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Nano Research 2023年第1期16卷 1313-1319页

作者： Zewen Su Yingjie Zhao Youqiang Huang Chaoyue Xu Xiaolei Yang Binrui Wang Beibei Xu Shiqing Xu Gongxun Bai College of Optical and Electronic Technology China Jiliang UniversityHangzhou 310018China College of Mechanical and Electrical Engineering China Jiliang UniversityHangzhou 310018China Key laboratory of Modern Optical Instruments Zhejiang UniversityHangzhou 310018China

Remote controlled soft actuators have attracted ever-increasing interest in industrial,medical,robotics,and engineering *** actuators are charming than normal tools in executing dedicate tasks due to small volume and flexible body they ***,it remains a challenge to design soft actuator that can adapt to multi-environments under remote stimuli with promising nano ***,we have developed a kind of near-infrared laser driven soft actuators with multi locomotive modes based on WSe2 and graphene nanosheets *** locomotion modes are driven by photothermal effect induced deformation to adapt to different working ***,the specially designed gripper driven by pulsed laser can lift a heavy load which is four times of its *** work broadens the choice of advanced nanomaterials for photothermal conversion of soft *** is promising to realize applications including photothermal therapy and complex environment detection through the combination of the intelligent robot design and optical fiber system.

关键词： nanosheets heterostructure WSe2 graphene photothermal conversion light-driven soft actuator

Ultralong Stretchable soft actuator(US2A):Design,Modeling and Application

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 280-291页

作者： Wenbiao Wang Yunfei Zhu Shibo Cai Guanjun Bao Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of EducationZhejiang University of TechnologyHangzhou310014China Beijing Institute of Spacecraft Environment Engineering China Academy of Space TechnologyBeijing100094China

actuator plays a significant role in soft *** paper proposed an ultralong stretchable soft actuator(US2A)with a variable and sizeable maximum *** US2A is composed of a silicone rubber tube and a bellows woven *** maximal extension can be conveniently regulated by just adjusting the wrinkles’initial angle of the bellows woven *** kinematics of US2A could be obtained by geometrically analyzing the structure of the bellows woven sleeve when the silicone rubber tube is *** on the principle of virtual work,the actuating models have been established:the pressure-elongation model and the pressure-force *** models reflect the influence of the silicone tube’s shell thickness and material properties on the pneumatic muscle’s performance,which facilitates the optimal design of US2A for various working *** experimental results showed that the maximum elongation of the US2A prototype is 257%,and the effective elongation could be variably regulated in the range of 0 and 257%.The proposed models were also verified by pressure-elongation and pressure-force experiments,with an average error of 5%and 2.5%,***,based on the US2A,we designed a pneumatic rehabilitation glove,soft arm robot,and rigid-soft coupling continuous robot,which further verified the feasibility of US2A as a soft driving component.

关键词： soft robotics soft actuator Pneumatic artificial muscle Modeling

Bending Prediction Method of Multi-Cavity soft actuator

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Journal of Shanghai Jiaotong university(Science) 2022年第5期27卷 631-637页

作者：霍前俊刘胜徐青瑜张远飞张耀耀李旭 School of Mechanical and Automotive Engineering Shanghai University of Engineering ScienceShanghai201620China

The multi-cavity soft actuator is assembled from single-cavity soft actuator through a reasonable geometric *** has the characteristic that the pneumatic soft actuator is driven by its own deformation and has more degrees of *** soft actuator is widely used as an emerging discipline and its strong compliance has been greatly developed and ***,as the most application potential type of soft actuators,there is still a lack of simple and effective deformation prediction methods for studying the spatial deformation of multi-cavity soft *** solve this problem,a vector equation method is proposed based on the analysis of the principle of the space deformation of the two-cavity,three-cavity and four-cavity soft ***,a nonlinear mathematical model of the air pressure,space position and deformation trajectory of the soft actuator end is established by combining the vector equation ***,the three-channel soft actuator is verified through *** results show that the mathematical model can better predict the space deformation trajectory of the soft actuator,which provides a new research method for studying the space deformation of the multi-channel soft actuator.

