Arthrobots

Nemiroski, Alex; Shevchenko, Yanina; Stokes, Adam A.; Ünal, Barış; Ainla, Alar; Albert, Sahradha; Compton, Gabrielle; MacDonald, E.; Schwab, Yosyp; Zellhofer, Caroline; Whitesides, George M.

doi:10.1089/soro.2016.0043

Cited by 65 publications

(57 citation statements)

References 26 publications

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“…[162] Acombination of soft and rigid materials to realize rapid locomotion has also been achieved with various actuation schemes,s uch as DEA-based unimorphs and rigid needle feet, [163] and the Arthrobot which is combines plastic legs and pneumatically actuated elastomeric joints. [164] An integrated system with sensors,a ctuators,a nd other functional components is key to achieve the characteristics (such as autonomous motion and decision making) that will eventually enable am achine to evolve into ar obot. [144] Current soft robots have very limited integration at the system level.…”

Section: Terrestrial Locomotionmentioning

confidence: 99%

Bio‐inspired Design and Additive Manufacturing of Soft Materials, Machines, Robots, and Haptic Interfaces

et al. 2019

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Soft materials possess several distinctive characteristics, such as controllable deformation, infinite degrees of freedom, and self‐assembly, which make them promising candidates for building soft machines, robots, and haptic interfaces. In this Review, we give an overview of recent advances in these areas, with an emphasis on two specific topics: bio‐inspired design and additive manufacturing. Biology is an abundant source of inspiration for functional materials and systems that mimic the function or mechanism of biological tissues, agents, and behaviors. Additive manufacturing has enabled the fabrication of materials and structures prevalent in biology, thereby leading to more‐capable soft robots and machines. We believe that bio‐inspired design and additive manufacturing have been, and will continue to be, important tools for the design of soft robots.

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Section: Terrestrial Locomotionmentioning

confidence: 99%

Bio‐inspired Design and Additive Manufacturing of Soft Materials, Machines, Robots, and Haptic Interfaces

et al. 2019

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“…Another example of balloon‐based robots used them in joints during locomotion. Nemiroski et al reported on arthrobots prepared from thin polymeric tubes that are low cost, simple to make, and exhibit mechanical compliance 330. These systems derived inspiration from the hydrostatic joints of spiders and the inflation of the elastomeric tubes enable active control of limb extension while an opposing elastic tendon enables passive retraction (Figure 15b).…”

Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

Materials as Machines

2020

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of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

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“…The Arthrobot created complex motion by actuating several of made of arachnid-inspired joints [8]. In their publication, the authors demonstrated increased complex motion with each additional actuator.…”

Section: A Literaturementioning

confidence: 99%

Soft Robots for Extreme Environments: Removing Electronic Control

Mahon

Buchoux

Sayed

et al. 2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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The ignition of flammable liquids and gases in offshore oil and gas environments is a major risk and can cause loss of life, serious injury, and significant damage to infrastructure. Power supplies that are used to provide regulated voltages to drive motors, relays, and power electronic controls can produce heat and cause sparks. As a result, the European Union requires ATEX certification on electrical equipment to ensure safety in such extreme environments. Implementing designs that meet this standard is time-consuming and adds to the cost of operations. Soft robots are often made with soft materials and can be actuated pneumatically, without electronics, making these systems inherently compliant with this directive. In this paper, we aim to increase the capability of new soft robotic systems moving from a one-to-one control-actuator architecture and implementing an electronics-free control system. We have developed a robot that demonstrates locomotion and gripping using three-pneumatic lines: a vacuum power line, a control input, and a clock line. We have followed the design principles of digital electronics and demonstrated an integrated fluidic circuit with eleven, fully integrated fluidic switches and six actuators. We have realized the basic building blocks of logical operation into combinational logic and memory using our fluidic switches to create a two-state automata machine. This system expands on the state of the art increasing the complexity over existing soft systems with integrated control. Figure 1. An integrated and logically controlled soft robot. (a) The soft robot controls six actuators connected to the legs, colored orange and blue. The controller circuit is designed to engage the orange actuators and the blue actuator sequentially. (b) The fluidic architecture shows a JK flip-flop. The circuit has three inputs including a vacuum power line, a clock line, and a control input, with six outputs to vacuum actuators from Q and Q ̅ .

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Arthrobots

Cited by 65 publications

References 26 publications

Bio‐inspired Design and Additive Manufacturing of Soft Materials, Machines, Robots, and Haptic Interfaces

Bio‐inspired Design and Additive Manufacturing of Soft Materials, Machines, Robots, and Haptic Interfaces

Materials as Machines

Soft Robots for Extreme Environments: Removing Electronic Control

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