Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Abstract

As the most studied topic in the field of soft robotics, soft actuators have been developed using various mechanisms and have evolved with a multiplicity of capabilities. For example, soft fluidic actuators (SFAs) achieve relatively high force and intricate morphing from 1D to 3D structures with entirely soft bodies [5,6] ; Dielectric elastomer actuators, with high energy density, are engineered into miniature soft artificial muscles capable of highfrequency actuation. [1,7] Shape memory alloys are utilized as low-profile soft actuators for rotary joints with high torques. [8] Their unique features indeed push the boundary of the capabilities of the robots. [1][2][3]9] However, there are still many challenges to overcome, such as energy efficiency, untether-ability, and entire softness [10][11][12] One of the major research challenges for soft actuators is to simultaneously produce high force (e.g., >100 N) and complex motion (e.g., surface morphing). Recent research has reported interesting morphing capabilities with many different materials and mechanisms, such as gel actuators, [13,14] electric active polymers, [15,16] and shape memory alloys.

A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

“…As opposed to classical robots with a rigid frame, the term “soft robots” describes the use of soft materials in a system possessing multiple degrees of freedom (DOFs) [ 24 ]. Soft robots are generally bioinspired in their designs, and their maneuvering mechanisms mimic those of an octopus [ 25 , 26 ], a fish [ 27 , 28 ], a manta ray [ 29 ], plants [ 30 , 31 ], geckos [ 32 , 33 , 34 ], and human hands [ 35 , 36 ]. Their high deformation states guarantee safe human-machine interactions, and the overall weight of a soft exoskeleton is typically lower than that of its rigid counterpart.…”