Propulsion-Based Soft Robotic Actuation

Abstract

Abstract:The use of air propulsion to drive limb motion in soft robotics has been a largely untapped field even though the technology has been around since the 1700s. Air propulsion can generate greater degrees of motion in limb actuators compared to widely-experimented pneumatic actuators operating on expandable air channels, which are limited by air pressure input, minimum size and cyclic fatigue. To demonstrate the application of air propulsion in soft robotics motion, we developed a 3D-printed, tri-pedal, soft, air-driven robot that can perform biomimetic motions such as flexion and extension of limbs, crawling, rotation, grasping, kicking and picking of objects. To accomplish air-propelled actuation, milli-scale channels are incorporated throughout each limb that guides the pressurized air inflow to outlets of different directions. A Finite Element Model (FEM) approach to simulate the bending response of the limb due to varying pressure is proposed and evaluated. This study introduces the potential of using air propulsion as an alternate form of soft body actuation for longer cyclic lifespan and increased maximum air pressure input.

Soft Crawling Robots: Design, Actuation, and Locomotion

“…Copyright 2018, Mary Ann Liebert Inc. G) A tripedal soft robot actuated based on the air propulsion actuator, H) air propelled limb and I) thrusts (arrows show the direction of air flow), and J) the horizontal displacement of the limb during bending. Reproduced with permission . Copyright 2018, MDPI.…”

“…Air propulsion provides larger motion degrees in limb actuators than those of pneumatic actuators based on expandable air channels, which are limited by air pressure input, cyclic fatigue, and minimum size. For instance, Chua and Yeow designed a tripedal, air‐driven soft robot fabricated by 3D printing, which is able to perform biomimetic motions such as crawling, grasping, kicking, and picking of objects (Figure G) . The soft robot has three flexible limbs and three lateral thrusters.…”

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

“…The combination of chambers with inelastic fabrics and helically wound threads leads to complete hand-like dexterous grippers [53]. Rarely, air propulsion is used for gripper finger actuation [54]. Moreover, a self-healing robotic hand is presented based on special polymers with the ability to heal micro and macroscopic damage [55].…”