A multifunctional soft robotic shape display with high-speed actuation, sensing, and control

Abstract

Shape displays which actively manipulate surface geometry are an expanding robotics domain with applications to haptics, manufacturing, aerodynamics, and more. However, existing displays often lack high-fidelity shape morphing, high-speed deformation, and embedded state sensing, limiting their potential uses. Here, we demonstrate a multifunctional soft shape display driven by a 10 × 10 array of scalable cellular units which combine high-speed electrohydraulic soft actuation, magnetic-based sensing, and control circuitry. We report high-performance reversible shape morphing up to 50 Hz, sensing of surface deformations with 0.1 mm sensitivity and external forces with 50 mN sensitivity in each cell, which we demonstrate across a multitude of applications including user interaction, image display, sensing of object mass, and dynamic manipulation of solids and liquids. This work showcases the rich multifunctionality and high-performance capabilities that arise from tightly-integrating large numbers of electrohydraulic actuators, soft sensors, and controllers at a previously undemonstrated scale in soft robotics.

Continuum Robots and Magnetic Soft Robots: From Models to Interdisciplinary Challenges for Medical Applications

“…To further study the interdisciplinary integration of continuum and magnetic soft robots, this article selects the research of Professor Zhao’s team as a case study. Moreover, numerous distinguished groups, such as those cited in [ 4 , 249 , 250 , 251 , 252 , 253 , 254 , 255 , 256 ], have demonstrated exceptional interdisciplinary integration capabilities in the research of continuum and magnetic soft robots, contributing to significant advancements within the field.…”

Monitoring Soft Shape Surface Deformation via Optical Images for the Distinction of Contact State

“…[31] Combined with finite element analysis and variation of feature points recorded by the optical sensor or electronics array sensor, the surface deformation could be fitted out. [32][33][34][35] Though the discrete feature points method can represent the overall trend of elastomer deformation, the local details are missing so it remains challenging to evaluate minor deformation features caused by contact behavior. [29] If the continuous deformation on the surface distribution could be introduced, it would be beneficial to realize elastomer deformation detection with high spatial resolution.…”