Reconfigurable soft body trajectories using unidirectionally stretchable composite laminae

Kim, Sang Yup; Baines, Robert; Booth, Joran W.; Vasios, Nikolaos; Bertoldi, Katia; Kramer‐Bottiglio, Rebecca

doi:10.1038/s41467-019-11294-7

Cited by 85 publications

(61 citation statements)

References 38 publications

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“…With the arrangement of stiff fiber, this actuator can achieve bending, elongation and other movements. Similarly, Kim group reported a lamina composed of not stretchable fiber, super-elastic matrix and an adhesive backing [16]. This lamina also named Stretchable Adhesive Uni-Directional prepreg (STAUD-prepreg) (Figure 1b).…”

Section: Structurementioning

confidence: 88%

Wearable Actuators: An Overview

Chen¹,

Yang²,

Li³

et al. 2021

Preprint

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The booming wearable market and recent advances in material science has led to the rapid development of the various wearable sensors, actuators, and devices that can be worn, embedded in fabric or accessories, or tattoos directly onto the skin. Wearable actuators, a subcategory of wearable technology, have attracted enormous interest from researchers in various disciplines and many wearable actuators and devices have been developed in the past few decades to assist and improve people's everyday lives. In this paper, we review the actuation mechanisms, structures, applications, and limitations of recently developed wearable actuators including pneumatic and hydraulic actuators, shape memory alloys and polymers, thermal and hygroscopic materials, dielectric elastomers, ionic and conducting polymers, piezoelectric actuators, electromagnetic actuators, liquid crystal elastomers, etc. Examples of the recent applications such as wearable soft robots, haptic devices, and personal thermal regulation textiles are highlighted. Finally, we point out the current bottleneck and suggest the prospective future research directions for wearable actuators.

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Section: Structurementioning

confidence: 88%

Wearable Actuators: An Overview

Chen¹,

Yang²,

Li³

et al. 2021

Preprint

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“…The primary drawback of this type of approach is that when other unplanned deformation modes are introduced, such as buckling, or a change of material properties through damage or natural material aging, the models accumulate error. Additionally, it is unclear how to generalize these advances to reconfigurable soft robots (77) or robots that have more complex morphologies. For example, recent simulations suggest that there are a wide range of soft robot morphologies that could produce useful locomotion, including quadrupedal shapes and various oddly-shaped blobs (78).…”

Section: Shape Sensingmentioning

confidence: 99%

Electronic skins and machine learning for intelligent soft robots

et al. 2020

Self Cite

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Soft robots have garnered interest for real-world applications because of their intrinsic safety embedded at the material level. These robots use deformable materials capable of shape and behavioral changes and allow conformable physical contact for manipulation. Yet, with the introduction of soft and stretchable materials to robotic systems comes a myriad of challenges for sensor integration, including multimodal sensing capable of stretching, embedment of high-resolution but large-area sensor arrays, and sensor fusion with an increasing volume of data. This Review explores the emerging confluence of e-skins and machine learning, with a focus on how roboticists can combine recent developments from the two fields to build autonomous, deployable soft robots, integrated with capabilities for informative touch and proprioception to stand up to the challenges of real-world environments.

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“…Kim et al reported a reprogrammable pneumatic soft robot based on the self-adhesive fiberconstrained unidirectional prepreg (Figure 7c). [135] The motion of the pneumatic soft robot was governed by the prepreg, which can be easily detached and reattached to another one to reconfigure inflation trajectories. Multiple prepregs were stacked up to achieve combined movements.…”

Section: Magnetic and Pneumatic Actuationsmentioning

confidence: 99%

“…Reproduced under the terms of the CC-BY Creative Commons Attribution 4.0 International License (https:// creativecommons.org/licenses/by/4.0/). [135] Copyright 2019, The Authors, published by Springer Nature.…”

Section: Fiber-actuator-based Soft Grippersmentioning

confidence: 99%

Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human–Robot Interface

2020

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Fiber that has been known for thousands of years for textile engineering, is a kind of thin 1D material with large length-diameter ratio and softness. Fiber can be further processed into 1D or 3D yarns and 2D or 3D fabrics and can be subjected to wellestablished textile manufacturing techniques, such as dyeing, twisting, sewing, knitting, weaving, braiding, etc. [1] As commercially available material, fabric has been widely used for clothing, bedding, or furniture. Such wide-adoption demonstrates fabrics/textiles to be important and adaptable as daily useable material due to their merits of protection, breathability, comfort, and durability. [2] In recent years, novel smart responsive functions are desirable to be implemented on fibers and fabrics for seamless integrations of actuators, sensors, power sources, etc., to realize the robotic fibers/fabric-based manipulators and human-robot interfaces. These emerging responsive fibers/ fabrics are desirable to offer programmable functions, actuations, perception and capable of building an intuitive and dynamic collaborative scenarios with human, promising in enabling applications such as remote operation, human motion assistance, human perception, health monitoring and biomedical detection and therapy. [3][4][5] It is an attractive concept that the future human-robot interfaces could be embodied in familiar forms for humans such as textiles or clothes. Compared with the polymeric and elastomeric soft robotics, [6][7][8][9] fibers and fabrics are advantageous in applications of soft robotics and wearables for human. The devices could be programmable to have accurate designs in configuration and high performance by traditional manufacturing processes of textile, applying twist to transform fibers into coils, yarns with hierarchical structures, which could be further fabricated into fabrics or textiles by sewing, weaving, knitting, etc., techniques (Figure 1), guaranteeing good wearability, skin affinity, washability, and durability, which are intriguing and necessary for friendly robotics interactions with human.Soft robotics include three main components of actuators, sensors, and control modules with power sources. [10,11] Of which, actuators, sensors and power sources all could be designed in the form of fibers or fabrics, rendering facile assembly, and integration by interlocking. [12] Common actuations can be Soft robotics inspired by the movement of living organisms, with excellent adaptability and accuracy for accomplishing tasks, are highly desirable for efficient operations and safe interactions with human. With the emerging wearable electronics, higher tactility and skin affinity are pursued for safe and user-friendly human-robot interactions. Fabrics interlocked by fibers perform traditional static functions such as warming, protection, and fashion. Recently, dynamic fibers and fabrics are favorable to deliver active stimulus responses such as sensing and actuating abilities for soft-robots and wearables. First, the responsive mechanisms of fiber/fabric actu...

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Reconfigurable soft body trajectories using unidirectionally stretchable composite laminae

Cited by 85 publications

References 38 publications

Wearable Actuators: An Overview

Wearable Actuators: An Overview

Electronic skins and machine learning for intelligent soft robots

Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human–Robot Interface

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