Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

https://onlinelibrary.wiley.com/doi/pdf/10.1002/adma.201707035

Soft Robotic Grippers.

This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than a centimeter, they belong to an even more special subcategory of robots or devices, in that they often lack on-board power, sensing, computation, and control. Soft, active materials are particularly well suited for this task, with a wide range of stimulants and a number of impressive examples, demonstrating large deformations, high motion complexities, and varied multifunctionality. Recent research includes both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials.

Soft Actuators for Small-Scale Robotics.

Soft robots driven by stimuli-responsive materials have unique advantages over conventional rigid robots, especially in their high adaptability for field exploration and seamless interaction with humans. The grand challenge lies in achieving self-powered soft robots with high mobility, environmental tolerance, and long endurance. We are able to advance a soft electronic fish with a fully integrated onboard system for power and remote control. Without any motor, the fish is driven solely by a soft electroactive structure made of dielectric elastomer and ionically conductive hydrogel. The electronic fish can swim at a speed of 6.4 cm/s (0.69 body length per second), which is much faster than previously reported untethered soft robotic fish driven by soft responsive materials. The fish shows consistent performance in a wide temperature range and permits stealth sailing due to its nearly transparent nature. Furthermore, the fish is robust, as it uses the surrounding water as the electric ground and can operate for 3 hours with one single charge. The design principle can be potentially extended to a variety of flexible devices and soft robots.

https://advances.sciencemag.org/content/advances/3/4/e1602045.full.pdf

Fast-moving soft electronic fish

Closeup exploration of underwater life requires new forms of interaction, using biomimetic creatures that are capable of agile swimming maneuvers, equipped with cameras, and supported by remote human operation. Current robotic prototypes do not provide adequate platforms for studying marine life in their natural habitats. This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging. Using a miniaturized acoustic communication module, a diver can direct the fish by sending commands such as speed, turning angle, and dynamic vertical diving. This work builds on previous generations of robotic fish that were restricted to one plane in shallow water and lacked remote control. Experimental results gathered from tests along coral reefs in the Pacific Ocean show that the robotic fish can successfully navigate around aquatic life at depths ranging from 0 to 18 meters. Furthermore, our robotic fish exhibits a lifelike undulating tail motion enabled by a soft robotic actuator design that can potentially facilitate a more natural integration into the ocean environment. We believe that our study advances beyond what is currently achievable using traditional thruster-based and tethered autonomous underwater vehicles, demonstrating methods that can be used in the future for studying the interactions of aquatic life and ocean dynamics.

Exploration of underwater life with an acoustically controlled soft robotic fish

Rapid advancements in stretchable and multifunctional wearable electronics impose a challenge on corresponding power devices that they should have comparable portability and stretchability. Here, we report a highly stretchable and washable all-yarn-based self-charging knitting power textile that enables both biomechanical energy harvesting and simultaneously energy storing by hybridizing triboelectrical nanogenerator (TENG) and supercapacitor (SC) into one fabric. With the weft-knitting technique, the power textile is qualified with high elasticity, flexibility, and stretchability, which can adapt to complex mechanical deformations. The knitting TENG fabric is able to generate electric energy with a maximum instantaneous peak power density of ∼85 mW·m–2 and light up at least 124 light-emitting diodes. The all-solid-state symmetrical yarn SC exhibits lightweight, good capacitance, high flexibility, and excellent mechanical and long-term stability, which is suitable for wearable energy storage devices. The ...

A Highly Stretchable and Washable All-Yarn-Based Self-Charging Knitting Power Textile Composed of Fiber Triboelectric Nanogenerators and Supercapacitors

In this paper, biomimetic underwater robots built using smart actuators, e.g., a shape memory alloy (SMA), an ionic polymer metal composite (IPMC), lead zirconate titanate (PZT), or a hybrid SMA and IPMC actuator, are reviewed. The effects of underwater environment were also considered because smart actuators are often affected by their external environment. The characteristics of smart actuators are described based on their actuating conditions and motion types. Underwater robots are classified based on different swimming modes. We expanded our classification to non-fish creatures based on their swimming modes. The five swimming modes are body/caudal actuation oscillatory (BCA-O), body/caudal actuation undulatory (BCA-U), median/paired actuation oscillatory (MPA-O), median/paired actuation undulatory (MPA-U), and jet propulsion (JET). The trends of biomimetic underwater robots were analyzed based on robot speed (body length per second, BL/s). For speed per body length, robots using an SMA as an actuator are faster than robots using an IPMC when considering a similar length or weight. Robots using a DC motor are longer while their speeds per body length are similar, which means that robots using smart actuators have an advantage of compactness. Finally, robots (using smart actuators or a motor) were compared with underwater animals according to their speed and different swimming modes. This review will help in setting guidelines for the development of future biomimetic underwater robots, especially those that use smart actuators.

