Soft Pneumatic Actuators with Controllable Stiffness by Bio-Inspired Lattice Chambers and Fused Deposition Modeling 3D Printing

This article shows how changing 3D printing parameters and using bio-inspired lattice chambers can engineer soft pneumatic actuators (SPAs) with different behaviors in terms of controlling tip deflection and tip force using the same input air pressure. Fused deposition modeling (FDM) is employed to 3D print soft pneumatic actuators using varioShore thermoplastic polyurethane (TPU) materials with a foaming agent. The effects of material flow and nozzle temperature parameters on the material properties and stiffness are investigated. Auxetic, columns, face-centered cubic, honeycomb, isotruss, oct vertex centroid, and square honeycomb lattices are designed to study actuators’ behaviors under the same input pressure. Finite-element simulations based on the nonlinear hyper-elastic constitutive model are carried out to precisely predict the behavior, deformation, and tip force of the actuators. A closed-loop pneumatic system and sensors are developed to control the actuators. Results show that lattice designs can control the bending angle and generated force of actuators. Also, the lattices increase the ultimate strength by controlling the contact area inside the chambers. They demonstrate variable stiffness behaviors and deflections under the same pressure between 100 and 500 kPa. The proposed actuators could be instrumental in designing wearable hand rehabilitative devices that assist customized finger and wrist flexion-extension.     

Living Materials Herald a New Era in Soft Robotics

Living beings have an unsurpassed range of ways to manipulate objects and interact with them. They can make autonomous decisions and can heal themselves. So far, a conventional robot cannot mimic this complexity even remotely. Classical robots are often used to help with lifting and gripping and thus to alleviate the effects of menial tasks. Sensors can render robots responsive, and artificial intelligence aims at enabling autonomous responses. Inanimate soft robots are a step in this direction, but it will only be in combination with living systems that full complexity will be achievable. The field of biohybrid soft robotics provides entirely new concepts to address current challenges, for example the ability to self‐heal, enable a soft touch, or to show situational versatility. Therefore, “living materials” are at the heart of this review. Similarly to biological taxonomy, there is a recent effort for taxonomy of biohybrid soft robotics. Here, an expansion is proposed to take into account not only function and origin of biohybrid soft robotic components, but also the materials. This materials taxonomy key demonstrates visually that materials science will drive the development of the field of soft biohybrid robotics.     

Soft Ultrathin Electronics Innervated Adaptive Fully Soft Robots

Soft robots outperform the conventional hard robots on significantly enhanced safety, adaptability, and complex motions. The development of fully soft robots, especially fully from smart soft materials to mimic soft animals, is still nascent. In addition, to date, existing soft robots cannot adapt themselves to the surrounding environment, i.e., sensing and adaptive motion or response, like animals. Here, compliant ultrathin sensing and actuating electronics innervated fully soft robots that can sense the environment and perform soft bodied crawling adaptively, mimicking an inchworm, are reported. The soft robots are constructed with actuators of open‐mesh shaped ultrathin deformable heaters, sensors of single‐crystal Si optoelectronic photodetectors, and thermally responsive artificial muscle of carbon‐black‐doped liquid‐crystal elastomer (LCE‐CB) nanocomposite. The results demonstrate that adaptive crawling locomotion can be realized through the conjugation of sensing and actuation, where the sensors sense the environment and actuators respond correspondingly to control the locomotion autonomously through regulating the deformation of LCE‐CB bimorphs and the locomotion of the robots. The strategy of innervating soft sensing and actuating electronics with artificial muscles paves the way for the development of smart autonomous soft robots.     

Elastic Inflatable Actuators for Soft Robotic Applications

The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications.     

Hardware Sequencing of Inflatable Nonlinear Actuators for Autonomous Soft Robots

Soft robots are an interesting alternative for classic rigid robots in applications requiring interaction with organisms or delicate objects. Elastic in?atable actuators are one of the preferred actuation mechanisms for soft robots since they are intrinsically safe and soft. However, these pneumatic actuators each require a dedicated pressure supply and valve to drive and control their actuation sequence. Because of the relatively large size of pressure supplies and valves compared to electrical leads and electronic controllers, tethering pneumatic soft robots with multiple degrees of freedom is bulky and unpractical. Here, a new approach is described to embed hardware intelligence in soft robots where multiple actuators are attached to the same pressure supply, and their actuation sequence is programmed by the interaction between nonlinear actuators and passive ?ow restrictions. How to model this hardware sequencing is discussed, and it is demonstrated on an 8‐degree‐of‐freedom walking robot where each limb comprises two actuators with a sequence embedded in their hardware. The robot is able to carry pay loads of 800 g in addition to its own weight and is able to walk at travel speeds of 3 body lengths per minute, without the need for complex on‐board valves or bulky tethers.     

