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Intelligent structured nanocomposite adhesive for bioelectronics and soft robots

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Nano Research 2024年第2期17卷 534-549页

作者： Yeon Soo Lee Min-Seok Kim Da Wan Kim Changhyun Pang School of Chemical Engineering Sungkyunkwan University(SKKU)Suwon 16419Republic of Korea Mechanical Metrology Group Korea Research Institute of Standards and ScienceDaejeon 34113Republic of Korea Department of Electronic Engineering Korea National University of TransportationChungbuk 27469Republic of Korea Samsung Advanced Institute for Health Sciences and Technology Sungkyunkwan University(SKKU)Suwon 16419Republic of Korea

The remarkable functionality of biological systems in detecting and adapting to various environmental conditions has inspired the design of the latest electronics and robots with advanced *** review focuses on intelligent bio-inspired strategies for developing soft bioelectronics and robotics that can accommodate nanocomposite adhesives and integrate them into biological *** underlying principles of the material and structural design of nanocomposite adhesives were investigated for practical applications with excellent functionalities,such as soft skin-attachable health care sensors,highly stretchable adhesive electrodes,switchable adhesion,and untethered soft *** addition,we have discussed recent progress in the development of effective fabrication methods for micro/nanostructures for integration into devices,presenting the current challenges and prospects.

关键词： biomimetics bio-adhesive switchable adhesion bioelectronics nanocomposite soft robotics

A Bio-inspired Mutual-hook Strategy for the soft Finger to Improve Load-bearing Capacity and Grasping Stability

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Journal of Bionic Engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： soft robotics soft bionic finger-cot soft hook actuator Grasping stability Load-bearing capacity

Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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Science China(Technological Sciences) 2024年第3期67卷 774-790页

作者： HU TeTe LU XinJiang YI Jian WANG YuHui XU Du State Key Laboratory of Precision Manufacturing for Extreme Service Performance School of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China

The human wrist, a complex articulation of skeletal muscles and two-carpal rows, substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3-DOF) orienting tasks and regulating stiffness according to variations in interaction forces. However, few soft robotic wrists simultaneously demonstrate dexterous 3-DOF motion and variable stiffness;in addition, they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal *** this study, we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW) that is capable of rotating in the x and y directions, twisting around the z-axis, and possessing stiffness-tunable capacity. To actuate the BSRW, a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA) with large axial, linear deformation(η_(lcmax)=70.6%,η_(lemax)=54.3%) and small radial expansion(η_(demax)=3.7%) is designed to mimic the motion of skeletal muscles. To represent the function of two-carpal rows, a compact particle-jamming joint(PJJ) that combines particles with a membrane-covered ballsocket mechanism is developed to achieve various 3-DOF motions and high axial load-carrying capacity(>60 N). By varying the jamming pressure, the stiffness of the PJJ can be adjusted. Finally, a centrally positioned PJJ and six independently actuated SRBPAs, which are in an inclined and antagonistic arrangement, are sandwiched between two rigid plates to form a flexible,stable, and compact BSRW. Such a structure enables the BSRW to have a dexterous 3-DOF motion, high load-carrying ability,and stiffness tunability. Experimental analysis verify 3-DOF motion of BSRW, producing force of 29.6 N and 36 N and torque of2.2 Nm in corresponding rotations. Moreover, the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ. Finally, a system combining a BSRW and a soft enclosing gripper is proposed to demo

关键词： pneumatic soft actuators particle jamming robotic wrist soft robotics stiffness-tunable

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

Computer-controlled ultra high voltage amplifier for dielectric elastomer actuators

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Biomimetic Intelligence & robotics 2024年第1期4卷 14-23页

作者： Ardi Wiranata Zebing Mao Yu Kuwajima Yuya Yamaguchi Muhammad Akhsin Muflikhun Hiroki Shigemune Naoki Hosoya Shingo Maeda Department of Mechanical and Industrial Engineering University of Gadjah MadaYogyakarta 55281Indonesia Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Department of Engineering and Science Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Electrical Engineering Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Engineering Science and Mechanics Shibaura Institute of TechnologyTokyo 135-8548Japan Living Systems Materialogy(LiSM)Research Group International Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan

soft robotics is a breakthrough technology to support human-robot *** soft structure of a soft robot can increase safety during human and robot *** of the promising soft actuators for soft robotics is dielectric elastomer actuators(DEAs).DEAs can operate silently and have an excellent energy *** simple structure of DEAs leads to the easy fabrication of soft *** simplicity combined with silent operation and high energy density make DEAs interesting for soft robotics *** actuation follows the Maxwell-pressure *** pressure produced in the DEAs actuation depends much on the voltage *** DEAs requires high voltage to gain an *** the power consumption of DEAs is in the milli-Watt range,the current needed to operate the DEAs can be *** commercially available DC-DC converters can convert the volt range to the kV *** order to get a voltage in the 2-3 kV range,the reliable DC-DC converter can be pricy for each *** problem hinders the education of soft actuators,especially for a newcomer laboratory that works in soft electric *** paper introduces an entirely do-it-yourself(DIY)Ultrahigh voltage amplifier(UHV-Amp)for education in soft ***-Amp can amplify 12 V to at a maximum of 4 kV *** a demonstration,we used this UHV-Amp to test a single layer of powdered-based *** strategy to build this educational type UHV-Amp was utilizing a Cockcroft-Walton circuit structure to amplify the voltage range to the kV *** its current state,the UHV-Amp has the potential to achieve approximately 4 *** created a simple platform to control the UHV-Amp from a personal *** near future,we expect this easy control of the UHV-Amp can contribute to the education of soft electric actuators.

