Cellulose microspheres were fabricated on the basis of sol-gel transition using NaOH/urea/H_(2)O as the solvent system.These microspheres had an average diameter of about 30μm.Upon modification with Fe_(3)O_(4) and p...Cellulose microspheres were fabricated on the basis of sol-gel transition using NaOH/urea/H_(2)O as the solvent system.These microspheres had an average diameter of about 30μm.Upon modification with Fe_(3)O_(4) and poly(DOPAm-co-PFOEA),superhydrophobic magnetic cellulose microspheres were generated,which were analyzed by FTIR,TG,XRD,XPS and water contact angle tests.Magnetic cellulose microspheres contained approximately 15 wt%of Fe_(3)O_(4).Poly(DOPAm-co-PFOEA)/Fe_(3)O_(4)/cellulose microspheres and had a low surface energy and a high water-repellency.These superhydrophobic microspheres were also converted into liquid marbles via an easily scalable process.展开更多
This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based...This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.展开更多
Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in lo...Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in long-distance and miniaturized environments.Fuel-driven actuators offer a promising solution by enabling the conversion of chemical energy into mechanical energy,supporting selfsustaining operations.Chemical energy from fuel can be converted into mechanical energy either directly or indirectly through methods such as electron transfer-induced charge injection,structural changes,fuel-to-electricity conversion,fuel combustioninduced heat,or fuel-induced pneumatic actuation.This paper provides a comprehensive review of recent developments in fuel-powered actuators,covering their fundamental principles,advancements,and challenges.It concludes with an outlook for miniaturized and autonomous robots,highlighting the great potential of integrating fuel-powered actuators.展开更多
Azobenzene-based polymer actuators show great promise for photoactuation owing to their unique photoisomerization behavior and tailorable molecular programmability.However,conventional systems are limited by inadequat...Azobenzene-based polymer actuators show great promise for photoactuation owing to their unique photoisomerization behavior and tailorable molecular programmability.However,conventional systems are limited by inadequate mechanical robustness,self-healing,and recyclability,hindering their practical implementation.Herein,we present a high-performance azobenzene-functionalized polyurethane(AzoPU)elastomer actuator designed via molecular engineering of photoactive azobenzene moieties and dynamic disulfide bonds.AzoPU exhibits exceptional mechanical properties with retained performance after multiple reshaping cycles,enabled by well-engineered hard-soft segments and synergistic stress dissipation from weak covalent bonds/hierarchical hydrogen bonds.It achieves over 93%self-healing efficiency at room temperature owing to the synergistic interplay of disulfide bonds in the polymer backbone and intermolecular hydrogen bonds.Furthermore,it demonstrates remarkable light-triggered actuation behavior,achieving a phototropic bending angle exceeding 180°toward the light source within 45 s.To showcase its practical potential,proof-of-concept photoactuated devices with flower-,hook-,and gripper-like and local-orientation processed strip-shaped structures were fabricated,which exhibited rapid and reversible light-triggered deformation.This study proposes a novel strategy for the development of intelligent polymeric materials that integrate light responsiveness,self-healing,and recyclability,thus holding great promise for applications in flexible electronics,smart actuators,and sustainable functional materials.展开更多
Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This c...Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This comprehensive review analyzes the evolution of microrobotic technologies through three critical dimensions:(1)actuation modalities,including magnetic,optical,acoustic,chemical,and biological actuation,with a focus on the synergistic advantages of hybrid actuation strategies in complex internal physiological environments;(2)Fabrication methods cover technolo-gies such as photolithography,microinjection molding,self-assembly,and 3D printing,emphasizing innovative strategies involving multi-technology integration and collaborative manufacturing of bio/non-bio hybrid materials;(3)Internal phys-iological applications involve disease diagnosis,targeted drug delivery,minimally invasive surgery,tissue engineering,and cell manipulation,highlighting the broad prospects of microrobots in precision medicine.Despite remarkable progress,critical challenges remain,including low actuation efficiency,as seen in acoustic systems,limited biocompatibility,exem-plified by the toxicity of hydrogen peroxide in chemical actuation,delayed clinical translation,and other related challenges that must be addressed to advance the field.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sens...Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sensing abilities,resulting in a lack of motion state feedback and difficulty in achieving real-time closed-loop control.Herein,a soft pneumatic composite structure(SPCS)with integrated actuation and sensing abilities is developed by combining a bellows-shaped magnetic elastomer and a wire structure.The SPCS can generate an induced voltage under deformation.The SPCS mechanical and magnetoelectric characteristics are studied comprehensively.The SPCS experimental maximum contraction is 27 mm,which is close to the theoretical and numerical results.When the SPCS is actuated by a pressure of-40 kPa,it will generate a peak induced voltage of 1.01 mV.With the increase in magnetic powder content and turns of the spiral wire,the induced voltage also increases.Additionally,two SPCSs are used to develop a self-sensing actuator,which can accurately perceive the bending direction and recognize the magnitude and direction of external force.A self-sensing soft gripper is developed,which can sense the grasping status and predict the width of grasped objects.Furthermore,a smart vehicle detection system composed of two SPCSs is proposed,which can detect the number,speed,and weight of passing vehicles.Consequently,the SPCS has numerous potential applications in soft sensors and self-sensing intelligent soft machines.展开更多
