Biology and bioinspiration of soft robotics: Actuation, sensing, and system integration

Abstract

Organisms in nature grow with senses, nervous, and actuation systems coordinated in ingenious ways to sustain metabolism and other essential life activities. The understanding of biological structures and functions guide the construction of soft robotics with unprecedented performances. However, despite the progress in soft robotics, there still remains a big gap between man-made soft robotics and natural lives in terms of autonomy, adaptability, self-repair, durability, energy efficiency, etc. Here, the actuation and sensing strategies in the natural biological world are summarized along with their man-made counterparts applied in soft robotics. The development trends of bioinspired soft robotics toward closed loop and embodiment are proposed. Challenges for obtaining autonomous soft robotics similar to natural organisms are outlined to provide a perspective in this field.

Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook

“…Despite the continued reliance on visual feedback within the surgical industry, considerable progress has been made in the development of tactile and force sensors [29], [108]. More recently, technologies that enable the integration of soft sensors into soft robots have also emerged [109]- [111]. The challenge here is to take the progressive step from existing sensor technologies that are usually made from rigid components, toward new sensing options that are as compliant as the robots into which they are to be integrated.…”

From Biological Synapses to “Intelligent” Robots

“…Hybrid model frameworks combining synaptic plasticity-dependent neural firing with simple biomechanics at speeds faster than real time illustrate how invertebrate learning directly inspires "intelligent" robotics [114,115]. Such frameworks exploit a multifunctional model of Aplysia feeding rhythms, which are capable of repeatedly reproducing three types of behavior: biting, swallowing, and rejecting.…”

Integrated Bending Actuation and the Self‐Sensing Capability of Poly(Vinyl Chloride) Gels with Ionic Liquids

“…Biological systems have exhibited as integration of sensing, actuation, and computation functions, such as self‐achieve shape and appearance changes, self‐adaptive load support etc. [ 1,2 ] Such integration of sensing, actuation, and computation of smart materials have wide potential applications in aircraft, vehicles, sensorial robotics, prosthetics, and clothing and furniture. [ 3 ]…”

“…Biological systems have exhibited as integration of sensing, actuation, and computation functions, such as self-achieve shape and appearance changes, self-adaptive load support etc. [1,2] Such integration of sensing, actuation, and computation of smart materials have wide potential applications in aircraft, vehicles, sensorial robotics, prosthetics, and clothing and furniture. [3] Electroactive polymers (EAPs) are promising smart materials that can change their shape or size under electric fields, or conversely, can generate electric charges under pressure.…”