Article
Automation & Control Systems
Geonwoo Hwang, Jihwan Park, David Santiago Diaz Cortes, Kyujin Hyeon, Ki-Uk Kyung
Summary: This article proposes a reinforced soft gripper with a mechanically strengthened electroadhesion pad and a multilayered dielectric elastomer (DE) actuator, for practical robotic application. The gripper is able to lift and move objects 100 times heavier than its own mass, and firmly hold objects weighing 16.8 kg with optimized specifications.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Ignacio Andrade-Silva, Joel Marthelot
Summary: In this study, a soft pneumatic gripper based on the in-plane overcurvature effect of fabric balloons is presented. The gripping force can be modulated by pressure input and the performance can be improved by stacking multiple grippers. This methodology offers flexibility, robustness, scalability, and ease of fabrication for developing actuators capable of handling larger objects.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Multidisciplinary Sciences
Giacomo Sasso, Nicola Pugno, James J. C. Busfield, Federico Carpi
Summary: A new type of liquid robotic mixer based on electro-responsive smart materials has been developed, which can efficiently mix different liquids and maintain stability. Compared to traditional mixing methods, this liquid robotic device has higher efficiency and lower increase in liquid temperature.
SCIENTIFIC REPORTS
(2023)
Article
Automation & Control Systems
Natthapol Sriratanasak, Dragos Axinte, Xin Dong, Abdelkhalick Mohammad, Matteo Russo, Luca Raimondi
Summary: The article proposes a novel multimodal Tasering Twin Soft Robot (TTSR)，which is capable of both passive flight and wall climbing by deploying Soft Crawling Robots (SCRs). The SCRs use a reconfigurable design with bistable mechanism and shape-memory alloy-based detaching mechanism. Experimental results demonstrate that the TTSR performs well in both flying and climbing tasks, overcoming difficult-to-reach obstacles.
ADVANCED INTELLIGENT SYSTEMS
(2022)
Review
Engineering, Mechanical
Zinan Zhao, Yingjie Chen, Xueyan Hu, Ronghao Bao, Bin Wu, Weiqiu Chen
Summary: This paper reviews the mechanics of dielectric elastomers (DEs), including their dynamic responses, nonlinear electroelasticity, and periodic structures. The research results provide design and solution approaches, and discuss the underlying physics. It offers a useful guide for future studies.
INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
(2023)
Article
Biotechnology & Applied Microbiology
Seung Mo Jeong, Heeju Mun, Sungryul Yun, Ki-Uk Kyung
Summary: Introduces dielectric elastomer actuators (DEAs) as a strong candidate for artificial muscles, highlighting their fast, large, and reversible electrically-controllable actuation. However, the soft viscoelastic nature of DEAs poses challenges in their practical use due to issues such as nonlinear response, time-varying strain, and low load-bearing capability. The paper proposes a new model combining nonlinear and time-dependent energy-based modeling theories to accurately predict the long-term electro-mechanical dynamic response of DE muscles.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2023)
Article
Instruments & Instrumentation
Matthias Baltes, Julian Kunze, Johannes Prechtl, Stefan Seelecke, Gianluca Rizzello
Summary: This paper presents a novel concept for a planar soft robotic module actuated by smart artificial muscles. The structure can continuously bend along a desired direction through the actuation of antagonist-agonist pair of artificial muscle fibers. Experimental results demonstrate that the bending angle is strongly influenced by the choice of flexible beam geometry and RDEA mounting points, with a maximum bending angle of up to 25 degrees.
SMART MATERIALS AND STRUCTURES
(2022)
Article
Materials Science, Multidisciplinary
Yuanbo Zhu, Nian Liu, Zheqi Chen, Honghui He, Zhenwei Wang, Zeming Gu, Yuewei Chen, Jie Mao, Yingwu Luo, Yong He
Summary: Insects with small and light bodies can inspire the design of soft robots for various applications. However, creating insect-scale robots with fast mobility, good robustness, and impact-perception capability remains a challenge in engineering.
ACS MATERIALS LETTERS
(2023)
Article
Automation & Control Systems
Yegor Piskarev, Antoine Devincenti, Vivek Ramachandran, Pierre-Etienne Bourban, Michael D. Dickey, Jun Shintake, Dario Floreano
Summary: This article presents a soft gripper that combines granular jamming and electroadhesion to gently grasp and release objects with varying properties. It can operate in different modes to handle objects with different surface conditions and mechanical properties.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Automation & Control Systems
Shoufeng Liu, Fujun Wang, Zhu Liu, Wei Zhang, Yanling Tian, Dawei Zhang
Summary: This article introduces a novel two-finger soft-robotic gripper with enveloping grasping and pinching grasping modes. Experimental results demonstrate that the gripper can reliably grasp objects of various shapes and sizes, especially small and fragile objects.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Robotics
Witchuda Thongking, Ardi Wiranata, Ayato Minaminosono, Zebing Mao, Shingo Maeda
Summary: Dielectric elastomer actuators (DEAs) are promising technology for soft robotics, with applications including grippers, artificial muscles, and heel strike generators. Multi-layered DEAs have the potential to be strong grippers, offering advantages such as light weight, fast response, and low cost.