The growing demand for personalized health care,smart wearables,and advanced environmental monitoring has spurred the development of multifunctional materials that combine flexibility,environmental adaptability,and di...The growing demand for personalized health care,smart wearables,and advanced environmental monitoring has spurred the development of multifunctional materials that combine flexibility,environmental adaptability,and diverse functionalities.However,conventional materials often failed to integrate these attributes simultaneously,hindering their applicability in next-generation technologies.Here,we present an organic-inorganic hybrid crystalline material with a unique sandwich-like architecture,in which a flexible organic crystal core is encased by reduced graphene oxide(rGO)and thermoplastic polyurethane(TPU).This strategic integration endows the material with fluorescence,cryogenic flexibility,and electrical conductivity,while also enabling dual sensing and actuation capabilities.The rGO layer facilitates real-time humidity(25-90%RH)and temperature(25-180℃)sensing through environmental interactions,whereas the differential thermal expansion between TPU and the flexible crystal core drives efficient photothermal actuation at-150℃for advanced thermal regulation.The hybrid material exhibits stable performance under extreme conditions,making it a promising candidate for biomedical monitoring,flexible electronics,and energy applications.This work establishes hybrid crystalline materials as versatile and scalable platforms for addressing complex technological demands,paving the way for their application in next-generation multifunctional devices.展开更多
The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to r...The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to reveal DOF characteristics.The method draws on the superposition mechanism of the deformation characteristics of the sarcomere in the skeletal muscles of living organisms.Firstly,the multi-DOF deformation characteristics of the soft actuator are discretized into superimposed combinations of single-DOF micro-units.Then,the soft actuator was determined to contain deformation characteristics such as extension-contraction,bending,and twisting.Eighteen types of micro-units with basic deforma-tion characteristics were obtained depending on the axis and orientation.Further,the mapping relationship between the combination of micro-units and the motion characteristics of the soft actuator based on the GF set theory was established.Finally,an active-passive DOF co-structured soft actuator(APCSA)was developed.The graphical approach analyzes the experimental results,and it can be concluded that active and passive DOFs can coexist in the composite deformation of the soft actuator.展开更多
Permanent-magnet(PM)machines are the important driving components of various mechanical equipment and industrial applications,such as robot joints,aerospace equipment,electric vehicles,actuators,wind generators and el...Permanent-magnet(PM)machines are the important driving components of various mechanical equipment and industrial applications,such as robot joints,aerospace equipment,electric vehicles,actuators,wind generators and electric traction systems.The PM machines are usually expected to have high torque/power density,low torque ripple,reduced rotor mass,a large constant power speed range or strong anti-magnetization capability to match different requirements of industrial applications.The structural topology of the electric machines,including stator/rotor arrangements and magnet patterns of rotor,is one major concern to improve their electromagnetic performance.However,systematic reviews of structural topology are seldom found in literature.Therefore,the objective of this paper is to summarize the stator/rotor arrangements and magnet patterns of the permanent-magnet brushless machines,in depth.Specifically,the stator/rotor arrangements of the PM machines including radial-flux,axialflux and emerging hybrid axial-radial flux configurations are presented,and pros and cons of these topologies are discussed regarding their electromagnetic performance.The magnet patterns including various surface-mounted and interior magnet patterns,such as parallel magnetization pole pattern,Halbach arrays,spoke-type designs and their variants are summarized,and the characteristics of those magnet patterns in terms of flux-focusing effect,magnetic self-shielding effect,torque ripple,reluctance torque,magnet utilization ratio,and anti-demagnetization capability are compared.This paper can provide guidance and suggestion for the structure selection and design of PM brushless machines for high-performance industrial applications.展开更多
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
As a kind of ionic artificial muscle material,Ionic Polymer-Metal Composites(IPMCs)have the advantages of a low drive current,light weight,and significant flexibility.IPMCs are widely used in the fields of biomedicine...As a kind of ionic artificial muscle material,Ionic Polymer-Metal Composites(IPMCs)have the advantages of a low drive current,light weight,and significant flexibility.IPMCs are widely used in the fields of biomedicine,soft robots,etc.However,the displacement and blocking force of the traditional sheet-type Nafion-IPMC need to be improved,and it has the limitation of unidirectional actuation.In this paper,a new type of short side chain Aquivion material is used as the polymer in the IPMC.The cylindrical IPMC is prepared by extrusion technology to improve its actuation performance and realize multi-degree-of-freedom motion.In comparison to the traditional Nafion-IPMC,the ion exchange capacity,specific capacitance,and conductivity of Aquivion-IPMC are improved by 28%,27%,and 32%,respectively,and the displacement and blocking force are improved by 57%and 25%,respectively.The cylindrical actuators can be deflected in eight directions.This indicates that Aquivion,as a polymer membrane for IPMC,holds significant application potential.By designing a cylindrical IPMC electrode distribution,the multi-degree-of-freedom deflection of IPMC can be realized.展开更多
