Article
Materials Science, Multidisciplinary
Ji Eun Lee, Yi Sun, Yu-Chen Sun, Ian R. Manchester, Hani E. Naguib
Summary: This paper reports on a novel multi-stimulus responsive soft actuator that combines the advantages of pneumatic and magnetic systems to achieve multi-plane actuation behavior. The actuator demonstrates high blocking forces at low power input and utilizes unique micro air channels for unconventional bending paths. The addition of magnetic nanoparticles reduces stiffness, increases blocking force, and decreases air pressure input for actuation. The practicality of the actuator is demonstrated through various applications and environments.
APPLIED MATERIALS TODAY
(2022)
Article
Robotics
Sachin, Zhongkui Wang, Takahiro Matsuno, Shinichi Hirai
Summary: In this study, an analytical model for a membrane-based flat shell gripper is proposed and the deformation behavior of the actuator is theoretically predicted and experimentally validated.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Multidisciplinary
Ming Ma, Quansheng Jiang, Haochen Wang, Yehu Shen, Fengyu Xu
Summary: This article introduces a novel bionic pneumatic gripper inspired by spider legs, which has the advantages of simplicity and adaptability in structure. The gripping power is usually limited due to the low modulus of soft materials, so a design with symmetrical fingers, pneumatic actuated joints, rigid links, and pneumatic soft pads is proposed to increase the gripping force. The compressibility and elasticity of the soft joint and pad enable the gripper to handle fragile objects without damage. The prototype is manufactured and evaluated for gripping force, flexibility, and adaptability with promising results.
JOURNAL OF BIONIC ENGINEERING
(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
Engineering, Multidisciplinary
Ming Xu, Jin Ma, Jindong Zhao, Yongfa Zhang, Di Zhang
Summary: This paper presents a novel pneumatic soft joint actuator inspired by the joint structure and actuation mechanism of spider legs. The actuator achieves joint rotation through the mutual compression of two hyperelastic sidewalls under inflation pressure. A pneumatic hyperelastic thin plate (Pneu-HTP) based actuation modeling method is proposed for this extrusion actuation, and mathematical models for parallel and angular extrusion actuation are derived. Finite element analysis simulations and experiments are conducted to evaluate the accuracy of the Pneu-HTP extrusion actuation model. The results show high consistency between the model and the experiments, with average relative errors ranging from 9.27% to 12.5% and goodness-of-fit greater than 99%.
BIOINSPIRATION & BIOMIMETICS
(2023)
Article
Robotics
Jin Guo, Zeyu Li, Jin-Huat Low, Qianqian Han, Chao-Yu Chen, Jun Liu, Zhuangjian Liu, Chen-Hua Yeow
Summary: Soft robots have attracted attention for their flexibility and safety compared to hard-bodied robots. This article proposes a soft pneumatic actuator (SPA) inspired by Kirigami, allowing for multiple deformation modes. The SPA can be manufactured with 3D printers and applied to various soft robotic systems.
Article
Robotics
Ajinkya Bhat, Shobhit Sandeep Jaipurkar, Li Ting Low, Raye Chen-Hua Yeow
Summary: The development of soft robotics has led to the exploration of novel techniques for manufacturing soft actuators, which are advantageous for wearable assistive robotics. This article presents a composite design scheme using a silicone polymer-based bladder and a reconfigurable fabric skin, which overcomes the limitations of individual materials and allows for versatile and customizable designs. The advantages of this fabric-skin-based concept include modularity, reconfigurability, and the ability to achieve complex motions.
Article
Robotics
Peter Breitman, Yoav Matia, Amir D. Gat
Summary: The study focuses on the pressurization of gas for actuating soft robots, specifically examining the combined effects of fluid viscosity and compressibility in miniaturized configurations. By deriving a general model and simplifying it using a long-wave approximation, the research provides insights into the actuation dynamics of miniaturized pneumatic soft robots.
Article
Robotics
Josef M. Stadlbauer, Wolfgang Haderer, Ingrid Graz, Nikita Arnold, Martin Kaltenbrunner, Siegfried Bauer
Summary: By utilizing natural snap-buckling principles observed in plants, an ultrafast purely mechanical elastomer actuator has been designed to achieve large deformations within milliseconds in response to temperature changes, eliminating the need for harmful stimulants and high voltages.
Review
Engineering, Mechanical
Maria Paterna, Carlo De Benedictis, Carlo Ferraresi
Summary: This paper reviews the research on soft pneumatic actuators conducted in Italy, focusing on mechanical design, analytical modeling, and possible applications. The classification based on geometry allows researchers to take advantage of the flexibility and functionality of soft actuators in various scenarios.
Article
Engineering, Electrical & Electronic
David Gonzalez, Jose Garcia, Richard M. Voyles, Robert A. Nawrocki, Brittany Newell
Summary: This study presents a novel design of a fully 3D printed soft pneumatic actuator and characterizes its performance. The theoretical model is able to predict the response of the printed actuator accurately, and the design meets practical requirements.
