A Fast Rolling Soft Robot Driven by Dielectric Elastomer

Li, Wenbo; Zhang, Wenming; Zou, Hong‐Xiang; Meng, Guang

doi:10.1109/tmech.2018.2840688

Cited by 95 publications

(59 citation statements)

References 49 publications

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Section: Soft Crawling Robots Enabled By Soft Active Materialsmentioning

confidence: 99%

“…To improve the environmental adaptabilities, innovative structures without rigid parts (e.g., gears, linkages, wheels) have also been developed for soft rolling robots. As shown in Figure D, a rolling soft robot (RSR) was built by connecting the multisegmental dielectric elastomer minimum energy structures (DEMES) to form a ring‐like configuration . This rolling robot stays in an equilibrium shape when the prestrain in DEMES is released, where the resilience of the frame is balanced by the contraction force from the DE films.…”

Section: Soft Crawling Robots Enabled By Soft Active Materialsmentioning

confidence: 99%

“…Despite the inherent drawbacks of these actuation approaches, continuous efforts have been devoted to designing soft crawling robots capable of performing vivid, multigait, effective, and intelligent locomotion. Over the past decade, thanks to the advances in supportive structures and specific configurations, the overall behaviors of soft actuators have been greatly improved and their application scopes have been largely broadened, enabling the mimicking of locomotion gaits observed in nature to be achieved in soft mobile robots, such as caterpillar‐like, multigait quadruped, worm‐like, snake‐like, rolling, and jumping modes …”

Section: Introductionmentioning

confidence: 99%

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Soft Crawling Robots: Design, Actuation, and Locomotion

Chen

Cao

Sarparast

et al. 2019

Adv Materials Technologies

162

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Soft crawling robots have attracted great attention due to their anticipated effective interactions with humans and uncertain environments, as well as their potential capabilities of completing a variety of tasks encompassing search and rescue, infrastructure inspection, surveillance, drug delivery, and human assistance. Herein, a comprehensive survey on recent advances of soft crawling robots categorized by their major actuation mechanisms is provided, including pneumatic/hydraulic pressure, chemical reaction, and soft active material‐based actuations, which include dielectric elastomers, shape memory alloys, magnetoactive elastomers, liquid crystalline elastomers, piezoelectric materials, ionic polymer–metal composites, and twisted and coiled polymers. For each type of actuation, the prevalent modes of locomotion adopted in representative robots, the design, working principle and performance of their soft actuators, and the performance of each locomotion approach, as well as the advantages and drawbacks of each design are discussed. This review summarizes the state‐of‐the‐art progresses and the critical knowledge in designing soft crawling robots and offers a guidance and insightful outlook for the future development of soft robots.

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Section: Soft Crawling Robots Enabled By Soft Active Materialsmentioning

confidence: 99%

Section: Soft Crawling Robots Enabled By Soft Active Materialsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Soft Crawling Robots: Design, Actuation, and Locomotion

Chen

Cao

Sarparast

et al. 2019

Adv Materials Technologies

162

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“…where L represents the unloaded coil length, N is the number of coil turns, ∆T is the change of twist number, and l c is the fiber length in the coil. While Seyed et al proposed that the change of fiber twist [35] ∆T = ∆τ 2π (11) where ∆τ is the change of torsion. The change of twist can be expressed as (details is shown in Appendix A)…”

Section: Derivation Of Tcp Muscles Actuation Mechanismmentioning

confidence: 99%

“…PAMs can exhibit high strain up to 90%, generating peak power densities over 2 kW/kg [10]. Dielectric elastomers (DEs) can generate a large strain up to 24% when subjected to an electric field, while the power density reached 80 W/kg [1][2][3][4][5][6][7][8][9][10][11][12][13][14]. Hydrogels can achieve a large strain (up to approximate to 40%), and deliver a remarkable volumetric power density of 30.77 mW/cm 3 [15].…”

Section: Introductionmentioning

confidence: 99%

A Modeling of Twisted and Coiled Polymer Artificial Muscles Based on Elastic Rod Theory

Zheng

2020

Actuators

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Twisted and coiled polymer (TCP) can generate large stroke and output high power density, making it a promising artificial muscle. Thermally induced muscles fabricated from nylon or other polymer fibers can be used in robotic, biomedical devices, and energy-harvesting equipment. While fibers with different shapes and materials have different optimal process parameters. Understanding mechanisms of TCP forming and the impact of process parameters is critical to explore stronger, more powerful artificial muscles. In this paper, an elastic-rod-theory-based model was established for capturing the quantitative relationship between tensile actuation and fabrication load. Further experimental results agree with model calculation and TCP muscles used in our research reaches maximum stroke of 52.6%, strain up to 9.8 MPa, and power density of 211.89 J/kg.

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An Edible Bistable Tilt Sensor Enabling Autonomous Operation of a Partially Eatable Rolling Robot

Annese

Kwak

Coco

et al. 2023

Advanced Sensor Research

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Edible electronics and robotics are emerging areas intimately bridging food science and engineering to deliver technology using food‐derived materials. Edible devices offer unprecedented opportunities thanks to features such as bioresorbability, nutritional value, associated taste, minimal toxicity, and sustainability. However, several challenges need to be addressed to bring edible devices closer to reality. Although prototypal edible sensors are available, rotation sensors—an essential component for orientation perception—are still missing. Integrating sensors, actuators, and structural components into an edible system also remains a challenge due to the lack of processes and standardization. Here the first edible tilt sensor is presented. Starting from a commercial nonedible bistable tilt sensor, each material is replaced with edible equivalents using simple and straightforward fabrication approaches. Its functionality is validated in the first implementation of an autonomous and partly edible rolling robot, which has a nutritional value of 807.5 kcal and integrates gelatin actuators, an array of tilt sensors, and an edible wheeled frame. The robot works in closed loop, perceiving its orientation and input for actuation from the sensors. These findings may pave the way to novel edible technologies, from drug delivery for wild animals to health applications.

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A Fast Rolling Soft Robot Driven by Dielectric Elastomer

Cited by 95 publications

References 49 publications

Soft Crawling Robots: Design, Actuation, and Locomotion

Soft Crawling Robots: Design, Actuation, and Locomotion

A Modeling of Twisted and Coiled Polymer Artificial Muscles Based on Elastic Rod Theory

An Edible Bistable Tilt Sensor Enabling Autonomous Operation of a Partially Eatable Rolling Robot

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