Review of biomimetic underwater robots using smart actuators

The one-dimensional deformation of shape memory alloy (SMA) wires and springs can be implemented into different types of functional structures with three-dimensional deformations. These structures can be classified based on the type of structure and how the SMA element has been implemented into the following categories: rigid mechanical joints, semi-rigid flexural hinges, SMA elements externally attached to a soft structure, and embedded into the soft structure. These structures have a wide range of properties and implementation requirements, and they have been used to produce a variety of robots with rigid and soft motions. The different research efforts to develop actuators and robots related to each type of structure are presented along with their respective strengths and weaknesses. A model is then developed to discuss the performance and applicability of SMA wires versus SMA springs for actuators with a polymeric matrix to see the effect of each type of SMA on the selection of design parameters. A comparison of the different types of structures and the applicability of different types of SMA elements for different types of structures is then presented.

An Overview of Shape Memory Alloy-Coupled Actuators and Robots

Most existing approaches to developing robotic manipulators or artificial hands have used rigid components, with joints, linkages, gears, and motors. Rigid robotic systems can perform tasks with precise and articulated motion, but require complex integrated feedback-based control systems. Soft robotics is an emerging research field that uses deformable materials to build systems that are compliant and adaptable via simple integrated mechanisms, enabling biomimetic behavior with compact systems. Here, we report a novel tendon-driven bending actuator using smart soft composite (SSC) and shape memory alloy (SMA). First, an artificial finger was designed based on a SMA wire and a sliding mechanism, which mimics flexion of the human hand. This artificial finger has a soft hinge structure to enable the bending motion of the actuator. Experiments were conducted to evaluate the bending and load resistance of the artificial finger, and an optimal material composition was identified. The bending performance of the actuator was measured with various numbers of glass fiber sheets, and two-layered actuator showed the best performance in terms of the trade-off relationship between the bending capacity and the load holding capacity – bending angle of 305° with weight of 20 g and bending angle of 61° with weight of 60 g. Finally, a prototype robotic hand was then developed using four tendon-driven SSC fingers and a thumb, and grasping capabilities were demonstrated with various objects with diverse shapes.

Soft morphing hand driven by SMA tendon wire

The beam steering mechanism has been a key element for various applications ranging from sensing and imaging to solar tracking systems. However, conventional beam steering systems are bulky and complex and present significant challenges for scaling up. This work introduces the use of soft deployable reflectors combining a soft deployable structure with simple kirigami/origami reflective films. This structure can be used as a macroscale beam steering mechanism that is both simple and compact. This work first develops a soft deployable structure that is easily scalable by patterning of soft linear actuators. This soft deployable structure is capable of increasing its height several folds by expanding in a continuous and controllable manner, which can be used as a frame to deform the linearly stretchable kirigami/origami structures integrated into the structure. Experiments on the reflective capability of the reflectors are conducted and show a good fit to the modeling results. The proposed principles for deployment and for beam steering can be used to realize novel active beam steering devices, highlighting the use of soft robotic principles to produce scalable morphing structures.

Kirigami/Origami-Based Soft Deployable Reflector for Optical Beam Steering

This work introduces the design of a smart soft composite (SSC) hinge actuator capable of a pure bending motion concentrated on specific sections of the actuator. This actuator makes use of a shape memory alloy (SMA) wire in a polydimethylsiloxane (PDMS) matrix embedded with segmented rigid components. The bending deformation was accomplished by actuating the SMA wire embedded along the length of the matrix eccentrically from neutral surface. This study introduces the design and manufacturing method of the actuator and experimental results for the maximum bending curvature for different configurations of the actuator. A model was presented to calculate the maximum bending curvature and validated against the experimental data. Results show that a smaller flexible length ratio is better for obtaining a larger maximum bending curvature, and that for an actuator containing multiple hinges, the total length of the hinges is more important than the number of hinges in the actuator. Finally, a gripper consisting of three fingers was developed where each finger consists of a hinge actuator with two hinges. The fingers of the gripper have a working length of 90 mm and the gripper was evaluated by grabbing cylindrical objects with diameters ranging between 1 mm and 80 mm. Results show that the gripper has a good passively adaptive capability for grasping a large range of objects with different sizes by virtue of the properties of the hinge actuator. Afterwards, the pulling force through different grasps was tested and it was shown that the gripper is capable from transitioning directly from a power grasping to a fingertip grasp and that power grasping is better than the fingertip grasp.

Min-Woo Han

Papers

Review of biomimetic underwater robots using smart actuators

An Overview of Shape Memory Alloy-Coupled Actuators and Robots

Soft morphing hand driven by SMA tendon wire

Kirigami/Origami-Based Soft Deployable Reflector for Optical Beam Steering

Soft composite hinge actuator and application to compliant robotic gripper