JOURNAL OF ROBOTICS AND MECHATRONICS
(2021)
Article
Chemistry, Analytical
Ming Yu, Wenwen Liu, Jian Zhao, Yanyan Hou, Xuewu Hong, Hongjie Zhang
Summary: This study models the bending angle and motion of a new type of soft pneumatic actuator using a constitutive model, moment equilibrium, and virtual work principle. The piecewise constant curvature method and coordinate transformation are used to calculate the location of any chamber of the soft actuator. Experimental results demonstrate the effectiveness of the developed analytical models and the gripping performance of the soft gripper.
Article
Robotics
Ruiqian Wang, Chuang Zhang, Wenjun Tan, Jia Yang, Daojing Lin, Lianqing Liu
Summary: This article reports a miniature columnar dielectric elastomer actuator (DEA) with multi-DOF actuation and sensing. The arrangement of the simulation electrodes on the actuator was optimized to achieve multi-DOF actuation, and the sensing electrodes were configured to provide real-time sensing of the actuator's deformation modes, direction, and quantity.
Article
Engineering, Mechanical
Yaguang Guo, Jianglong Guo, Liwu Liu, Yanju Liu, Jinsong Leng
Summary: This study presents a caterpillar-inspired soft robot capable of multimodal locomotion, including crawling, climbing, and turning. The robot combines a two-degree-of-freedom dielectric elastomer actuator and two flexible electroadhesives to achieve different modes of movement.
EXTREME MECHANICS LETTERS
(2022)
Article
Chemistry, Analytical
Yufeng Chen, Cathleen Arase, Zhijian Ren, Pakpong Chirarattananon
Summary: Researchers have developed the first robot that simulates dragonflies and discovered that the interaction between the forewings and hindwings significantly affects the lift force production and aerodynamic efficiency of the robot.
Article
Engineering, Mechanical
Yaguang Guo, Jianglong Guo, Liwu Liu, Yanju Liu, Jinsong Leng
Summary: This study presents a caterpillar-inspired soft robot capable of multimodal locomotion, including crawling, climbing, and turning. The robot combines a two-degree-of-freedom dielectric elastomer actuator and two flexible electroadhesives to achieve different modes of movement.
EXTREME MECHANICS LETTERS
(2022)
Article
Automation & Control Systems
Chongjing Cao, Lijin Chen, Thomas L. Hill, Lei Wang, Xing Gao
Summary: This article presents a nonlinear mechanism coupled dielectric elastomer resonator (DER) that broadens the resonant bandwidth and improves the output performance and energy efficiency. The proposed bistable DER demonstrates a broad resonant bandwidth, improves power output and energy efficiency, and explores a nonlinear dynamic phenomenon to enhance the DER's performance at low applied electric field amplitudes.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Chemistry, Analytical
George P. Jenkinson, Andrew T. Conn, Antonia Tzemanaki
Summary: This paper introduces a novel soft tactile sensor that can dynamically adjust its stiffness to enhance sensitivity to a wide range of applied forces. The sensor is inspired by the Eustachian tube in the mammalian ear and uses adjustable pneumatic back pressure to control the effective stiffness of its elastomer interface. It can detect forces as small as 0.012 N and differentiate between forces with a difference of 0.006 N in the range of 35 to 40 N. The sensor has the ability to detect tactile cues on sub-millimeter scale objects and can adapt its compliance to distinguish between stimuli with similar stiffnesses.
Article
Instruments & Instrumentation
Chongjing Cao, Lijin Chen, Thomas L. Hill, Lei Wang, Xing Gao
Summary: This paper studies the effects of isolas on dielectric elastomer actuators and explores the mechanisms behind the generation of isolas. The study found that potential barriers, equilibrium positions, and excitation level are critical factors that affect the evolution of isolas. The findings provide insights into the complex isola phenomena in DEAs and offer guidelines for eliminating undesired isolas or utilizing isolas for applications.
SMART MATERIALS AND STRUCTURES
(2022)
Article
Physics, Multidisciplinary
Fei Jia, Shengjun Fan, Jianglong Guo
Summary: Soft liquid-amplified actuators are an emerging soft actuator that possess several advantages, such as powerful, fast, energy-efficient, lightweight, and robust actuations. This study investigates the fundamental electromechanics of solenoid electroribbon actuators (SERAs), a new configuration of liquid-amplified actuators. The findings provide insights into optimizing their actuation performances for robotics and beyond.
EUROPEAN PHYSICAL JOURNAL PLUS
(2022)
Article
Engineering, Mechanical
Haonan He, Yuan Li, Lindsay Clare, Jason Zheng Jiang, Monzer Al Sakka, Miguel Dhaens, Steve Burrow, Simon Neild, Andrew Conn
Summary: To balance dynamic performance and power/force needs, the passive and active parts in the vehicle suspension should be designed together and work synergistically. Previous approaches are limited and do not consider the parasitic effects of a physical active actuator. This work introduces a novel design method for passive-active-combined suspensions and demonstrates its effectiveness through a quarter-car case study.
INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
(2023)
Article
Instruments & Instrumentation
Yingze Yuan, Fengfeng Li, Jianglong Guo, Liwu Liu, Yanju Liu, Jinsong Leng
Summary: Electrostatic layer jamming is a lightweight, low energy consumption, electrically tunable, and cost-effective variable stiffness structure. However, there is a lack of comprehensive and experimentally validated theoretical variable stiffness models for flexible parallel electroadhesive structures. This paper presents the first variable stiffness model for flexible parallel electroadhesive structures under different bending conditions, considering friction and slip between layers. The results provide useful insights for understanding the variable stiffness mechanism and optimizing the structural design for practical applications.
SMART MATERIALS AND STRUCTURES
(2023)
Article
Engineering, Mechanical
Haonan He, Yuan Li, Jason Zheng Jiang, Steve Burrow, Simon Neild, Andrew Conn
Summary: This paper proposes a new design approach for searching for the optimal passive-active-combined suspension by incorporating an inerter, which can reduce the active force and energy consumption while improving ride comfort.
VEHICLE SYSTEM DYNAMICS
(2023)
Article
Robotics
Qinghua Guan, Liwu Liu, Jian Sun, Jiale Wang, Jianglong Guo, Yanju Liu, Jinsong Leng
Summary: This study presents a novel robotic stacking strategy, NRS stacking, which uses a dimensional raising method to quickly and efficiently fabricate multifunctional soft robots. The NRS stacking-driven soft robot demonstrates the best overall performance among existing stackable soft robots, providing a cost-effective and efficient way to build multifunctional and multimodal soft robots.
Article
Instruments & Instrumentation
Chongjing Cao, Chuang Wu, Xiaozheng Li, Xing Gao
Summary: Introduces the resonant actuation of dielectric elastomer actuators (DEAs) that can greatly amplify power outputs and energy efficiencies, and its applications in soft robotics. Investigates the effects of compliant supports on the dynamics of DEAs on soft robots through a study on a double cone DEA-compliant support system. Develops a nonlinear dynamic model of the system and characterizes its dynamics in different support configurations, clarifying the influences of key parameters. The key findings can potentially guide the designs of future high-performance DEA-driven soft robots.
SMART MATERIALS AND STRUCTURES
(2023)
Article
Robotics
Peter Wharton, Tsam Lung You, George P. Jenkinson, Richard Suphapol Diteesawat, Nguyen Hao Le, Edith-Clare Hall, Martin Garrad, Andrew T. Conn, Jonathan Rossiter
Summary: This paper introduces a design concept called Polyflex for fabricating modular, soft truss robots, and demonstrates its versatile capabilities in a robot called Tetraflex. Tetraflex can change its size and shape by extending or contracting pneumatic bellows, and can perform rolling, crawling, and bounding gaits. It can also roll onto and transport objects using its crawling gait. The flexibility and versatility of Tetraflex make it suitable for a wide range of applications in various environments, including surveying, search and rescue, and remote sample collection.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Biomedical
Maria Elena Giannaccini, Andrew Hinitt, Andrew Stinchcombe, Keren Yue, Martin Birchall, Andrew Conn, Jonathan Rossiter
Summary: Pathologies affecting the respiratory system can have severe consequences. To test medical devices, a simulation system that replicates respiratory features is necessary. Existing simulators only focus on flow rate profiles, while this paper proposes a robotic simulator that replicates breathing and coughing. The simulator accurately reproduces respiratory flows and coughing profiles, advancing current respiratory system simulators.
IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS
(2023)
Article
Automation & Control Systems
Chongjing Cao, Lei Wang, Xing Gao
Summary: A monolithic suction pad with electrostatic-hydraulic coupling generated negative pressure cavity and elastomeric-hydraulic coupled outer rim is proposed, showing advantages of lower profile structure, lower preload stress requirement, and higher adhesive force to power consumption ratio compared to existing smart material-driven suction cups. This suction pad has promises in broad applications such as digital manufacturing, transfer printing, medical robotics, and robotic locomotion.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Proceedings Paper
Robotics
Alix J. Partridge, Hsing-Yu Chen, Nguyen Hao Le, Ciqun Xu, Hendrik Eichorn, Emanuele Pulvirenti, Arianna Manzini, Andrew T. Conn, Jonathan Rossiter
Summary: The study proposes an effective recycling method for elastomeric materials in the field of soft robotics, reducing the need for new materials and harmful waste. It demonstrates the successful application of this method in high strain recycled bladder actuators and soft grippers.
2022 IEEE 5TH INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT)
(2022)
Proceedings Paper
Automation & Control Systems
Richard Wakeling-Gentle, Andrew T. Conn
Summary: This paper presents a novel strong, compliant manipulator system utilizing a rigid-link tendon driven manipulator controlled by a novel compliant drive mechanism. Numerical simulations demonstrate that this new manipulator is able to address the stiffness/compliance trade-off by combining a compliant drive and a stiff manipulator. A proof-of-principle real-world prototype shows that the manipulator's compliance allows it to conform to soft and compressible objects while its stiffness enables it to support objects more than 15 times its own weight.
2022 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)
(2022)