Actuator faults can be critical in turbofan engines as they can lead to stall,surge,loss of thrust and failure of speed control.Thus,fault diagnosis of gas turbine actuators has attracted considerable attention,from b...Actuator faults can be critical in turbofan engines as they can lead to stall,surge,loss of thrust and failure of speed control.Thus,fault diagnosis of gas turbine actuators has attracted considerable attention,from both academia and industry.However,the extensive literature that exists on this topic does not address identifying the severity of actuator faults and focuses mainly on actuator fault detection and isolation.In addition,previous studies of actuator fault identification have not dealt with multiple concurrent faults in real time,especially when these are accompanied by sudden failures under dynamic conditions.This study develops component-level models for fault identification in four typical actuators used in high-bypass ratio turbofan engines under both dynamic and steady-state conditions and these are then integrated with the engine performance model developed by the authors.The research results reported here present a novel method of quantifying actuator faults using dynamic effect compensation.The maximum error for each actuator is less than0.06%and 0.07%,with average computational time of less than 0.0058 s and 0.0086 s for steady-state and transient cases,respectively.These results confirm that the proposed method can accurately and efficiently identify concurrent actuator fault for an engine operating under either transient or steady-state conditions,even in the case of a sudden malfunction.The research results emonstrate the potential benefit to emergency response capabilities by introducing this method of monitoring the health of aero engines.展开更多
Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibra...Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibration.An active damping device(ADD)is used to the vibration of the pump valve pipeline system to apply the control force,to achieve the active control of the pipeline vibration.A pump-valve pipeline vibration test bench was built to compare the control effect of active damping device on pipeline vibration under different pump valve working conditions,and the results show that applying ADD control could effectively suppress the vibration of the pump valve pipeline and enhance the stability of the equipment during operation.At different pump operating rotation frequencies,the vibration amplitude of the pump valve pipeline in working frequency and its multiple frequencies are also effectively suppressed,with the maximum amplitude reduction of more than 60%.For the valve vibration caused by different operating openings,the vibration of the highest reduction of 68%,and the centrifugal pump drive shaft vi-bration reduced by up to 73%,which provides a new idea for vibration control of pump valve pipeline system.展开更多
Precision actuation is a foundational technology in high-end equipment domains,where stroke,velocity,and accuracy are critical for processing and/or detection quality,precision in spacecraft flight trajectories,and ac...Precision actuation is a foundational technology in high-end equipment domains,where stroke,velocity,and accuracy are critical for processing and/or detection quality,precision in spacecraft flight trajectories,and accuracy in weapon system strikes.Piezoelectric actuators(PEAs),known for their nanometer-level precision,flexible stroke,resistance to electromagnetic interference,and scalable structure,have been widely adopted across various fields.Therefore,this study focuses on extreme scenarios involving ultra-high precision(micrometer and beyond),minuscule scales,and highly complex operational conditions.It provides a comprehensive overview of the types,working principles,advantages,and disadvantages of PEAs,along with their potential applications in piezo-actuated smart mechatronic systems(PSMSs).To address the demands of extreme scenarios in high-end equipment fields,we have identified five representative application areas:positioning and alignment,biomedical device configuration,advanced manufacturing and processing,vibration mitigation,micro robot system.Each area is further divided into specific subcategories,where we explore the underlying relationships,mechanisms,representative schemes,and characteristics.Finally,we discuss the challenges and future development trends related to PEAs and PSMSs.This work aims to showcase the latest advancements in the application of PEAs and provide valuable guidance for researchers in this field.展开更多