Soft Actuators for Small‐Scale Robotics

This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer‐ to centimeter‐scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than a centimeter, they belong to an even more special subcategory of robots or devices, in that they often lack on‐board power, sensing, computation, and control. Soft, active materials are particularly well suited for this task, with a wide range of stimulants and a number of impressive examples, demonstrating large deformations, high motion complexities, and varied multifunctionality. Recent research includes both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials.     

Soft Robotic Grippers

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end‐effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.     

Untethered Recyclable Tubular Actuators with Versatile Locomotion for Soft Continuum Robots

Stimuli‐responsive materials offer a distinguished platform to build tether‐free compact soft robots, which can combine sensing and actuation without a linked power supply. In the past, tubular soft robots have to be made by multiple components with various internal channels or complex cavities assembled together. Moreover, robust processing, complex locomotion, simple structure, and easy recyclability represent major challenges in this area. Here, it is shown that those challenges can be tackled by liquid crystalline elastomers with allyl sulfide functional groups. The light‐controlled exchange reaction between allyl sulfide groups allows flexible processing of tubular soft robots/actuators, which does not need any assisting materials. Complex locomotion demonstrated here includes reversible simultaneous bending and elongation; reversible diameter expansion; and omnidirectional bending via remote infrared light control. Different modes of actuation can be programmed into the same tube without the routine assembly of multiple tubes as used in the past. In addition, the exchange reaction also makes it possible to use the same single tube repeatedly to perform different functions by erasing and reprogramming.     

Actively Perceiving and Responsive Soft Robots Enabled by Self‐Powered,Highly Extensible,and Highly Sensitive Triboelectric Proximity‐ and Pressure‐Sensing Skins

Robots that can move, feel, and respond like organisms will bring revolutionary impact to today's technologies. Soft robots with organism‐like adaptive bodies have shown great potential in vast robot–human and robot–environment applications. Developing skin‐like sensory devices allows them to naturally sense and interact with environment. Also, it would be better if the capabilities to feel can be active, like real skin. However, challenges in the complicated structures, incompatible moduli, poor stretchability and sensitivity, large driving voltage, and power dissipation hinder applicability of conventional technologies. Here, various actively perceivable and responsive soft robots are enabled by self‐powered active triboelectric robotic skins (tribo‐skins) that simultaneously possess excellent stretchability and excellent sensitivity in the low‐pressure regime. The tribo‐skins can actively sense proximity, contact, and pressure to external stimuli via self‐generating electricity. The driving energy comes from a natural triboelectrification effect involving the cooperation of contact electrification and electrostatic induction. The perfect integration of the tribo‐skins and soft actuators enables soft robots to perform various actively sensing and interactive tasks including actively perceiving their muscle motions, working states, textile's dampness, and even subtle human physiological signals. Moreover, the self‐generating signals can drive optoelectronic devices for visual communication and be processed for diverse sophisticated uses.     

Soft gallstone-crushing robots

The current treatment for symptomatic gallstones is primarily surgical, where one of the most general surgeries, laparoscopic cholecystectomy, is the excision of the gallbladder to remove gallstones. However, postoperative site infections are a common health risk. As a result, scientists are investigating non-invasive methods to crush gallstones, but to date there are limited reports on such approaches. Herein, we propose a non-invasive lithotripsy method that uses ferromagnetic, spiny, flexible, and wireless medical robots, that can be taken orally into the human body bio-safely, to achieve efficient crushing of human gallstones. After operating for 30 minutes, a human gallstone of about 1 cm in diameter had been crushed into a pile of powdered gallstone residue by three soft gallstone-crushing robots in a pig gallbladder. The work highlights that our designed soft robot provides a promising pathway for non-invasive treatment of human gallstones disease, which brings new insights for future advancement of soft medical robots.     

Composite wrist blocks for double arm type robots for handling large LCD glass panels

Recently, robot structures handling liquid crystal display (LCD) glass panels are increased in size as the size of LCD is increased. In order to handle large LCD panels, the robot structures should have high stiffness to reduce the deflection of robot end effector under the weights of LCD. The LCD manufacturing industries have a trend to employ double arm type robots rather than single arm type robots to increase productivity. Currently, two aluminum wrist blocks that have different configurations not to interfere with each other are mounted on the robot arms. The aluminum wrist block becomes one of the largest deflection sources as the size of the robot structures increases. Since the size of the wrist block can not be increased indefinitely to increase the stiffness due to the limitation of driving motor power, the best way to increase the stiffness of the wrist block is to employ carbon fiber epoxy composite material for structural material of the wrist block because the carbon fiber epoxy composite material has much higher specific stiffness and damping than aluminum. In this work, the two wrist blocks for the double arm type robot for handling large LCD glass panels were designed and manufactured using foam core sandwich structure. Finite element analysis was used along with an optimization routine to design the composite wrist blocks. Box type sandwich structures were employed to reduce shear effect arising from the low modulus of polyurethane foam core. The weight reduction of the composite wrist blocks was more than 50% compared to those of comparable aluminum wrist blocks and found that the composite wrist blocks had much improved performances compared to those of the aluminum wrist blocks from the static and dynamic tests.     

