Localizable, Identifiable, and Perceptive Untethered Light-Driven Soft Crawling Robot

Abstract

Soft robots based on bionics have attracted extensive attention in recent years. However, most of previous works focused on the motion of robots that were incapable of communication and perception. In this work, an untethered crawling robot is proposed with integration of motion, communication, and location based entirely on a flexible material, which is capable of being utilized as a sensing platform. The hydrophilic graphene oxide film, capable of photothermal conversion, allows the robot to undergo a large deformation stimulated by near-infrared light. Conductive fabric with low resistivity and high mechanical strength, replacing the traditional rigid circuit, is utilized to complete the communication of the robot. The designed communication module allows an electrical signal to be inductively coupled to the soft robot instead of being generated by batteries or through transmission lines. The perception of the robot is demonstrated by covering sensitive materials. Furthermore, the positioning and identification of the robot are verified by an external coil array. The proposed soft crawling robot provides an innovative strategy for the integration of multifunctional robots and shows great potential in bionic devices, intelligent robots, and advanced sensors.

Recent Advances in Perceptive Intelligence for Soft Robotics

“…Therefore, closed-loop control for soft robots is needed, which has the advantages of anti-interference capability (suppression of uncertainty and automatic adjustment), reduced accuracy requirements for the forward path, and insensitivity-specific nonlinear effects. The design of accurate closed-loop controllers for soft robots is still an ongoing [135] Copyright 2022, American Chemical Society (ACS). b) Soft intelligent insect trap device with humidity self-sensing function.…”

“…These sensors utilize changes in the physical and electrical properties of the sensitive elements when exposed to the different atmospheric humidity conditions of the surrounding environment and provide a measure of the humidity due to some amount of adsorption and desorption of water vapor molecules. For example, Wang et al [ 135 ] integrated a flexible active material‐based relative humidity sensor into a light‐driven mimetic ruler looper soft robot based on a hydrophilic GO film and communicated through a wireless module ( Figure a). This soft robot integrates actuation, sensing, and communication into one, providing an innovative strategy for integrating multifunctional robots and showing great potential.…”

“…a) Active material-based relative humidity sensor is integrated into a soft inchworm robot for humidity sensing. Reproduced with permission [135]. Copyright 2022, American Chemical Society (ACS).…”

Laser defined and driven bio-inspired soft robots toward complex motion control

“…So far, a fast response, high actuation power and efficiency are still the main pursuits for advanced actuators and soft robot design. Biomimetic concepts have been well adopted to optimize motion function as well as other basic functions for soft robots, 43 including crawling worms, 44 nacre, 45 jellyfish, 20 snakes, 46 human organs/body, 19,47 etc. In spite of these inspirations, there are still unsolved problems lying in the way towards genuinely highly-functioned and efficient soft robots, such as delicate motion control, multi-actuator integration and programming.…”

Mechanical responses of soft magnetic robots with various geometric shapes: locomotion and deformation

“…In service, the robots depend on the foldable behaviour to drive their wheels to move forward, demonstrating a flexible locomotion performance. In succession, Wang et al [13] proposed an untethered light-driven robot with integration of motion and location which provides an innovative strategy for the design of crawling robots. Terryn et al [14] generalised the self-healing soft pneumatic actuators to applications, and the products include a soft gripper, a soft hand and artificial muscles.…”