The Electro–Hydrostatic Actuator(EHA)is applied to drive the control surface in flightcontrol system of more electric aircraft.In EHA,the Oil-Immersed Motor Pump(OMP)serves asthe core as a power assembly.However,the ...The Electro–Hydrostatic Actuator(EHA)is applied to drive the control surface in flightcontrol system of more electric aircraft.In EHA,the Oil-Immersed Motor Pump(OMP)serves asthe core as a power assembly.However,the compact integration of the OMP presents challenges inefficiently dissipating internal heat,leading to a performance degradation of the EHA due to ele-vated temperatures.Therefore,accurately modeling and predicting the internal thermal dynamicsof the OMP hold considerable significance for monitoring the operational condition of the EHA.In view of this,a modeling method considering cumulative thermal coupling was hereby proposed.Based on the proposed method,the thermal models of the motor and the pump were established,taking into account heat accumulation and transfer.Taking the leakage oil as the heat couplingpoint between the motor and the pump,the dynamic thermal coupling model of the OMP wasdeveloped,with the thermal characteristics of the oil considered.Additionally,the comparativeexperiments were conducted to illustrate the efficiency of the proposed model.The experimentalresults demonstrate that the proposed dynamic thermal coupling model accurately captured thethermal behavior of OMP,outperforming the static thermal parameter model.Overall,thisadvancement is crucial for effectively monitoring the health of EHA and ensuring flight safety.展开更多
The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated int...The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated into robotic capsule endoscopy to augment diagnostic capabilities.In this study,we propose a magnetically driven biopsy robot based on a Kresling origami.Considering the bistable properties of Krelsing origami and the elasticity of the creases,a foldable structure of the robot with constant force characteristics is designed.The folding motion of the structure is used to deploy the needle into the target tissue.The robot is capable of performing rolling motion under the control of an external magnetic drive system,and a fine needle biopsy technique is used to collect deep tissue samples.We also conduct in vitro rolling experiments and sampling experiments on apple tissues and pork tissues,which verify the performance of the robot.展开更多
Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptabilit...Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.展开更多
Silicone rubber(SR)is a versatile material widely used across various advanced functional applications,such as soft actuators and robots,flexible electronics,and medical devices.However,most SR molding methods rely on...Silicone rubber(SR)is a versatile material widely used across various advanced functional applications,such as soft actuators and robots,flexible electronics,and medical devices.However,most SR molding methods rely on traditional thermal processing or direct ink writing three-dimensional(3D)printing.These methods are not conducive to manufacturing complex structures and present challenges such as time inefficiency,poor accuracy,and the necessity of multiple steps,significantly limiting SR applications.In this study,we developed an SR-based ink suitable for vat photopolymerization 3D printing using a multi-thiol monomer.This ink enables the one-step fabrication of complex architectures with high printing resolution at the micrometer scale,providing excellent mechanical strength and superior chemical stability.Specifically,the optimized 3D printing SR-20 exhibits a tensile stress of 1.96 MPa,an elongation at break of 487.9%,and an elastic modulus of 225.4 kPa.Additionally,the 3D-printed SR samples can withstand various solvents(acetone,toluene,and tetrahydrofuran)and endure temperatures ranging from-50℃ to 180℃,demonstrating superior stability.As a emonstration of the application,we successfully fabricated a series of SR-based soft pneumatic actuators and grippers in a single step with this technology,allowing for free assembly for the first time.This ultraviolet-curable SR,with high printing resolution and exceptional stability performance,has significant potential to enhance the capabilities of 3D printing for applications in soft actuators,robotics,flexible electronics,and medical devices.展开更多
To prepare a conductive polymer actuator with decent performance,a self-built experimental platform for the preparation of polypyrrole film is employed.One of the essential goals is to examine the mechanical character...To prepare a conductive polymer actuator with decent performance,a self-built experimental platform for the preparation of polypyrrole film is employed.One of the essential goals is to examine the mechanical characteristics of the actuator in the presence of various combinations of process parameters,combined with the orthogonal test method of"four factors and three levels".The bending and sensing characteristics of actuators of various sizes are methodically examined using a self-made bending polypyrrole actuator.The functional relationship between the bending displacement and the output voltage signal is established by studying the characteristics of the actuator sensor subjected to various degrees of bending.The experimental results reveal that the bending displacement of the actuator tip almost exhibits a linear variation as a function of length and width.When the voltage reaches 0.8 V,the bending speed of the actuator tends to be stable.Finally,the mechanical properties of the self-assembled polypyrrole actuator are verified by the design and fabrication of the microgripper.展开更多
文摘Cellulose microspheres were fabricated on the basis of sol-gel transition using NaOH/urea/H_(2)O as the solvent system.These microspheres had an average diameter of about 30μm.Upon modification with Fe_(3)O_(4) and poly(DOPAm-co-PFOEA),superhydrophobic magnetic cellulose microspheres were generated,which were analyzed by FTIR,TG,XRD,XPS and water contact angle tests.Magnetic cellulose microspheres contained approximately 15 wt%of Fe_(3)O_(4).Poly(DOPAm-co-PFOEA)/Fe_(3)O_(4)/cellulose microspheres and had a low surface energy and a high water-repellency.These superhydrophobic microspheres were also converted into liquid marbles via an easily scalable process.
基金Supported by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems (ZDSYS20220330161800001)the National Natural Science Foundation of China (62303207)the Guangdong Basic and Applied Basic Research Foundation (2024A1515010725)。
文摘This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.
