Soft Robotic Pad Maturing for Practical Applications

Sun, Yi; Li, Miao; Feng, Hui; Guo, Jin; Qi, Peng; Ang, Marcelo H.; Yeow, Chen-Hua

doi:10.1089/soro.2018.0128

Cited by 24 publications

(10 citation statements)

References 26 publications

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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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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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show abstract

“…This is also difficult for traditional rigid robots. Therefore, for wearable applications, soft robotics undoubtedly have more potential . Under the requirements of compact design, the efficient integration of wearable equipment and soft robotics functions forms a medically oriented emerging wearable soft robotics (EWSR) design framework, which continuously monitors the human body or environmental information without constraints and continuously controls the body to provide corresponding assistance and collaborative work according to the collected monitoring information, so that the lightweight body will not constrain the daily life of users .…”

Section: Introductionmentioning

confidence: 99%

Personalized Medical Devices Connect Monitoring and Assistance: Emerging Wearable Soft Robotics

et al. 2023

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As wearable health devices have the ability of intelligent monitoring, they are becoming cutting-edge technology in medical and health fields. However, the simplification of functions limits their further development. In addition, soft robotics with actuation functions can achieve therapeutic effects by doing external work, but their monitoring function is not sufficiently developed. The efficient integration of the two can guide future development. The functional integration of actuation and sensing can not only monitor the human body and surrounding environment but also realize actuation and assistance. Recent evidence shows that emerging wearable soft robotics can become the future of personalized medical treatment. In this Perspective, the comprehensive development in the field of actuators for simple structure soft robotics and the field of wearable application sensors are introduced, as well as their manufacturing processes and various potential medical applications. Furthermore, the challenges faced in this field are discussed, and future development directions are proposed.

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“…Soft robotic pectoral fins (SRPFs) are customized using the SRP technology for the robot. Detailed characterization results show that the SRPFs can generate almost 100 N force or 25 Nm torque with a dual curving motion to mimic the manta ray fin kinematics. The SRPFs are able to propel the manta ray robot to a decent swimming speed with biomimetic fin motions.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, a soft robotic pad (SRP) is developed to tackle this challenge. [ 24,25 ] SRP, shaped into a flat elastomer body, is a 2D soft actuator with a single large chamber inside. A large matrix of fiber reinforcements with optimized patterns is embedded into the top and bottom elastomer layers so that the SRPs, depending on the motion types, can tolerate fluidic pressures up to 400 kPa.…”

Section: Introductionmentioning

confidence: 99%

Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Sun

Feng

Liang

et al. 2022

Advanced Intelligent Systems

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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.

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Soft Robotic Pad Maturing for Practical Applications

Cited by 24 publications

References 26 publications

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

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

Personalized Medical Devices Connect Monitoring and Assistance: Emerging Wearable Soft Robotics

Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

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