4D printing of shape memory polymer composites: A review on fabrication techniques, applications, and future perspectives

Soft Magneto‐Responsive Shape Memory Foam Composite Actuators

4D Printing Light-Driven Soft Actuators Based on Liquid-Vapor Phase Transition Composites with Inherent Sensing Capability

The objective of this letter is to investigate the dynamic control of a soft robotic arm. First, a modular soft robotic hardware and an affordable actuator-space encoder were presented. We then discussed the soft robot modeling, and adaptive passivity control strategy with stability proof. The proposed controller was tested in different operation scenarios, and compared to the standard PD feedback linearization control and passivity control. In all experimental settings, the adaptive passivity control scheme was able to achieve superior performance, even with significant modeling uncertainties and disturbances. The theoretical analysis and experimental validations of the proposed controller will pave the way toward the practical implementations of the soft robotic system in the dynamic scenarios.

Dynamic Control of Soft Robotic Arm: An Experimental Study

The objective of this letter is to investigate the dynamic control of a soft robotic arm. First, a modular soft robotic hardware and an affordable actuator-space encoder were presented. We then discussed the soft robot modeling, and adaptive passivity control strategy with stability proof. The proposed controller was tested in different operation scenarios, and compared to the standard PD feedback linearization control and passivity control. In all experimental settings, the adaptive passivity control scheme was able to achieve superior performance, even with significant modeling uncertainties and disturbances. The theoretical analysis and experimental validations of the proposed controller will pave the way toward the practical implementations of the soft robotic system in the dynamic scenarios. 

/pdf/dynamic-control-of-soft-robotic-arm-an-experimental-study-tu7vt8e4.pdf

Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified.

Simon M. Harrison

Papers

Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications