A Novel Biomimetic Compliant Structural Skin Based on Composite Materials for Biorobotics Applications

Song, Zhibin; Fu, Zhongru; Romano, Donato; Dario, P.; Dai, Jian

doi:10.1089/soro.2020.0138

Cited by 12 publications

(4 citation statements)

References 29 publications

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“…The distributed mechanoreceptors in skins endow our bodies with exteroception to identify pressing, touching, and shearing, [1] and the innervation of proprioceptors around skeletal muscles enables proprioception for movement with high precision. [2] Soft robots and wearable devices have recently exhibited tremendous potential in human-machine interaction due to their compliant structures for adaptive interactions [3][4][5][6] and matched sensing systems for close-loop controls. [7][8][9][10] More complex configurations and functional structures are employed for these soft machines to achieve more sophisticated tasks.…”

Section: Introductionmentioning

confidence: 99%

Innervation of Sensing Microchannels for Three‐Dimensional Stimuli Perception

Fan

Zhu

Yang

et al. 2023

Adv Materials Technologies

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Stimuli perception enables animals and robots to interact with unknown environments safely and predictably. For the sensing of soft robotics and wearable devices, although electronic skins have already been widely accepted and studied, their planar geometries are not applicable for multi‐direction volume sensing. Herein, the innervation of sensing microchannel networks into elastic matrices to mimic the exteroception and proprioception of the human bodies is employed. Soft actuators with interlaced actuating and sensing microchannels resembling the distribution of muscle fiber and proprioceptors are fabricated and the internal stimuli perception of deformation configurations (bending, elongating, and bending directions) and magnitudes (bending angle and elongation) of the soft actuators are demonstrated. It is also demonstrated that a soft cubic sensor containing 3D microchannels (diameter: 400 µm) is capable of identifying 3D external stimuli, including force types (pressing, squeezing, shearing, and twisting) and real‐time directions by measuring the resistance variation, and its application in the virtual reality field is exhibited.

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Section: Introductionmentioning

confidence: 99%

Innervation of Sensing Microchannels for Three‐Dimensional Stimuli Perception

Fan

Zhu

Yang

et al. 2023

Adv Materials Technologies

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“…Xu [12] proposed a variable stiffness mechanism that is based on negative work. There are also some new skins that follow these variable stiffness properties nicely [13].…”

Section: Introductionmentioning

confidence: 99%

Experimental Research on the Coupling Relationship between Fishtail Stiffness and Undulatory Frequency

et al. 2022

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Fish can swim in a variety of states. For example, they look flexible and perform low-frequency undulatory locomotion when cruising, but they seem very powerful and stiff and perform high-frequency undulatory when hunting. In the process of changing the motion state, the stiffness of the fish body affects the swimming performance of the fish. In this article, we imitated the change of stiffness by superimposing rubber sheets and used experimental methods to test its swimming performance under different swing frequencies. A series of rubber fish tails were made according to the analysis of the swimming movement of real fish, providing different stiffness values and changing the curves of the body. In the prototype experiments, the base of the fish tail was fixed to a platform via a force sensor, which can oscillate at various speeds, so that the fish tail was able to swing and the thrust could be tested at different frequencies. According to the experimental results, we found that with the change of the swing frequency, there were different optimal stiffnesses that could make the thrust reach the maximum value, and with the increase of stiffness, the envelope interval of the swing curve gradually widened, the amplitude increased, and the hysteresis of the tail fin relative to the end decreased.

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confidence: 99%

“…For example, when picking an item of varying softness, shape, and weight using various motions, such as grasping and fiddling, a packaging robot should be rigid enough to grasp heavy items but soft enough to grasp fragile or irregular items while also being capable of quickly switching between these two states. [2,8,9] While exploring dangerous and confined environments (e.g., post-earthquake rescue and industrial pipeline inspection), the robot should be sufficiently compliant to adapt to the cluttered environment and rigid to transport a large gap. [10,11] Moreover, if a robot approaches a rugged surface with a heavy payload, it should be sufficiently compliant to move on the surface and rigid to support the payload.…”

mentioning

confidence: 99%

Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana

Zhu

Fan

et al. 2023

Advanced Intelligent Systems

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Compared to many rigid robots, emerging soft robots possess higher adaptability and safety owing to their compliance, [1,2] making them a promising solution for human-robot interaction, [3,4] manipulation, [5,6] and search and rescue. [7] Instead of only having one state (soft or rigid) in a robot, many scenarios necessitate both soft and rigid properties. For example, when picking an item of varying softness, shape, and weight using various motions, such as grasping and fiddling, a packaging robot should be rigid enough to grasp heavy items but soft enough to grasp fragile or irregular items while also being capable of quickly switching between these two states. [2,8,9] While exploring dangerous and confined environments (e.g., post-earthquake rescue and industrial pipeline inspection), the robot should be sufficiently compliant to adapt to the cluttered environment and rigid to transport a large gap. [10,11] Moreover, if a robot approaches a rugged surface with a heavy payload, it should be sufficiently compliant to move on the surface and rigid to support the payload. [12,13] To circumvent this problem, researchers attempted to integrate rigid and soft robots. One approach is to convert a robot from a rigid to a soft state and vice versa, which requires a variable-stiffness mechanism. This mechanism has been widely used in wearable robots, [14] manipulators, [7,15] and continuum

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A Novel Biomimetic Compliant Structural Skin Based on Composite Materials for Biorobotics Applications

Cited by 12 publications

References 29 publications

Innervation of Sensing Microchannels for Three‐Dimensional Stimuli Perception

Innervation of Sensing Microchannels for Three‐Dimensional Stimuli Perception

Experimental Research on the Coupling Relationship between Fishtail Stiffness and Undulatory Frequency

Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana

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