关键词： soft actuator multi-cavity soft vector equation method finite element simulation

Finite element analysis of ionic liquid gel soft actuator

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Chinese Physics B 2017年第12期26卷 381-388页

作者：何斌张成红丁安 College of Electronics and Information Engineering Tongji University Shanghai 201804 China

A new type of soft actuator material-ionic liquid gel （ILG）, which consists of HEMA, BMIMBF4, and TiO2, can be transformed into gel state under the irradiation of ultraviolet （UV） light. In this paper, Mooney-Rivlin hyperelastic model of finite element method is proposed for the first time to study the properties of the ILG. It has been proved that the content of TiO2 has a great influence on the properties of the gel, and Young＇s modulus of the gel increases with the increase of its content, despite of reduced tensile deformation. The results in this work show that when the TiO2 content is 1.0 wt%, a large tensile deformation and a strong Young＇s modulus can be obtained to be 325% and 7.8 kPa, respectively. The material parameters of ILG with TiO2 content values of 0.2 wt%, 0.5 wt%, 1.0 wt%, and 1.5 wt% are obtained, respectively, through uniaxial tensile tests, including C10, C01, C20, C11, C02, C30, C21, C12, and C03 elements. In this paper, the large-scaled general finite element software ANSYS is used to simulate and analyze the ILG, which is based on SOLID186 element and nonlinear hyperelastic Mooney-Rivlin model. The finite element simulation analysis based stress-strain curves are almost consistent with the experimental stress-strain curves, and hence the finite element analysis of ILG is feasible and credible. This work presents a new direction for studying the performance of soft actuator for the ILG, and also contributes to the design of soft robot actuator.

关键词： ionic liquid gel (ILG) soft actuator Mooney-Rivlin model finite element analysis

Topology-Optimized 4D Printing of a soft actuator

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Acta Mechanica Solida Sinica 2020年第3期33卷 418-430页

作者： Ali Zolfagharian Martin Denk Mahdi Bodaghi Abbas Z.Kouzani Akif Kaynak School of Engineering Deakin UniversityGeelong 3216Australia Munich University of Applied Sciences 80335 MunichGermany Department of Engineering School of Science and TechnologyNottingham Trent UniversityNottingham NG 118NSUK

soft robots and actuators are emerging devices providing more capabilities in the field of *** flexibility and compliance attributing to soft functional materials used in the fabrication of these devices make them ideal for delivering delicate tasks in fragile environments,such as food and biomedical ***,the intuitive nonlinearity of soft functional materials and their anisotropic actuation in compliant mechanisms constitute an existent challenge in improving their *** optimization(TO)along with four-dimensional(4D)printing is a powerful digital tool that can be used to obtain optimal internal architectures for the efficient performance of porous soft *** paper employs TO analysis for achieving high bending deflection of a 3D printed polyelectrolyte actuator,which shows bending deformations in response to electrical stimuli in an electrolyte *** performance of the actuator is studied in terms of maximum bending and actuation rate compared with a solid,uniformly 3D printed and topology-optimized *** experimental results proved the effectiveness of TO on achieving higher bending deformation and actuation rate against a uniformly 3D printed actuator.

关键词： Topology optimization 4D printing 3D printing soft actuator

Bioinspired Spiral soft Pneumatic actuator and Its Characterization

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Journal of Bionic Engineering 2021年第5期18卷 1101-1116页

作者： Zhiyuan Zhang Xueqian Wang Deshan Meng Bin Liang Shenzhen Key Laboratory of Intelligent Robotics Tsinghua Shenzhen International Graduate SchoolShenzhen 518055China Institute of Robotics and Intelligent Systems ETH Zurich8801 ZurichSwitzerland Research Institute of Tsinghua University at Shenzhen Shenzhen 518057China School of Aeronautics and Astronautics Sun Yat-Sen UniversityShenzhen 518107China

soft robots have unique advantages over traditional rigid robots and have broad application prospects in many *** expand their bioinspired applications,we propose a novel soft Pneumatic actuator(SPA)associated with spiral configuration inspired by the structure and unwinding motion of the seahorse *** erent from bending motion of common soft actuators,the spiral SPA can generate unwinding motion as input air pressure ***,to explore the eff ect of diff erent initial spiral types on unwinding performance,three typical spiral SPAs are designed and simulated while keeping the outside arc of actuator body ***,a static model of the spiral SPA is established by combining the hyperelastic material model,geometric relationships,and virtual work *** improve model accuracy,two geometric correction parameters are employed and their physical significance is analyzed by finite element ***,a prototype of the logarithmic spiral SPA(Log_spiral SPA)is fabricated and a Fiber Bragg Grating(FBG)sensor array is designed to detect and reconstruct unwinding shapes of the ***,the unwinding performance,static model and output force capability of the prototype are tested and ***,we discuss prospects for this novel spiral SPA and test its practical applications in inchworm-like motion,assisting finger rehabilitation and object capture.

关键词： soft robotics Spiral soft actuator Virtual work principle Fiber Bragg grating

STUDY ON A NEW TYPE OF soft RUBBER actuator WITH HUMAN COMPATIBILITY

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STUDY ON A NEW TYPE OF SOFT RUBBER ACTUATOR WITH HUMAN COMPA...

