Integrated Actuation and Sensing: Toward Intelligent Soft Robots

Abstract

Soft robotics has received substantial attention due to its remarkable deformability, making it well-suited for a wide range of applications in complex environments, such as medicine, rescue operations, and exploration. Within this domain, the interaction of actuation and sensing is of utmost importance for controlling the movements and functions of soft robots. Nonetheless, current research predominantly focuses on isolated actuation and sensing capabilities, often neglecting the critical integration of these 2 domains to achieve intelligent functionality. In this review, we present a comprehensive survey of fundamental actuation strategies and multimodal actuation while also delving into advancements in proprioceptive and haptic sensing and their fusion. We emphasize the importance of integrating actuation and sensing in soft robotics, presenting 3 integration methodologies, namely, sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. Furthermore, we highlight the challenges in the field and suggest compelling directions for future research. Through this comprehensive synthesis, we aim to stimulate further curiosity among researchers and contribute to the development of genuinely intelligent soft robots.

Review of the Applications of Micro/Nanorobots in Biomedicine

“…The driving method will greatly affect the motion speed, control difficulty, and biocompatibility, thereby affecting the applications in biological systems. 166 The driving methods of micro/nanorobots mainly include: chemical driving methods driven by local chemical and biochemical energy (such as H 2 O 2 , urea, etc. ); physical driving methods driven by external fields (such as light, electricity, ultrasound, or magnetic field, etc.…”

“…This process can be considered as an energy conversion mechanism essential for driving the movement of these robots. The driving method will greatly affect the motion speed, control difficulty, and biocompatibility, thereby affecting the applications in biological systems . The driving methods of micro/nanorobots mainly include: chemical driving methods driven by local chemical and biochemical energy (such as H 2 O 2 , urea, etc.…”

Thermally and Mechanically Stable Perovskite Artificial Synapse as Tuned by Phase Engineering for Efferent Neuromuscular Control

“…Responding regularly to internal and external environmental stimuli is a fundamental method employed by the nervous system to regulate various functional activities of the body . The central nervous system, responsible for managing the reflex arc, is capable of efficiently receiving information from receptors and inducing relevant reactions in specific tissues and organs. ,− For example, individuals or animals can respond distinctively under various frequencies and intensities of ambient light (or other signals), , essentially sensing information, analyzing it, and then generating an output (Figure a) . Here, visible-light irradiation on the MCMHP synaptic device modulated the output current to result in a mechanical change in the flexion of the electrolyte-type artificial muscle, which is deflected to turn on the light-emitting diodes (LEDs) of different colors (Figure b).…”