Tunable Multi-Modal Locomotion in Soft Dielectric Elastomer Robots

Duduta, Mihai; Berlinger, Florian; Nagpal, Radhika; Clarke, David R.; Wood, Robert J.; Temel, Fatma Zeynep

doi:10.1109/lra.2020.2983705

Cited by 52 publications

(34 citation statements)

References 40 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…[19,20,158] The second strategy is mostly seen in arthropods,w here the rigid exoskeleton provides structural support, and the flexible joints provide adaptation to rough terrains.Aflexible robot mimicking acockroach has demonstrated rapid locomotion in aconfined space. [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.…”

Section: Terrestrial Locomotionmentioning

confidence: 99%

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

et al. 2019

View full text Add to dashboard Cite

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.

show abstract

Section: Terrestrial Locomotionmentioning

confidence: 99%

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

et al. 2019

View full text Add to dashboard Cite

show abstract

“…[5] Translatory or peristaltic pumping corresponding to valveless moving chambers is found in intestines, mammalian esophagus, annelid hearts, and those of holothurians and arthropods, as well as burrowing worms. [2] In this spirit, biorobotics aims to emulate natural system performance to study the underlying fundamental mechanisms of complex behaviors such as locomotion [6,7] in fluids which can involve pumping action. [8] However, the substantial utilization of soft materials poses an essential discrepancy between animals and conventional robots, [9] due to its high-impact dissipation energy, damping oscillations, and the smoothing out of irregular movements and forces.…”

mentioning

confidence: 99%

Strong, Ultrastretchable Hydrogel‐Based Multilayered Soft Actuator Composites Enhancing Biologically Inspired Pumping Systems

et al. 2021

View full text Add to dashboard Cite

Nature's pumping systems allow for a more even stress distribution throughout the circuit than human-made devices. [1,2] Squid and jellyfish locomotion involves active fluid movement by soft tubular membranes. This also pertains to the transport of fluids within vessel invertebrates and the associated biofluid dynamics. To limit the damage to tissues (e.g., cardiac tissues), it is imperative to bound the problem of local stress maxima. Assistive devices with more muscle-like behavior are now required and soft actuators lend themselves for this purpose. [3,4] Human-made examples of valveless chamber pumps include bellows and diaphragms, with natural analogies of these found in urethral pumps, jellyfish jet propulsion, dragonfly nymphs' anal jets, snakes, spiders with venom injection, and insects blood-and-nectar sucking. [2] Attempts have been made to model the squid and jellyfish with dielectric elastomers (DEs), with limited performance. [5] Translatory or peristaltic pumping corresponding to valveless moving chambers is found in intestines, mammalian esophagus, annelid hearts, and those of holothurians and arthropods, as well as burrowing worms. [2] In this spirit, biorobotics aims to emulate natural system performance to study the underlying fundamental mechanisms of complex behaviors such as locomotion [6,7] in fluids which can involve pumping action. [8] However, the substantial utilization of soft materials poses an essential discrepancy between animals and conventional robots, [9] due to its high-impact dissipation energy, damping oscillations, and the smoothing out of irregular movements and forces. Soft active materials are therefore now required to develop compliant, intelligent systems to develop more life-like capabilities with less impedance mismatch vis-a-vis natural systems. [10,11] When it comes to soft actuators inspired by muscle-like behavior, a variety of solutions have been proposed, each of which with its limitations. For example, fluidic soft actuators [12] have been used in a multitude of applications, [13,14] though the speed of operation and efficiency still pose major limitations. Likewise, thermally actuated fiber-reinforced polymer-based artificial actuators generate large actuation forces, though these solutions are

show abstract

“…By contrast, DEAs harness coulombic attraction to deform elastomers layered between two compliant electrodes 20 . Due to their high power density and responsiveness, DEAs are favored in muscle‐mimetic (Figure 3D) 2 and crawling applications 30 …”

Section: Bioroboticsmentioning

confidence: 99%

“…20 Due to their high power density and responsiveness, DEAs are favored in muscle-mimetic (Figure 3D) 2 and crawling applications. 30…”

Section: Actuationmentioning

confidence: 99%

Recent advances in materials and applications for bioelectronic and biorobotic systems

Phillips

Promiński

Tian

2022

VIEW

View full text Add to dashboard Cite

The ultimate goal of the advancements in bioelectronics and robotics is the creation of seamless interfaces between artificial devices and biological structures. Current efforts in this area have been focused on designing biocompatible, mechanically compliant, and minimally invasive electronic and robotic systems for a range of applications, such as motor control and sweat sensing. The purposeful design of bioelectronic and robotic systems using the principles of biomimicry enables the creation of biocompatible and life-like machines and electronics. The success of such approaches relies on the new development and applications of soft materials, as well as methods of actuation and sensing that are inspired, either by composition, function, or properties, of the naturally occurring organisms. A combination of rigid structural components, soft actuators, and flexible sensors can enable the integration of such devices with biological organisms and eventually human users. In this review, we highlight the recent advances in biomimetic soft robotics and bioelectronics. We describe the soft robotic fabrication toolbox and modern solution in bioelectronics that, in our opinion, will enable the fusion of these fields by creating robotic bioelectronic systems. Future development in this area will require substantial integration of adaptable and responsive components at the biointerfaces.

show abstract

Tunable Multi-Modal Locomotion in Soft Dielectric Elastomer Robots

Cited by 52 publications

References 40 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

Strong, Ultrastretchable Hydrogel‐Based Multilayered Soft Actuator Composites Enhancing Biologically Inspired Pumping Systems

Recent advances in materials and applications for bioelectronic and biorobotic systems

Contact Info

Product

Resources

About