A 1 mm-Thick Miniatured Mobile Soft Robot With Mechanosensation and Multimodal Locomotion

Liu, Zemin; Chen, Bohan; Liang, Shuquan; Wen, Li; Liu, Jiaqi; Wang, Handing; Yu, Xiao; Yang, Kang; Liu, Wenbo; Nie, Shilin; Sun, Wenguang; Xie, Zhexin

doi:10.1109/lra.2020.2976306

Cited by 25 publications

(15 citation statements)

References 30 publications

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“…The robot is based on a structure that has five layers, with each layer being 20 μm thick and possessing different functionalities when assembled. These layers include the pneumatically actuated actuator, as well as a layer with sensing properties that provides the possibility of closed-loop control [ 22 ]. Qin et al also developed a crawling locomotion robot based on the use of springs and electrostatic actuators for legs that was vacuum-driven with fast locomotion and movement on vertical surfaces [ 23 ].…”

Section: State Of the Art In Soft Roboticsmentioning

confidence: 99%

“…In the paper by Liu et al, the robot driving system was based on closed-loop robot driving. Data from the EGaIn sensor mounted on the robot is collected by the Arduino UNO development board, which drives a servo motor via a PWM signal, driving the 1 mL syringes that supply air to the robot for locomotion [ 22 ]. Zhang et al used both control variants (closed-loop, open-loop).…”

Section: State Of the Art In Soft Roboticsmentioning

confidence: 99%

“… Author Ref. Field of Application Manufacturing Technologies The Material Used Actuator Sensor Liu et al [ 22 ] Locomotion Soft lithography, laser processing SMP, CuNi, Ecoflex 20, Silgard184 with silk threads and particles Fluidic actuator—air EGain Zhang et al [ 27 ] Locomotion Casting Dragon Skin 10, 30, Ecoflex -30 Fluidic actuator—water Pressure, flow, IMU Feng et al [ 28 ] Manipulation Casting Ecoflex 00–50, Dragon Skin 30 Fluidic actuator—air Pressure sensor, bending, micro dynamometer, EMG Lindenroth et al [ 71 ] Medical devices Casting Ecoflex 00-30, 00-50, Dragon Skin Fx Pro, Smooth-Sil 960 Fluidic actuator—deionized water Module camera MD-V1001L-91X Jaryani et al [ 53 ] Medical devices, rehabilitation Casting …”

Section: Table A1mentioning

confidence: 99%

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Soft Robotics: A Systematic Review and Bibliometric Analysis

et al. 2023

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In recent years, soft robotics has developed considerably, especially since the year 2018 when it became a hot field among current research topics. The attention that this field receives from researchers and the public is marked by the substantial increase in both the quantity and the quality of scientific publications. In this review, in order to create a relevant and comprehensive picture of this field both quantitatively and qualitatively, the paper approaches two directions. The first direction is centered on a bibliometric analysis focused on the period 2008–2022 with the exact expression that best characterizes this field, which is “Soft Robotics”, and the data were taken from a series of multidisciplinary databases and a specialized journal. The second direction focuses on the analysis of bibliographic references that were rigorously selected following a clear methodology based on a series of inclusion and exclusion criteria. After the selection of bibliographic sources, 111 papers were part of the final analysis, which have been analyzed in detail considering three different perspectives: one related to the design principle (biologically inspired soft robotics), one related to functionality (closed/open-loop control), and one from a biomedical applications perspective.

