A review of soft manipulator research, applications, and opportunities

Chen, Xiaoqian; Zhang, Xiang; Huang, Yiyong; Cao, Lu; Liu, Jinguo

doi:10.1002/rob.22051

Cited by 54 publications

(26 citation statements)

References 258 publications

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“…S8B and movie S6 (part 2)], even adapt to a meandering pipe to unscrew a bolt through photo-driven twisting motion although the multiple parts of the tentacle are curved [Fig. 5E and movie S6 (part 3)], which implies great potential in applications of high-DOF micromechanical operations and miniature soft manipulator arms ( 41 ).…”

Section: Resultsmentioning

confidence: 99%

Bioinspired helical-artificial fibrous muscle structured tubular soft actuators

Zhang

Jiang

2023

Sci. Adv.

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Biological tubular actuators show diverse deformations, which allow for sophisticated deformations with well-defined degrees of freedom (DOF). Nonetheless, synthetic active tubular soft actuators largely only exhibit few simple deformations with limited and undesignable DOF. Inspired by 3D fibrous architectures of tubular muscular hydrostats, we devised conceptually new helical-artificial fibrous muscle structured tubular soft actuators (HAFMS-TSAs) with locally tunable molecular orientations, materials, mechanics, and actuation via a modular fabrication platform using a programmable filament winding technique. Unprecedentedly, HAFMS-TSAs can be endowed with 11 different morphing modes through programmable regulation of their 3D helical fibrous architectures. We demonstrate a single “living” artificial plant rationally structured by HAFMS-TSAs exhibiting diverse photoresponsive behaviors that enable adaptive omnidirectional reorientation of its hierarchical 3D structures in the response to environmental irradiation, resembling morphing intelligence of living plants in reacting to changing environments. Our methodology would be significantly beneficial for developing sophisticated soft actuators with designable and tunable DOF.

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Section: Resultsmentioning

confidence: 99%

Bioinspired helical-artificial fibrous muscle structured tubular soft actuators

Zhang

Jiang

2023

Sci. Adv.

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“…Among the different applications that can be found, it is worth highlighting the soft bioinspired manipulators. These have a theoretically infinite number of degrees of freedom and may be suitable for those tasks in which higher dexterity is needed from the robotic arm (inspections, unstructured environments, and medical applications) [ 1 ].…”

Section: Introductionmentioning

confidence: 99%

Use of Finite Elements in the Training of a Neural Network for the Modeling of a Soft Robot

2023

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Soft bioinspired manipulators have a theoretically infinite number of degrees of freedom, providing considerable advantages. However, their control is very complex, making it challenging to model the elastic elements that define their structure. Finite elements (FEA) can provide a model with sufficient accuracy but are inadequate for real-time use. In this context, Machine Learning (ML) is postulated as an option, both for robot modeling and for its control, but it requires a very high number of experiments to train the model. A linked combination of both options (FEA and ML) can be an approach to the solution. This work presents the implementation of a real robot made up of three flexible modules and actuated with SMA (shape memory alloy) springs, the development of its model through finite elements, its use to adjust a neural network, and the results obtained.

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“…Compared with rigid manipulators, soft manipulators have diverse advantages, including low weight, safety, and extremely strong environmental adaptability due to their infinite degrees of freedom [15,16]. Soft manipulators provide an alternative to traditional rigid manipulators to solve the problem of complex structures and poor interaction [17][18][19]. Pneumatic actuation is commonly used for soft manipulators, in which compressed air can be stored and dispensed at precise pressure levels.…”

Section: Introductionmentioning

confidence: 99%

Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping

Zhu

Feng

Chen

et al. 2022

Sensors

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With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenomenon caused by environmental effects, leading to high internal nonlinearity and unpredictable deformation, makes it challenging to design, model, and control soft manipulators. In this paper, we designed a soft pneumatically actuated manipulator consisting of four soft actuators, as well as a flange, and investigated the influence of structural parameters on the output characteristics of the manipulator through finite element analysis (FEA). To enhance the bending deformation of the soft actuator, annular rings were employed on the soft actuator. A mathematical model for the bending deformation of air cavities was established to explore the relationship between the driving pressure and the bending angle based on the Yeoh strain energy function. Moreover, an end-output force model was established to depict the variation of the force output with the bending angle of the soft actuator, which was then experimentally validated by adopting the manufactured manipulator. The soft actuator studied in this paper can bend from 0° to 110° under an applied pressure of 0–60 kPa, and the maximum grasping load of the soft manipulator is 5.8 N. Finally, practical tests were conducted to assess the adaptability of the soft manipulator when grasping delicate fruits, such as apples, pears, tomatoes, and mangoes, demonstrating its broad application prospects in nondestructive fruit harvesting.

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A review of soft manipulator research, applications, and opportunities

Cited by 54 publications

References 258 publications

Bioinspired helical-artificial fibrous muscle structured tubular soft actuators

Bioinspired helical-artificial fibrous muscle structured tubular soft actuators

Use of Finite Elements in the Training of a Neural Network for the Modeling of a Soft Robot

Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping

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