Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of spine-inspired fast and strong soft machines. Unlike most current soft robots that are designed as inherently and unimodally stable, our design leverages tunable snap-through bistability to fully explore the ability of soft robots to rapidly store and release energy within tens of milliseconds. We demonstrate this generic design principle with three high-performance soft machines: High-speed cheetah-like galloping crawlers with locomotion speeds of 2.68 body length/s, high-speed underwater swimmers (0.78 body length/s), and tunable low-to-high-force soft grippers with over 1 to 103 stiffness modulation (maximum load capacity is 11.4 kg). Our study establishes a new generic design paradigm of next-generation high-performance soft robots that are applicable for multifunctionality, different actuation methods, and materials at multiscales.
The miniaturized, polydimethylsiloxane (PDMS) encapsulated, reliable, and fully washable system composed of three textile stretchable electrodes and connected electronic module is designed, realized, and integrated to a sportswear. The electronic module is specifically developed and made on a flexible print circuit board in order to facilitate its integration. The software developed enables the recording of the electrocardiogram (ECG) high quality signs together with the skin temperature, the breathing rate, and acceleration outputs that are used for an activity monitoring. The electronic module transmits all the data to a smart phone via low energy Bluetooth. The specific dedicated application displays the ECG signal, the respiration rate, and the activity performed in a real time. This information is sent to a cloud. The system is tested in real conditions of utilization and washed following standards to test its reliability and verify its readiness for the market. The system is a next step in the instrumentation of clothing, comparing to existing heart rate monitoring modules, having a capacity to monitor the activities in real time and being fully washable without mechanical disconnecting of the electronic module as it is a case for almost all existing monitoring devices.
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