Locomotion control of a rigid-soft coupled snake robot in multiple environments

第四届全国流体传动与控制学术会议

作者： Yasuhiro Hayakawa Department of Electrical and Control Engineering Nara National College of Technology 22 Yata-cho Yamato-KoriyamaNaraJapan

In this paper, we investigate a new type of soft rubber actuator to realize a human friendly support device. Since the structure of the actuator is a soft mechanism that a sponge rubber is covered with silicone rubber, the actuator can realize a flexible motion to a human body. Further, the actuator can estimate external forces by making use of the equation with respect to the relation between inner pressure and external force. Therefore, the actuator can be used as a force sensor. In this study, we clear basic characteristics of the proposed actuator.

关键词： Pneumatic soft actuator Silicone Human Compatibility Hybrid actuator

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Biomimetic Intelligence & Robotics 2024年第2期4卷 12-23页

作者： Xuanyi Zhou Yuqiu Zhang Zhiwei Qiu Zhecheng Shan Shibo Cai Guanjun Bao College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China State Key Laboratory of Chemical Engineering College of Chemicaland Bioogical EngineringZhejiang UniverstyHangzhou 310027China College of Biomedical Science and Engineering South China University of TechnologyGuangzhou 510000China

The versatile motion capability of snake robots offers themselves robust adaptability in varieties of challenging environments where traditional robots may be *** study reports a novel flexible snake robot featuring a rigid-flexible coupling structure and multiple motion *** better understand the robot's behavior,a bending model for the soft actuator is ***,a dynamic model is developed to map the relationship between the input air pressure and joint torque,which is the model base for controlling the robot *** on the wave motion generated by the joint coupling direction function in different planes,multiple motion gait planning methods of the snake-like robot are *** order to evaluate the adaptability and maneuverability of the developed snake robot,extensive experiments were conducted in complex *** results demonstrate the robot's effectiveness in navigating through intricate settings,underscoring its potential for applications in various fields.

关键词： Snake robot Rigid-flexible coupled soft actuator Motion gait analysis

Controlling a peristaltic robot inspired by inchworms

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Biomimetic Intelligence & Robotics 2024年第1期4卷 88-96页

作者： Yanhong Peng Hiroyuki Nabae Yuki Funabora Koichi Suzumori Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8601Japan Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan

This study presents an innovative approach in soft robotics,focusing on an inchworm-inspired robot designed for enhanced transport *** explore the impact of various parameters on the robot’s performance,including the number of activated sections,object size and material,supplied air pressure,and command execution *** a series of controlled experiments,we demonstrate that the robot can achieve a maximum transportation speed of 8.54 mm/s and handle loads exceeding 100 g,significantly outperforming existing models in both speed and load *** findings provide valuable insights into the optimization of soft robotic design for improved efficiency and adaptability in transport *** research not only contributes to the advancement of soft robotics but also opens new avenues for practical applications in areas requiring precise and efficient object *** study underscores the potential of biomimetic designs in robotics and sets a new benchmark for future developments in the field.

关键词： McKibben artificial muscles Bionics soft robotics soft actuator Bio-inspired robotics

Fiber‑Shaped soft actuators:Fabrication,Actuation Mechanism and Application

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Advanced Fiber Materials 2023年第3期5卷 868-895页

作者： Yue Yu Juanjuan Wang Xue Han Shuguang Yang Gaihong An Conghua Lu School of Materials Science and Engineering Tianjin Key Laboratory of Building Green Functional MaterialsTianjin Chengjian UniversityTianjin 300384People’s Republic of China State Key Laboratory for Modification of Chemical Fibers and Polymer Materials Center for Advanced Low‑Dimension MaterialsCollege of Materials Science and EngineeringDonghua UniversityShanghai 201620China School of Materials Science and Engineering Tianjin UniversityTianjin 300072People’s Republic of China Environmental and Operational Medicine Research Department Military Medical Sciences AcademyTianjin 300050People’s Republic of China

As mechanical devices for moving or controlling mechanisms or systems,actuators have attracted increasing attention in various *** to traditional actuators with rigid structures,soft actuators made up of stimulus-responsive soft materials are more adaptable to complex working conditions due to soft bodies and diverse control *** from plate-shaped soft actuators,which have the limited deformations between two dimensional(2D)and 3D-configurations such as bending and twisting,fiber-shaped soft actuators(FSAs)own intriguing deformation modes to satisfy diverse practical *** this mini review,the recent progress on the controlled fabrication of the FSAs is *** advantages and disadvantages of each fabrication method are also ***,the as-developed actuation mechanisms of the FSAs are ***,typical examples of the related applications of the FSAs in different fields have been ***,an outlook on the development tendency of the FSAs is put forward as well.

关键词： soft actuator Actuation mechanism Fiber-shaped structure Smart materials