticity impacts the energy-consumption rate, confirming that the quiescent active phase is the stable out-of-equilibrium phase predicted theoretically. Further experiments in dense arrays of monodisperse droplets show that fluctuations in the droplet composition can smooth the flow transition close to the critical diameter. In conclusion, our work provides experimental validation of the active Fréedericksz transition in 3D active nematics, with potential applications in human health, ecology, and soft robotics. Published by the American Physical Society 2024