基金Financial support from the program of the National Natural Science Foundation of China(Grant no.52475059)Major Program of National Natural Science Founda-tion of China(NSFC)for Basic Theory and Key Technology of Tri-Co Robots(92248301)+3 种基金the Postdoctoral Research Foundation of China(No.2024M751167)the Young Elite Scientists Sponsorship Program by CAST(2023QNRC001)Jiangsu Province Natural Science Foundation(No.BK20240155)supported by the Nano&Material Technology Development Program through the National Research Foundation of Korea(NRF),funded by the Ministry of Science and ICT(RS2024-00406534,RS-2025-25442809)。
文摘Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in long-distance and miniaturized environments.Fuel-driven actuators offer a promising solution by enabling the conversion of chemical energy into mechanical energy,supporting selfsustaining operations.Chemical energy from fuel can be converted into mechanical energy either directly or indirectly through methods such as electron transfer-induced charge injection,structural changes,fuel-to-electricity conversion,fuel combustioninduced heat,or fuel-induced pneumatic actuation.This paper provides a comprehensive review of recent developments in fuel-powered actuators,covering their fundamental principles,advancements,and challenges.It concludes with an outlook for miniaturized and autonomous robots,highlighting the great potential of integrating fuel-powered actuators.
基金financially supported by the National Natural Science Foundation of China(No.52503154)Shandong Provincial Natural Science Foundation(Nos.ZR2022MB034 and ZR2025QC512)。
文摘Azobenzene-based polymer actuators show great promise for photoactuation owing to their unique photoisomerization behavior and tailorable molecular programmability.However,conventional systems are limited by inadequate mechanical robustness,self-healing,and recyclability,hindering their practical implementation.Herein,we present a high-performance azobenzene-functionalized polyurethane(AzoPU)elastomer actuator designed via molecular engineering of photoactive azobenzene moieties and dynamic disulfide bonds.AzoPU exhibits exceptional mechanical properties with retained performance after multiple reshaping cycles,enabled by well-engineered hard-soft segments and synergistic stress dissipation from weak covalent bonds/hierarchical hydrogen bonds.It achieves over 93%self-healing efficiency at room temperature owing to the synergistic interplay of disulfide bonds in the polymer backbone and intermolecular hydrogen bonds.Furthermore,it demonstrates remarkable light-triggered actuation behavior,achieving a phototropic bending angle exceeding 180°toward the light source within 45 s.To showcase its practical potential,proof-of-concept photoactuated devices with flower-,hook-,and gripper-like and local-orientation processed strip-shaped structures were fabricated,which exhibited rapid and reversible light-triggered deformation.This study proposes a novel strategy for the development of intelligent polymeric materials that integrate light responsiveness,self-healing,and recyclability,thus holding great promise for applications in flexible electronics,smart actuators,and sustainable functional materials.
基金National Natural Science Foundation of China(Grant No.61903157)the Foundation of State Key Laboratory of Robotics(Grand No.2024-O08).
文摘Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This comprehensive review analyzes the evolution of microrobotic technologies through three critical dimensions:(1)actuation modalities,including magnetic,optical,acoustic,chemical,and biological actuation,with a focus on the synergistic advantages of hybrid actuation strategies in complex internal physiological environments;(2)Fabrication methods cover technolo-gies such as photolithography,microinjection molding,self-assembly,and 3D printing,emphasizing innovative strategies involving multi-technology integration and collaborative manufacturing of bio/non-bio hybrid materials;(3)Internal phys-iological applications involve disease diagnosis,targeted drug delivery,minimally invasive surgery,tissue engineering,and cell manipulation,highlighting the broad prospects of microrobots in precision medicine.Despite remarkable progress,critical challenges remain,including low actuation efficiency,as seen in acoustic systems,limited biocompatibility,exem-plified by the toxicity of hydrogen peroxide in chemical actuation,delayed clinical translation,and other related challenges that must be addressed to advance the field.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
基金supported by the National Natural Science Foundation of China(Grant No.52405267)the Jiangxi Provincial Natural Science Foundation(Grant Nos.20242BAB25257,20232BAB214050)+1 种基金the China Postdoctoral Science Foundation(Grant No.2024M760877)the Natural Science Foundation of Hunan Province(Grant No.2025JJ60369)。
文摘Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sensing abilities,resulting in a lack of motion state feedback and difficulty in achieving real-time closed-loop control.Herein,a soft pneumatic composite structure(SPCS)with integrated actuation and sensing abilities is developed by combining a bellows-shaped magnetic elastomer and a wire structure.The SPCS can generate an induced voltage under deformation.The SPCS mechanical and magnetoelectric characteristics are studied comprehensively.The SPCS experimental maximum contraction is 27 mm,which is close to the theoretical and numerical results.When the SPCS is actuated by a pressure of-40 kPa,it will generate a peak induced voltage of 1.01 mV.With the increase in magnetic powder content and turns of the spiral wire,the induced voltage also increases.Additionally,two SPCSs are used to develop a self-sensing actuator,which can accurately perceive the bending direction and recognize the magnitude and direction of external force.A self-sensing soft gripper is developed,which can sense the grasping status and predict the width of grasped objects.Furthermore,a smart vehicle detection system composed of two SPCSs is proposed,which can detect the number,speed,and weight of passing vehicles.Consequently,the SPCS has numerous potential applications in soft sensors and self-sensing intelligent soft machines.