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Section: State Of the Art In Soft Roboticsmentioning

confidence: 99%

Section: State Of the Art In Soft Roboticsmentioning

confidence: 99%

Section: Table A1mentioning

confidence: 99%

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Soft Robotics: A Systematic Review and Bibliometric Analysis

et al. 2023

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“…However, enhancing single-jump performance (jumping height (JH) and jumping distance (JD)) of soft jumping robots to improve their obstacle-crossing ability and accelerating jumping frequency to increase their navigation efficiency at the same time are two grand engineering challenges. Researchers have developed soft or partially soft jumping robots capable of forward navigations and driven by integrated springs 4 – 17 , shape memory alloys (SMAs) 18 – 20 , magnetic actuators 21 , light-powered actuators 22 , 23 , dielectric elastomer actuators (DEAs) 24 – 26 , pneumatic actuators 27 – 29 , chemical actuators 30 – 33 , motors 34 – 36 , and polyvinylidene difluoride (PVDF) actuators 37 . Some of them, which are energy-storing jumping robots 4 – 25 , have excellent single-jump performance, but always at the cost of navigation efficiency due to the necessity of the additional elastic energy-storage process.…”

Section: Introductionmentioning

confidence: 99%

“…The prolongation of the energy-storage process increases the JH but decreases the landing stability and reduces the jumping frequency. On the other hand, soft jumping robots actuated by pneumatic actuators 27 – 29 , chemical actuators 30 – 33 , and motors 34 – 36 have been demonstrated but have complicated navigation strategies and structures. Lightweight soft hopping robots based on DEAs 26 and PVDF actuators 37 can simply jump by bending their body parts without additional energy-storing, which can lead to rapid jumping frequencies, but their JHs and JDs are not enough (<0.25 body height) to meet the requirements of crossing obstacles.…”

Section: Introductionmentioning

confidence: 99%

Legless soft robots capable of rapid, continuous, and steered jumping

et al. 2021

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Jumping is an important locomotion function to extend navigation range, overcome obstacles, and adapt to unstructured environments. In that sense, continuous jumping and direction adjustability can be essential properties for terrestrial robots with multimodal locomotion. However, only few soft jumping robots can achieve rapid continuous jumping and controlled turning locomotion for obstacle crossing. Here, we present an electrohydrostatically driven tethered legless soft jumping robot capable of rapid, continuous, and steered jumping based on a soft electrohydrostatic bending actuator. This 1.1 g and 6.5 cm tethered soft jumping robot is able to achieve a jumping height of 7.68 body heights and a continuous forward jumping speed of 6.01 body lengths per second. Combining two actuator units, it can achieve rapid turning with a speed of 138.4° per second. The robots are also demonstrated to be capable of skipping across a multitude of obstacles. This work provides a foundation for the application of electrohydrostatic actuation in soft robots for agile and fast multimodal locomotion.

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Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Qu,

Mao,

et al. 2023

Adv Funct Materials

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Tactile sensing technology is crucial for soft grippers. Soft grippers equipped with intelligent tactile sensing systems based on various sensors can interact safely with the unstructured environments and obtain precise properties of objects (e.g., size and shape). It is essential to develop state‐of‐the‐art sensing technologies for soft grippers to handle different grasping tasks. In this review, the development of tactile sensing techniques for robotic hands is first introduced. Then, the principles and structures of different types of sensors normally adopted in soft grippers, including capacitive tactile sensors, piezoresistive tactile sensors, piezoelectric tactile sensors, fiber Bragg grating (FBG) sensors, vision‐based tactile sensors, triboelectric tactile sensors, and other advanced sensors developed recently are briefly presented. Furthermore, sensing modalities and methodologies for soft grippers are also described in aspects of force measurement, perception of object properties, slip detection, and fusion of perception. The application scenarios of soft grippers are also summarized based on these advanced sensing technologies. Finally, the challenges of tactile sensing technologies for soft grippers that need to be tackled are discussed and perspectives in addressing these challenges are pointed out.

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A 1 mm-Thick Miniatured Mobile Soft Robot With Mechanosensation and Multimodal Locomotion

Cited by 25 publications

References 30 publications

Soft Robotics: A Systematic Review and Bibliometric Analysis

Soft Robotics: A Systematic Review and Bibliometric Analysis

Legless soft robots capable of rapid, continuous, and steered jumping

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

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