Multifunctional Soft Stackable Robots by Netting–Rolling–Splicing Pneumatic Artificial Muscles

Guan, Qinghua; Liu, Liwu; Sun, Jian; Wang, Jiale; Guo, Jianglong; Liu, Yanju; Leng, Jinsong

doi:10.1089/soro.2022.0104

Cited by 10 publications

(2 citation statements)

References 47 publications

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“…In this mode, the contact surface adapts to the object's shape variations in different dimensions, providing extensive coverage. Lastly, the fourth mode is FBC, represented by multi-angle, all-around encasement [15,[41][42][43][165][166][167][168][169][170][171][172][173][174][175][176] or continuous winding grasping [40,[177][178][179][180][181][182][183][184][185][186][187][188][189][190][191][192][193], aiming to achieve contact with the object over the largest possible area and multiple angles. These different contact and motion modes possess unique advantages of their own, and they are not mutually exclusive.…”

Section: Introductionmentioning

confidence: 99%

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules.To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact (PC), lines contact (LC), surfaces contact (SC), and full-bodies contact (FBC), elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

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Section: Introductionmentioning

confidence: 99%

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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“…Recently, soft robotics have shown potential for applications in various technology categories such as wearable devices, bioinspired robotics, and advanced surgical instruments. − However, the limitations of rigid actuators make soft robotics face severe obstacles in terms of safety and environmental adaptability. , Thus, the need for flexibility, strong maneuverability, and durability spurred the invention of a new generation of soft actuators. , Among various materials and devices for soft actuation, like pneumatic artificial muscles, − hydrogel actuators, − and shape-memory materials, , electroactive ionic polymers − have shown good capabilities with the advantages of easy operation of electrical control and rapid response.…”

mentioning

confidence: 99%

Soft Actuator with Biomass Porous Electrode: A Strategy for Lowering Voltage and Enhancing Durability

Zhang,

Ma,

et al. 2024

Nano Lett.

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Electroactive artificial muscles with deformability have attracted widespread interest in the field of soft robotics. However, the design of artificial muscles with low-driven voltage and operational durability remains challenging. Herein, novel biomass porous carbon (BPC) electrodes are proposed. The nanoporous BPC enables the electrode to provide exposed active surfaces for charge transfer and unimpeded channels for ion migration, thus decreasing the driving voltage, enhancing time durability, and maintaining the actuation performances simultaneously. The proposed actuator exhibits a high displacement of 13.6 mm (bending strain of 0.54%) under 0.5 V and long-term durability of 99.3% retention after 550,000 cycles (∼13 days) without breaks. Further, the actuators are integrated to perform soft touch on a smartphone and demonstrated as bioinspired robots, including a bionic butterfly and a crawling robot (moving speed = 0.08 BL s −1 ). This strategy provides new insight into the design and fabrication of high-performance electroactive soft actuators with great application potential.

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A Kirigami Multi‐Stable Flexible Gripper with Energy‐Free Configurations Switching

Qi,

Sun,

2024

Advanced Intelligent Systems

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Inspired by the kirigami and recombination mechanism, a kirigami flexible gripper is presented. The configuration variation behaviors are realized by recombinant kirigami segments, and thus, with only head segment actuation, the gripper slickly deforms among different configurations. Revolutionizing the conventional deployable systems, the proposed design methodology can realize configuration variation‐locking integration, and reusing of multi‐stability property. To realize rapid configuration switching with the lowest energy input, a nested origami actuation, called trigger structure, is given. Furthermore, advanced design for the trigger structure is carried out, broadening the bistable state to four‐stable geometric configurations for enhanced reachable space of the flexible gripper. By combining the design of the advanced trigger structure, the flexible gripper enables an energy‐free switching behavior between deployed and curled configurations in symmetrical and asymmetrical planes. The asymmetrical configurations, induced by the multi‐stability property of the advanced trigger structure, make the flexible gripper appropriate for various moving velocities capture. The proposed kirigami multi‐stable flexible gripper has significant capture capability for moving targets with different types and motion attitudes. Summarily, the proposed kirigami multi‐stable flexible gripper opens a new avenue for flexible robots, with potential applications in space exploration, grippers, and beyond.

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Multifunctional Soft Stackable Robots by Netting–Rolling–Splicing Pneumatic Artificial Muscles

Cited by 10 publications

References 47 publications

Variable stiffness soft robotic gripper: design, development, and prospects

Variable stiffness soft robotic gripper: design, development, and prospects

Soft Actuator with Biomass Porous Electrode: A Strategy for Lowering Voltage and Enhancing Durability

A Kirigami Multi‐Stable Flexible Gripper with Energy‐Free Configurations Switching

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