基金support from the National Natural Science Foundation of China(52373181 and 52173164)the Natural Science Foundation of Jilin Province(20250102120JC and 20230101038JC)+1 种基金the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation(GZB20240259)the Project funded by China Postdoctoral Science Foundation(2024M761121 and 2025T180139).
文摘The growing demand for personalized health care,smart wearables,and advanced environmental monitoring has spurred the development of multifunctional materials that combine flexibility,environmental adaptability,and diverse functionalities.However,conventional materials often failed to integrate these attributes simultaneously,hindering their applicability in next-generation technologies.Here,we present an organic-inorganic hybrid crystalline material with a unique sandwich-like architecture,in which a flexible organic crystal core is encased by reduced graphene oxide(rGO)and thermoplastic polyurethane(TPU).This strategic integration endows the material with fluorescence,cryogenic flexibility,and electrical conductivity,while also enabling dual sensing and actuation capabilities.The rGO layer facilitates real-time humidity(25-90%RH)and temperature(25-180℃)sensing through environmental interactions,whereas the differential thermal expansion between TPU and the flexible crystal core drives efficient photothermal actuation at-150℃for advanced thermal regulation.The hybrid material exhibits stable performance under extreme conditions,making it a promising candidate for biomedical monitoring,flexible electronics,and energy applications.This work establishes hybrid crystalline materials as versatile and scalable platforms for addressing complex technological demands,paving the way for their application in next-generation multifunctional devices.
基金The Central Government Guides Local Foundation for Science and Technology Development(Grant No.YDZJSX2024B004).
文摘The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to reveal DOF characteristics.The method draws on the superposition mechanism of the deformation characteristics of the sarcomere in the skeletal muscles of living organisms.Firstly,the multi-DOF deformation characteristics of the soft actuator are discretized into superimposed combinations of single-DOF micro-units.Then,the soft actuator was determined to contain deformation characteristics such as extension-contraction,bending,and twisting.Eighteen types of micro-units with basic deforma-tion characteristics were obtained depending on the axis and orientation.Further,the mapping relationship between the combination of micro-units and the motion characteristics of the soft actuator based on the GF set theory was established.Finally,an active-passive DOF co-structured soft actuator(APCSA)was developed.The graphical approach analyzes the experimental results,and it can be concluded that active and passive DOFs can coexist in the composite deformation of the soft actuator.
基金Supported by National Natural Science Foundation of China(NSFC)(Grant No.52130505)Zhejiang Provincial Natural Science Foundation of China(Grant No.LD24E050005)+1 种基金Ningbo Key Scientific and Technological Project of China(Grant No.2022Z040)Academic Excellence Foundation of BUAA for PhD Students.
文摘Permanent-magnet(PM)machines are the important driving components of various mechanical equipment and industrial applications,such as robot joints,aerospace equipment,electric vehicles,actuators,wind generators and electric traction systems.The PM machines are usually expected to have high torque/power density,low torque ripple,reduced rotor mass,a large constant power speed range or strong anti-magnetization capability to match different requirements of industrial applications.The structural topology of the electric machines,including stator/rotor arrangements and magnet patterns of rotor,is one major concern to improve their electromagnetic performance.However,systematic reviews of structural topology are seldom found in literature.Therefore,the objective of this paper is to summarize the stator/rotor arrangements and magnet patterns of the permanent-magnet brushless machines,in depth.Specifically,the stator/rotor arrangements of the PM machines including radial-flux,axialflux and emerging hybrid axial-radial flux configurations are presented,and pros and cons of these topologies are discussed regarding their electromagnetic performance.The magnet patterns including various surface-mounted and interior magnet patterns,such as parallel magnetization pole pattern,Halbach arrays,spoke-type designs and their variants are summarized,and the characteristics of those magnet patterns in terms of flux-focusing effect,magnetic self-shielding effect,torque ripple,reluctance torque,magnet utilization ratio,and anti-demagnetization capability are compared.This paper can provide guidance and suggestion for the structure selection and design of PM brushless machines for high-performance industrial applications.
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
基金financial support from the National Natural Science Foundation of China(Grant No.U1637101)The Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures(1005-ZAG23011).
