Control Strategies for Soft Robot Systems

Wang, Jue; Chortos, Alex

doi:10.1002/aisy.202100165

Cited by 111 publications

(69 citation statements)

References 315 publications

(513 reference statements)

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“…However, soft robots are able to deform at all points across their soft materials, resulting in infinite DOFs [ 44 ]. Furthermore, since soft materials posses nonlinear and time-dependent material properties, model-based control approaches are difficult to use [ 98 ]. Model-free control methods include using machine learning (ML) or deep learning (DL) methods for both the actuation and sensing control of soft robotics [ 99 , 100 ].…”

Section: Soft Robotics: Towards “Soft” Actuation and Sensingmentioning

confidence: 99%

SoftSAR: The New Softer Side of Socially Assistive Robots—Soft Robotics with Social Human–Robot Interaction Skills

Sun

Effati

Naguib

et al. 2022

Sensors

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When we think of “soft” in terms of socially assistive robots (SARs), it is mainly in reference to the soft outer shells of these robots, ranging from robotic teddy bears to furry robot pets. However, soft robotics is a promising field that has not yet been leveraged by SAR design. Soft robotics is the incorporation of smart materials to achieve biomimetic motions, active deformations, and responsive sensing. By utilizing these distinctive characteristics, a new type of SAR can be developed that has the potential to be safer to interact with, more flexible, and uniquely uses novel interaction modes (colors/shapes) to engage in a heighted human–robot interaction. In this perspective article, we coin this new collaborative research area as SoftSAR. We provide extensive discussions on just how soft robotics can be utilized to positively impact SARs, from their actuation mechanisms to the sensory designs, and how valuable they will be in informing future SAR design and applications. With extensive discussions on the fundamental mechanisms of soft robotic technologies, we outline a number of key SAR research areas that can benefit from using unique soft robotic mechanisms, which will result in the creation of the new field of SoftSAR.

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Section: Soft Robotics: Towards “Soft” Actuation and Sensingmentioning

confidence: 99%

SoftSAR: The New Softer Side of Socially Assistive Robots—Soft Robotics with Social Human–Robot Interaction Skills

Sun

Effati

Naguib

et al. 2022

Sensors

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“…Among these, pneumatic actuators are considered to be the mainstream primarily due to their low cost and high controllability. [14,15] Soft pneumatic actuators are widely used in robotic systems like robotic grippers, locomotion robots, surgical robots, and exoskeletons. [16][17][18][19] Conventional soft pneumatic actuators consist of bellows that constitute an intricate network of internal chambers, [20] which are made from soft materials such as silicone rubber or fabric.…”

Section: Introductionmentioning

confidence: 99%

Earthworm‐Inspired Multi‐Material, Adaptive Strain‐Limiting, Hybrid Actuators for Soft Robots

Xiong

Ang

Jin

et al. 2023

Advanced Intelligent Systems

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This research presents a new class of versatile multi‐material hybrid actuators (MASH actuators), powered by pneumatics and electrostatic adhesion (EA)‐based adaptive strain‐limiting layers. Soft pneumatic actuators with strain‐limiting layers as the mainstream actuation for soft robotics have been developed for decades. However, due to their permanent strain‐limiting layers, those actuators possess fewer motion patterns. Inspired by the longitudinal muscles of the earthworm, a concept of an adaptive strain‐limiting layer with the ability to vary its length, stiffness, and position is presented. By integrating two flexible EA brakes into a soft pneumatic actuator as adaptive strain‐limiting layers, the actuator can achieve multiple motion patterns including extension, contraction, and bilateral bending, with permutations among these motions. The EA‐based strain‐limiting layer can increase the original actuator length by up to 86%, and the baseline actuator stiffness by up to 605%. To demonstrate its potential in locomotion and manipulation, an earthworm‐inspired crawling robot possessing great terrain adaptability and a versatile soft robotic gripper based on this hybrid actuator concept are developed.

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“…[3][4][5][6] These objectives are driven by a variety of actuation concepts, including tendon and pressure actuation as well as reactions to different stimuli (such as magnet, humidity, temperature, and light). [7,8] Elastomeric soft actuators continue to get more complicated, and roboticists push the limits of soft robotics in order to create actuators and sensors with more advanced designs. Soft robots employ clever solutions based on smart materials that can sense and act in order to further simplify the design and boost functionality.…”

Section: Introductionmentioning

confidence: 99%

Soft Magneto‐Responsive Shape Memory Foam Composite Actuators

Dezaki

Bodaghi

2022

Macro Materials & Eng

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Soft magnetic composites are exceptional because they can be controlled remotely, move quickly, conform to hard things, and interact with people safely. However, even with all these features, magnetic elastomers suffer a lack of stability due to the high softness of the elastomer. This issue affects their controllability and repeatability. This article introduces a novel conceptual design of magneto‐responsive shape memory polyurethane (SMP) foam composites with high stability and reversibility. The fabrication technique is based on the silicone resins filled with strontium ferrite magnetic particles and a thin SMP foam placed onto one side. Material properties, room‐temperature shape recovery features, and magnetization conditions necessary for the process are determined by experimental studies of composite actuators. As a result, a workable, light, stable, soft composite gripper with programmable magnetic patterns is created, which can carry out activities like grabbing, holding, and moving objects in horizontal and vertical directions when a low magnetic field is applied. The SMP foam increases the contact surface and decreases the weight by up to three times providing better stability compared to the magnetic elastomer without SMP foam. The shape‐recoverable gripper with a small contract area can lift objects eight times heavier than its weight.

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Control Strategies for Soft Robot Systems

Cited by 111 publications

References 315 publications

SoftSAR: The New Softer Side of Socially Assistive Robots—Soft Robotics with Social Human–Robot Interaction Skills

SoftSAR: The New Softer Side of Socially Assistive Robots—Soft Robotics with Social Human–Robot Interaction Skills

Earthworm‐Inspired Multi‐Material, Adaptive Strain‐Limiting, Hybrid Actuators for Soft Robots

Soft Magneto‐Responsive Shape Memory Foam Composite Actuators

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