Journal ArticleDOI
Soft Actuators for Small-Scale Robotics.
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TLDR
A detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications, including both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials.Abstract:
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.read more
Citations
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Small-scale soft-bodied robot with multimodal locomotion
TL;DR: In this paper, the authors demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels.
Journal ArticleDOI
Printing ferromagnetic domains for untethered fast-transforming soft materials
TL;DR: 3D printing of programmed ferromagnetic domains in soft materials that enable fast transformations between complex 3D shapes via magnetic actuation are reported, enabling a set of previously inaccessible modes of transformation, such as remotely controlled auxetic behaviours of mechanical metamaterials with negative Poisson’s ratios.
Journal ArticleDOI
Soft Robotic Grippers.
TL;DR: A critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures, and improved materials, processing methods, and sensing play an important role in future research.
Journal ArticleDOI
Micro/Nanorobots for Biomedicine: Delivery, Surgery, Sensing, and Detoxification.
TL;DR: This article reviews recent progress and future perspectives of micro/nanorobots in biomedicine, with a special focus on their potential advantages and applications for directed drug delivery, precision surgery, medical diagnosis, and detoxification.
Journal ArticleDOI
Exploration of underwater life with an acoustically controlled soft robotic fish
TL;DR: This work presents the design, fabrication, control, and oceanic testing of a soft robot fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging and exhibits a lifelike undulating tail motion enabled by a soft robotic actuator design.
References
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Journal ArticleDOI
Generating optimal topologies in structural design using a homogenization method
Martin P. Bendsøe,Noboru Kikuchi +1 more
TL;DR: In this article, the authors present a methodology for optimal shape design based on homogenization, which is related to modern production techniques and consists of computing the optimal distribution in space of an anisotropic material that is constructed by introducing an infimum of periodically distributed small holes in a given homogeneous, i.i.
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Monolithic microfabricated valves and pumps by multilayer soft lithography
TL;DR: An extension to the soft lithography paradigm, multilayersoft lithography, with which devices consisting of multiple layers may be fabricated from soft materials is described, to build active microfluidic systems containing on-off valves, switching valves, and pumps entirely out of elastomer.
Journal ArticleDOI
Design, fabrication and control of soft robots
Daniela Rus,Michael T. Tolley +1 more
TL;DR: This Review discusses recent developments in the emerging field of soft robotics, and explores the design and control of soft-bodied robots composed of compliant materials.
Journal ArticleDOI
Ultrahigh strain and piezoelectric behavior in relaxor based ferroelectric single crystals
Seung Eek Park,Thomas R. Shrout +1 more
TL;DR: In this article, the piezoelectric properties of relaxor based ferroelectric single crystals, such as Pb(Zn1/3Nb2/3)O3 and PbTiO3, were investigated for electromechanical actuators.
Journal ArticleDOI
High-Speed Electrically Actuated Elastomers with Strain Greater Than 100%
TL;DR: It is shown that prestraining the film further improves the performance of electrical actuators made from films of dielectric elastomers coated on both sides with compliant electrode material.