文摘As a kind of ionic artificial muscle material,Ionic Polymer-Metal Composites(IPMCs)have the advantages of a low drive current,light weight,and significant flexibility.IPMCs are widely used in the fields of biomedicine,soft robots,etc.However,the displacement and blocking force of the traditional sheet-type Nafion-IPMC need to be improved,and it has the limitation of unidirectional actuation.In this paper,a new type of short side chain Aquivion material is used as the polymer in the IPMC.The cylindrical IPMC is prepared by extrusion technology to improve its actuation performance and realize multi-degree-of-freedom motion.In comparison to the traditional Nafion-IPMC,the ion exchange capacity,specific capacitance,and conductivity of Aquivion-IPMC are improved by 28%,27%,and 32%,respectively,and the displacement and blocking force are improved by 57%and 25%,respectively.The cylindrical actuators can be deflected in eight directions.This indicates that Aquivion,as a polymer membrane for IPMC,holds significant application potential.By designing a cylindrical IPMC electrode distribution,the multi-degree-of-freedom deflection of IPMC can be realized.
基金support by the National Natural Science Foundation of China(Grant No.52402520)。
文摘Actuator faults can be critical in turbofan engines as they can lead to stall,surge,loss of thrust and failure of speed control.Thus,fault diagnosis of gas turbine actuators has attracted considerable attention,from both academia and industry.However,the extensive literature that exists on this topic does not address identifying the severity of actuator faults and focuses mainly on actuator fault detection and isolation.In addition,previous studies of actuator fault identification have not dealt with multiple concurrent faults in real time,especially when these are accompanied by sudden failures under dynamic conditions.This study develops component-level models for fault identification in four typical actuators used in high-bypass ratio turbofan engines under both dynamic and steady-state conditions and these are then integrated with the engine performance model developed by the authors.The research results reported here present a novel method of quantifying actuator faults using dynamic effect compensation.The maximum error for each actuator is less than0.06%and 0.07%,with average computational time of less than 0.0058 s and 0.0086 s for steady-state and transient cases,respectively.These results confirm that the proposed method can accurately and efficiently identify concurrent actuator fault for an engine operating under either transient or steady-state conditions,even in the case of a sudden malfunction.The research results emonstrate the potential benefit to emergency response capabilities by introducing this method of monitoring the health of aero engines.
基金The Fundamental Research Funds for the Central Universities(JD2423)。
文摘Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibration.An active damping device(ADD)is used to the vibration of the pump valve pipeline system to apply the control force,to achieve the active control of the pipeline vibration.A pump-valve pipeline vibration test bench was built to compare the control effect of active damping device on pipeline vibration under different pump valve working conditions,and the results show that applying ADD control could effectively suppress the vibration of the pump valve pipeline and enhance the stability of the equipment during operation.At different pump operating rotation frequencies,the vibration amplitude of the pump valve pipeline in working frequency and its multiple frequencies are also effectively suppressed,with the maximum amplitude reduction of more than 60%.For the valve vibration caused by different operating openings,the vibration of the highest reduction of 68%,and the centrifugal pump drive shaft vi-bration reduced by up to 73%,which provides a new idea for vibration control of pump valve pipeline system.
基金financially supported by the National Key R&D Program of China(Grant No.2022YFC2204203)the National Natural Science Foundation of China(Grant No.52305107)。
文摘Precision actuation is a foundational technology in high-end equipment domains,where stroke,velocity,and accuracy are critical for processing and/or detection quality,precision in spacecraft flight trajectories,and accuracy in weapon system strikes.Piezoelectric actuators(PEAs),known for their nanometer-level precision,flexible stroke,resistance to electromagnetic interference,and scalable structure,have been widely adopted across various fields.Therefore,this study focuses on extreme scenarios involving ultra-high precision(micrometer and beyond),minuscule scales,and highly complex operational conditions.It provides a comprehensive overview of the types,working principles,advantages,and disadvantages of PEAs,along with their potential applications in piezo-actuated smart mechatronic systems(PSMSs).To address the demands of extreme scenarios in high-end equipment fields,we have identified five representative application areas:positioning and alignment,biomedical device configuration,advanced manufacturing and processing,vibration mitigation,micro robot system.Each area is further divided into specific subcategories,where we explore the underlying relationships,mechanisms,representative schemes,and characteristics.Finally,we discuss the challenges and future development trends related to PEAs and PSMSs.This work aims to showcase the latest advancements in the application of PEAs and provide valuable guidance for researchers in this field.
基金supported by the National Key R&D Program of China(No.2021YFB2011300)the National Natural Science Foundation of China(Nos.52275044,U2233212)。
文摘The Electro–Hydrostatic Actuator(EHA)is applied to drive the control surface in flightcontrol system of more electric aircraft.In EHA,the Oil-Immersed Motor Pump(OMP)serves asthe core as a power assembly.However,the compact integration of the OMP presents challenges inefficiently dissipating internal heat,leading to a performance degradation of the EHA due to ele-vated temperatures.Therefore,accurately modeling and predicting the internal thermal dynamicsof the OMP hold considerable significance for monitoring the operational condition of the EHA.In view of this,a modeling method considering cumulative thermal coupling was hereby proposed.Based on the proposed method,the thermal models of the motor and the pump were established,taking into account heat accumulation and transfer.Taking the leakage oil as the heat couplingpoint between the motor and the pump,the dynamic thermal coupling model of the OMP wasdeveloped,with the thermal characteristics of the oil considered.Additionally,the comparativeexperiments were conducted to illustrate the efficiency of the proposed model.The experimentalresults demonstrate that the proposed dynamic thermal coupling model accurately captured thethermal behavior of OMP,outperforming the static thermal parameter model.Overall,thisadvancement is crucial for effectively monitoring the health of EHA and ensuring flight safety.
基金supported by the National Natural Science Foundation of China(Grant Nos.51805047 and 52175003)the Outstanding Youth Program of Hunan Education Department(Grant No.23B0335)the Natural Science Foundation of Hunan Province(Grant Nos.2023JJ30021 and 2023JJ50077).
文摘The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated into robotic capsule endoscopy to augment diagnostic capabilities.In this study,we propose a magnetically driven biopsy robot based on a Kresling origami.Considering the bistable properties of Krelsing origami and the elasticity of the creases,a foldable structure of the robot with constant force characteristics is designed.The folding motion of the structure is used to deploy the needle into the target tissue.The robot is capable of performing rolling motion under the control of an external magnetic drive system,and a fine needle biopsy technique is used to collect deep tissue samples.We also conduct in vitro rolling experiments and sampling experiments on apple tissues and pork tissues,which verify the performance of the robot.
基金the National Key R&D Program of China(No.2023YFE0208700)National Natural Sci-ence Foundation of China(No.92163109 and 52072095)+7 种基金Shenzhen Science and Technology Program(No.RCJC20231211090000001,GXWD20231129101105001)the National Natural Science Foundation of China(No.52205590)the Natural Science Foundation of Jiangsu Province(No.BK20220834)the Start-up Research Fund of Southeast University(No.RF1028623098)the State Key Laboratory of Robotics and Systems(HIT)(No.SKLRS-2024-KF-11)National Natural Science Foundation of China(No.52202348)Guangdong Basic and Applied Basic Research Foundation(No.2023A1515011491)Shenzhen Science and Technology Program(Nos.GXWD20220818224716001,KJZD20231023100302006).
文摘Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.
基金supported by the Strategic Priority Program of the Chinese Academy of Sciences(XDB0470303)the National Key R&D Program of China(2022YFB4600102and 2023YFE0209900)+4 种基金the National Natural Science Foundation of China(52175201 and 51935012)the science and technology projects of Gansu province(22JR5RA093,24JRRA044,24YFFA014 and 24ZDGA014)the Innovation and Entrepreneurship Team Project of YEDA(2021TD007)the special supporting project for provincial leading talents of Yantaithe Taishan Scholars Program。
文摘Silicone rubber(SR)is a versatile material widely used across various advanced functional applications,such as soft actuators and robots,flexible electronics,and medical devices.However,most SR molding methods rely on traditional thermal processing or direct ink writing three-dimensional(3D)printing.These methods are not conducive to manufacturing complex structures and present challenges such as time inefficiency,poor accuracy,and the necessity of multiple steps,significantly limiting SR applications.In this study,we developed an SR-based ink suitable for vat photopolymerization 3D printing using a multi-thiol monomer.This ink enables the one-step fabrication of complex architectures with high printing resolution at the micrometer scale,providing excellent mechanical strength and superior chemical stability.Specifically,the optimized 3D printing SR-20 exhibits a tensile stress of 1.96 MPa,an elongation at break of 487.9%,and an elastic modulus of 225.4 kPa.Additionally,the 3D-printed SR samples can withstand various solvents(acetone,toluene,and tetrahydrofuran)and endure temperatures ranging from-50℃ to 180℃,demonstrating superior stability.As a emonstration of the application,we successfully fabricated a series of SR-based soft pneumatic actuators and grippers in a single step with this technology,allowing for free assembly for the first time.This ultraviolet-curable SR,with high printing resolution and exceptional stability performance,has significant potential to enhance the capabilities of 3D printing for applications in soft actuators,robotics,flexible electronics,and medical devices.
基金Funded by the National Natural Science Foundation of Hunan Province,Chinal(No.2021JJ60012)。
文摘To prepare a conductive polymer actuator with decent performance,a self-built experimental platform for the preparation of polypyrrole film is employed.One of the essential goals is to examine the mechanical characteristics of the actuator in the presence of various combinations of process parameters,combined with the orthogonal test method of"four factors and three levels".The bending and sensing characteristics of actuators of various sizes are methodically examined using a self-made bending polypyrrole actuator.The functional relationship between the bending displacement and the output voltage signal is established by studying the characteristics of the actuator sensor subjected to various degrees of bending.The experimental results reveal that the bending displacement of the actuator tip almost exhibits a linear variation as a function of length and width.When the voltage reaches 0.8 V,the bending speed of the actuator tends to be stable.Finally,the mechanical properties of the self-assembled polypyrrole actuator are verified by the design and fabrication of the microgripper.