SENSORS AND ACTUATORS A-PHYSICAL
(2022)
Article
Automation & Control Systems
Miao Feng, Dezhi Yang, Carmel Majidi, Guoying Gu
Summary: Multichamber soft pneumatic actuators (m-SPAs) are widely used in soft robotic systems, but they have slow actuation speed and require continuous supply of compressed air. To address these issues, this study introduces an internal exhaust air recirculation (IEAR) mechanism for high-speed and low-energy actuation of m-SPAs. Comparative experiments show that the IEAR mechanism significantly improves actuation speed and reduces energy consumption per cycle under typical conditions. The study also demonstrates the promising applications of the IEAR mechanism in various pneumatic soft machines and robots.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Engineering, Mechanical
Zhiwei Jiao, Zhongyu Zhuang, Yue Cheng, Xuan Deng, Ce Sun, Yuan Yu, Fangjun Li
Summary: Foam-based soft actuators with a negative pressure pneumatic drive have been designed to achieve increasing bending angle and contraction distance with higher air pressure. By constructing a control system, soft robots have been successfully operated for various tasks.
Article
Automation & Control Systems
Byungchul Kim, Useok Jeong, Brian Byunghyun Kang, Kyu-Jin Cho
Summary: This article introduces a slider-tendon linear actuator for tendon-driven soft wearable robots, which features a compact structure and no pre-tension, significantly reducing the size of the robot and improving its performance.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Robotics
Marcos Villeda-Hernandez, Benjamin C. Baker, Christian Romero, Jonathan M. Rossiter, Michael P. M. Dicker, Charl F. J. Faul
Summary: Pneumatic actuators are extensively studied in soft robotics due to their ease of use, low cost, scalability, durability, and natural-comparable compliance. The challenge lies in utilizing high-energy-density chemical and biochemical reactions to generate sufficient pneumatic pressure for controlled and ecologically compatible actuation of soft systems. This investigation assesses the potential of chemical reactions as pressure sources for soft robotic pneumatic actuators, considering actuation demands, pressure source mechanisms, and system safety. Gas evolution/consumption reactions are evaluated and compared, and the coupling of gas evolution and consumption reactions is explored for oscillating systems driven by complementary carbon dioxide evolution and consumption. The possibility of autonomous cyclic actuation is achieved by controlling the speed of gas generation and consumption through adjusting the initial feed material ratios. Reversibility is demonstrated through displacement experiments, and practical application is showcased with a soft gripper capable of moving, picking up and releasing objects. This approach represents a significant advancement towards autonomous and versatile chemo-pneumatic driven soft robots.
Article
Robotics
Jiaqi Zhu, Zhiping Chai, Haochen Yong, Yi Xu, Chuanfei Guo, Han Ding, Zhigang Wu
Summary: The increasing demand for grasping diverse objects in unstructured environments has led to the development of hybrid designs that combine the advantages of rigid and soft structures. Inspired by the human finger, this study proposes a hybrid finger with multiple modes and poses, achieving wide-range output force, excellent compliance, and stability. The modularized and configured fingers also demonstrate excellent grasping performance, highlighting the potential of fusing rigid-soft technologies for robot development.
Article
Robotics
Jie Zhang, You Li, Ziyun Kan, Qiufeng Yuan, Hamed Rajabi, Zhigang Wu, Haijun Peng, Jianing Wu
Summary: In this study, a modular tensegrity structure with preprogrammable stiffness was proposed for continuum robots. Theoretical predictions showed that the curvature of each segment could be regulated by preprogramming their spring stiffness. By regulating the distribution of spring stiffness, our robot could move through channels with varying curvatures, exhibiting its potential for applications where varying curvature and conformal and efficient interactions are needed.
Article
Materials Science, Multidisciplinary
Zisheng Zong, Shuo Zhang, Zhigang Wu
Summary: Hard magnetic soft materials (HMSMS) have attracted intensive attention in soft robots due to their untethered, rapid and reversible actuation, as well as large shape changes. However, previous studies have mainly focused on shape morphing, neglecting contraction deformation which could be useful in precise drug delivery. In this study, an anisotropic contraction in a porous structure called hard magnetic foam (HMF) is reported, which has the advantage of being mechanically ultra-soft but magnetically hard. By adjusting the magnetic fields directions, the relationship between magnetodeformational effect and magnetic body-force can be regulated to achieve maximum contraction or negligible deformation. HMF is also utilized for precision drug delivery with no leakage, adjustable drug release rate, and no residue after leaving.
ADVANCED MATERIALS TECHNOLOGIES
(2023)
Article
Materials Science, Multidisciplinary
Jie Zhang, Bo Wang, Haohan Chen, Jianing Bai, Zhigang Wu, Ji Liu, Haijun Peng, Jianing Wu
Summary: Continuum robots offer significant advantages over traditional ones in specific scenarios. A three-segment continuum robot with stiffness programmable characteristics is proposed, which relies on a stiffness tunable material and a mechanical model based on the finite element method is derived for predicting the robotic configuration. Experimental results demonstrate that the robot can freely regulate the configuration on-demand, providing a foundation for the application of continuum robots with programmable stiffness for interacting with unstructured environments.