Shape Memory Alloy (SMA)‐Based Microscale Actuators with 60% Deformation Rate and 1.6 kHz Actuation Speed

Shape memory alloys (SMAs) are widely utilized as an actuation source in microscale devices, since they have a simple actuation mechanism and high‐power density. However, they have limitations in terms of strain range and actuation speed. High‐speed microscale SMA actuators are developed having diamond‐shaped frame structures with a diameter of 25 µm. These structures allow for a large elongation range compared with bulk SMA materials, with the aid of spring‐like behavior under tensile deformation. These actuators are validated in terms of their applicability as an artificial muscle in microscale by investigating their behavior under mechanical deformation and changes in thermal conditions. The shape memory effect is triggered by delivering thermal energy with a laser. The fast heating and cooling phenomenon caused by the scale effect allows high‐speed actuation up to 1600 Hz. It is expected that the proposed actuators will contribute to the development of soft robots and biomedical devices.     

Light‐Patterned Crystallographic Direction of a Self‐Organized 3D Soft Photonic Crystal

Uniform and patterned orientation of a crystallographic direction of ordered materials is of fundamental significance and of great interest for electronic and photonic applications. However, such orientation control is generally complicated and challenging with regard to inorganic and organic crystalline materials due to the occurrence of uncontrollable dislocations or defects. Achieving uniform lattice orientation in frustrated liquid‐crystalline phases, like cubic blue phases, is a formidable task. Taming and tailoring the ordering of such soft, cubic lattices along predetermined or desired directions, and even imparting a prescribed pattern on lattice orientation, are more challenging, due to the entropy‐domination attribute of soft matter. Herein, we disclose a facile way to realize designed micropatterning of a crystallographic direction of a soft, cubic liquid‐crystal superstructure, exhibiting an alternate uniform and random orientation of the lattice crystallographic direction enabled by a photoalignment technique. Because of the rewritable trait of the photoalignment film, the pattern can be erased and rewritten on‐demand by light. Such an oriented soft lattice sensitively responds to various external stimuli such as temperature, electric field, and light irradiation. Furthermore, advanced reflective photonic applications are achieved based on the patterned crystallographic orientation of the cubic blue phase, soft lattice.     

海洋软管增强层的选择及结合方式

当前输油管道软管的应用越来越广，尤其是陆上石油开采日趋贫乏，海庆石油开采比重将越来越大，势必将对海洋用软管的需求不断加大。而对海洋软管技术要求也不断提高，其中大多是针对软管内的增强层所提出的。论述了海洋软管增强层的结构形式、技术要求、材质选择等几方面内容，考察了不同增强层对海洋软管耐压性、耐蚀性、屈挠性、粘合性等指标的影响。     

Biomimetic Locomotion of Electrically Powered “Janus” Soft Robots Using a Liquid Crystal Polymer

Oriented liquid crystal networks (LCNs) can undergo reversible shape change at the macroscopic scale upon an order–disorder phase transition of the mesogens. This property is explored for developing soft robots that can move under external stimuli, such as light in most studies. Herein, electrically driven soft robots capable of executing various types of biomimetic locomotion are reported. The soft robots are composed of a uniaxially oriented LCN strip, a laminated Kapton layer, and thin resistive wires embedded in between. Taking advantage of the combined attributes of the actuator, namely, easy processing, reprogrammability, and reversible shape shift between two 3D shapes at electric power on and off state, the concept of a “Janus” soft robot is demonstrated, which is built from a single piece of the material and has two parts undergoing opposite deformations simultaneously under a uniform stimulation. In addition to complex shape morphing such as the movement of oarfish and sophisticated devices like self‐locking grippers, electrically powered “Janus” soft robots can accomplish versatile locomotion modes, including crawling on flat surfaces through body arching up and straightening down, crawling inside tubes through body stretching and contraction, walking like four‐leg animals, and human‐like two‐leg walking while pushing a load forward.     

Fabrication and mechanical characterization of 3D woven Cu lattice materials

3D metallic lattices designed to have two distinctly different material architectures have been woven with metallic Cu wires. A vacuum soldering technique was employed to metallurgically bond the wire nodes and form stiff 3D lattice materials. The structures and mechanical properties of the as-woven and soldered lattices were characterized by optical microscopy and micro-scale mechanical property experiments. The measured in-plane shear stiffness shows good agreement with predictions from finite element (FE) models that account for variations in the manufacturing and solder bonding. The study indicates that stiffness is influenced by the percentage of bonded nodes and the location of bonding. The 3D woven lattice materials manufactured in this study exhibited a very high percentage (80%) of bonded nodes and a unique combination of stiffness and density as compared to that typically reported for ultra lightweight lattice materials.     