关键词： Dielectric elastomer actuators Electric amplifier soft actuators soft robotics soft actuator education

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

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

Multi-material Bio-inspired soft Octopus Robot for Underwater Synchronous Swimming

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Journal of Bionic Engineering 2022年第5期19卷 1229-1241页

作者： Faheem Ahmed Muhammad Waqas Bushra Shaikh Umair Khan Afaque Manzoor Soomro Suresh Kumar Hina Ashraf Fida Hussain Memon Kyung Hyun Choi Department of Mechatronics Engineering Jeju National UniversityJeju 63243South Korea Department of Electrical Engineering Sukkur IBA UniversityAirport RoadSukkur 65200SindhPakistan Advanced Micro Mechatronics and Energy Lab Sukkur IBA UniversitySukkur 65200Pakistan Department of Ocean Sciences Jeju National UniversityJeju 63243South Korea

Inspired by the simple yet amazing morphology of the Octopus, we propose the design, fabrication, and characterization of multi-material bio-inspired soft Octopus robot (Octobot). 3D printed molds for tentacles and head were used. The tentacles of the Octobot were casted using Ecoflex-0030 while head was fabricated using relatively flexible material, i.e., OOMOO-25. The head is attached to the functionally responsive tentacles (each tentacle is of 79.12 mm length and 7 void space diameter), whereas Shape Memory Alloy (SMA) muscle wires of 0.5 mm thickness are used in Octobot tentacles for dual thrust generation and actuation of Octobot. The tentacles were separated in two groups and were synchronously actuated. Each tentacle of the developed Octobot contains a pair of SMA muscles (SMA-α and SMA-β). SMA-α muscles being the main actuator, was powered by 9 V, 350 mA power supply, whereas SMA-β was used to provide back thrust and thus helps to increase the actuation frequency. Simulation work of the proposed model was performed in the SolidWorks environment to verify the vertical velocity using the octopus tentacle actuation. The design morphology of Octobot was optimized using simulation and TRACKER software by analyzing the experimental data of angle, displacement, and velocity of real octopus. The as-developed Octobot can swim at variable frequencies (0.5–2 Hz) with the average speed of 25 mm/s (0.5 BLS). Therefore, the proposed soft Octopus robot showed an excellent capability of mimicking the gait pattern of its natural counterpart.

关键词： Bio-inspired Octopus Octobot Sub-surface soft robotics Swimming

Bioinspired Multi-material Polyjet-printed Frog Robot for Synchronous and Asynchronous Swimming

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Journal of Bionic Engineering 2023年第3期20卷 923-933页

作者： Afaque Manzoor Soomro Jae-Wook Lee Fida Hussain Memon Faheem Ahmed Kashif Hussain Kyung Hyun Choi Department of Mechatronics Engineering Jeju National UniversityJeju63243South Korea Department of Electrical Engineering Sukkur IBA UniversitySukkur65200Pakistan

This paper proposes the bioinspired soft frog robot. All printing technology was used for the fabrication of the robot. Polyjet printing was used to print the front and back limbs, while ultrathin filament was used to print the body of the robot, which makes it a complete soft swimming robot. Dual thrust generation approach has been proposed by embedding the main muscle and antagonistic muscle in all the limbs, which enables it to attain high speed (18 mm/s), significant control to swim in dual mode (synchronous and asynchronous modes). To achieve the swimming motion of frog, four SMA (BMF 300) muscle wires were used. The frog robot is named as (FROBOT). The hind limbs are 60 mm long and 10 mm thick on average, while the front limbs are 35 mm long and 7 mm thick. Model-based design and rigorous analysis of the dynamics of real frogs have allowed FROBOT to be developed to swim at a level that is remarkably consistent with real frogs. Electrical and mechanical characteristics have been performed. In addition, the test data were further processed using TRACKER to analyze angle, displacement and velocity. FROBOT (weighs 65 g) can swim at different controllable frequencies (0.5–2 Hz), can rotate in any direction on command from custom built LabVIEW software allowing it to swim with speed up to 18 mm/s on deep water surface (100 cm) with excellent weight balance.

关键词： Bioinspired soft robotics Frog FROBOT Asynchronous swimming