ADVANCED MATERIALS TECHNOLOGIES
(2023)
Article
Engineering, Multidisciplinary
Xiaoming Xu, Yanghui Chen, Jiahui Luo, Jiafu Liu, Haijun Peng, Zhigang Wu
Summary: This paper investigates the numerical features of equivalent Lagrangian formulations for general mechanical systems and gives new insight into the error reduction of the corresponding numerical integrations. The modified Lagrange's equations are derived, which give a unified form of equivalent Lagrangian formulations. An error analysis is employed to clarify the error generation of different formulations and a mechanism of error reduction is explained for the discrete system. A methodology for constructing synthetic integrations is developed, which demonstrates significantly higher numerical accuracy and possible computational advantages.
APPLIED MATHEMATICAL MODELLING
(2023)
Article
Chemistry, Multidisciplinary
Yi Xu, Jiaqi Zhu, Han Chen, Haochen Yong, Zhigang Wu
Summary: In this paper, a soft reconfigurable circulator (SRC) is described, which utilizes the smooth cyclic motions of magnetic liquid metal droplets (MLMD) to achieve multiple computation functions. Through specially designed circulating channels, MLMD can transfer their cyclic motions as input signals to programmable electrical output signals carrying computing information. The obtained SRCs enable soft robots to perform complex computing tasks.
Article
Public, Environmental & Occupational Health
Qiaoling Liu, Jiuhong You, Min Zhong, Zhigang Wu, Yunjie Geng, Cheng Huang
Summary: There is an association between hemoglobin level and sarcopenia, muscle mass, and physical performance in the Chinese population aged 60 and above, with specific effects depending on sex, residence, and body mass index.
FRONTIERS IN PUBLIC HEALTH
(2023)
Review
Chemistry, Analytical
Qin Jiang, Zhiping Chai, Zisheng Zong, Zhitong Hu, Shuo Zhang, Zhigang Wu
Summary: As natural intelligence, plants have attracted significant attention from researchers. Soft film sensors provide a promising approach to connect plants with artificial devices, enabling further investigation into plants' intelligence. This article summarizes recent developments in micro/nano soft film sensors for establishing intelligent plant systems, including essential materials, fabrication techniques, and application scenarios. Conductive metals, nanomaterials, and polymers are discussed as basic materials, and corresponding fabrication techniques like laser machining and printing are surveyed. Additionally, applications for intelligent plant systems, such as plant physiology detection and plant-hybrid systems, are investigated, and existing challenges and future opportunities are discussed.
Article
Robotics
Jiaqi Zhu, Han Chen, Zhiping Chai, Han Ding, Zhigang Wu
Summary: Traditional grippers face difficulties in meeting the performance expectations of adaptability and range, leading to the development of soft-rigid coupling grippers. However, these hybrid grippers still struggle with adaptively grasping fragile objects due to limited adjustable contact stiffness and compliance. To solve these issues, a dual-modal hybrid gripper with wide-range tunable contact stiffness and high compliance is proposed, demonstrating excellent adaptability and wide graspable objects range.
Article
Engineering, Electrical & Electronic
Dicheng Chen, Wanqi Hu, Huiting Liu, Yirong Zhou, Tianyu Qiu, Yihui Huang, Zi Wang, Meijin Lin, Liangjie Lin, Zhigang Wu, Jiazheng Wang, Hao Chen, Xi Chen, Gen Yan, Di Guo, Jianzhong Lin, Xiaobo Qu
Summary: Magnetic Resonance Spectroscopy (MRS) is a noninvasive tool used to reveal metabolic information. H-1-MRS faces the challenge of low Signal-Noise Ratio (SNR), which can be improved by performing a large number of Signal Averaging (SA). Deep learning has been introduced to improve SNR, but mostly using simulated data. This paper proposes a new scheme using realistic data samples for deep learning-based denoising, achieving high-fidelity spectral denoising with fast acquisition.
IEEE TRANSACTIONS ON COMPUTATIONAL IMAGING
(2023)
Article
Automation & Control Systems
Haochen Yong, Xingxing Ke, Fukang Xu, Shuo Zhang, Han Ding, Zhigang Wu
Summary: Small-scale robots face great challenges in design due to limited size and power consumption, but the development of advanced functional materials, compliant structures/mechanisms, and flexible fabrication techniques bring new opportunities. These technologies improve the performance of small robots, simplify system complexity, and enable their application in diverse scenarios. Inspired by efficient survival strategies of small organisms, bioinspired design strategies offer new directions and challenges for small-scale robot development. This article analyzes the development trends of small-scale robots and induces potential bioinspired synergy strategies for future insect-level soft robot design.
ADVANCED INTELLIGENT SYSTEMS
(2023)