Novel applications of composite structures to robots, machine tools and automobiles

Mechanical design can be classified into stiffness design and strength design. In the stiffness design, the stiffness or deformation of members is concerned, and the enhancement of dynamic characteristics such as natural frequency or damping capacity of members or systems is also important. While, in the strength design, the primary concern is the enhancement of load carrying ability of members or systems.

Fiber reinforced composite materials offer a combination of strength and modulus that are either comparable to or better than many traditional metallic materials. Because of their low specific gravities, the strength-weight ratios, and modulus-weight ratios of these composite materials are much superior to those metallic materials. Composite materials can be tailored to meet the specific requirements of each particular design. Available design parameters are the choice of materials (fiber, matrix), the volume fraction of fiber and matrix, fabrication method, number of layers in a given direction, thickness of individual layers, type of layer (unidirectional or fabric), and the layer stacking sequence.

The greatest disadvantages of composite materials are the costs of the materials and the lack of well-defined design rules, therefore, composite materials should be applied in the right place with appropriate design rules. Up to now, the fiber reinforced composite structures are mainly employed in the strength design such as aircraft, spacecraft and vehicles.

In this paper, the novel application examples of composite structures to components for the robots, machine tools and automobiles are addressed considering the stiffness design issues of composite structures.     

Covalent Bonding of Thermoplastics to Rubbers for Printable,Reel‐to‐Reel Processing in Soft Robotics and Microfluidics

The lamination of mechanically stiff structures to elastic materials is prevalent in biological systems and popular in many emerging synthetic systems, such as soft robotics, microfluidics, stretchable electronics, and pop‐up assemblies. The disparate mechanical and chemical properties of these materials have made it challenging to develop universal synthetic procedures capable of reliably adhering to these classes of materials together. Herein, a simple and scalable procedure is described that is capable of covalently laminating a variety of commodity (“off‐the‐shelf”) thermoplastic sheets to silicone rubber films. When combined with laser printing, the nonbonding sites can be “printed” onto the thermoplastic sheets, enabling the direct fabrication of microfluidic systems for actuation and liquid handling applications. The versatility of this approach in generating thin, multifunctional laminates is demonstrated through the fabrication of milliscale soft actuators and grippers with hinged articulation and microfluidic channels with built‐in optical filtering and pressure‐dependent geometries. This method of fabrication offers several advantages, including technical simplicity, process scalability, design versatility, and material diversity. The concepts and strategies presented herein are broadly applicable to the soft robotics, microfluidics, and advanced and additive manufacturing communities where hybrid rubber/plastic structures are prevalent.     

25th Anniversary Article: A Soft Future: From Robots and Sensor Skin to Energy Harvesters

Scientists are exploring elastic and soft forms of robots, electronic skin and energy harvesters, dreaming to mimic nature and to enable novel applications in wide fields, from consumer and mobile appliances to biomedical systems, sports and healthcare. All conceivable classes of materials with a wide range of mechanical, physical and chemical properties are employed, from liquids and gels to organic and inorganic solids. Functionalities never seen before are achieved. In this review we discuss soft robots which allow actuation with several degrees of freedom. We show that different actuation mechanisms lead to similar actuators, capable of complex and smooth movements in 3d space. We introduce latest research examples in sensor skin development and discuss ultraflexible electronic circuits, light emitting diodes and solar cells as examples. Additional functionalities of sensor skin, such as visual sensors inspired by animal eyes, camouflage, self‐cleaning and healing and on‐skin energy storage and generation are briefly reviewed. Finally, we discuss a paradigm change in energy harvesting, away from hard energy generators to soft ones based on dielectric elastomers. Such systems are shown to work with high energy of conversion, making them potentially interesting for harvesting mechanical energy from human gait, winds and ocean waves.     

Ultra‐Light and Scalable Composite Lattice Materials

Architected lattice materials are some of the stiffest and strongest materials at ultra‐light density (<10 mg cm^?3), but scalable manufacturing with high‐performance constituent materials remains a challenge that limits their widespread adoption in load‐bearing applications. We show mesoscale, ultra‐light (5.8 mg cm^?3) fiber‐reinforced polymer composite lattice structures that are reversibly assembled from building blocks manufactured with a best‐practice high‐precision, high‐repeatability, and high‐throughput process: injection molding. Chopped glass fiber‐reinforced polymer (polyetherimide) lattice materials produced with this method display absolute stiffness (8.41 MPa) and strength (19 kPa) typically associated with metallic hollow strut microlattices at similar mass density. Additional benefits such as strain recovery, discrete damage repair with recovery of original stiffness and strength, and ease of modeling are demonstrated.