Soft robotics has received substantial attention due to its remarkable deformability,making it well-suited for a wide range of applications in complex environments,such as medicine,rescue operations,and exploration.Wi...Soft robotics has received substantial attention due to its remarkable deformability,making it well-suited for a wide range of applications in complex environments,such as medicine,rescue operations,and exploration.Within this domain,the interaction of actuation and sensing is of utmost importance for controlling the movements and functions of soft robots.Nonetheless,current research predominantly focuses on isolated actuation and sensing capabilities,often neglecting the critical integration of these 2 domains to achieve intelligent functionality.In this review,we present a comprehensive survey of fundamental actuation strategies and multimodal actuation while also delving into advancements in proprioceptive and haptic sensing and their fusion.We emphasize the importance of integrating actuation and sensing in soft robotics,presenting 3 integration methodologies,namely,sensor surface integration,sensor internal integration,and closed-loop system integration based on sensor feedback.Furthermore,we highlight the challenges in the field and suggest compelling directions for future research.Through this comprehensive synthesis,we aim to stimulate further curiosity among researchers and contribute to the development of genuinely intelligent soft robots.展开更多
基金the financial support from the Start-up Research Fund of Southeast University(RF1028623150 and RF1028623098)the National Natural Science Foundation of China(22109021 and 52205590)+1 种基金the Natural Science Foundation of Jiangsu Province(BK20200375 and BK20220834)the Jiangsu Shuangchuang Talent Program(JSSCBS20210100).
文摘Soft robotics has received substantial attention due to its remarkable deformability,making it well-suited for a wide range of applications in complex environments,such as medicine,rescue operations,and exploration.Within this domain,the interaction of actuation and sensing is of utmost importance for controlling the movements and functions of soft robots.Nonetheless,current research predominantly focuses on isolated actuation and sensing capabilities,often neglecting the critical integration of these 2 domains to achieve intelligent functionality.In this review,we present a comprehensive survey of fundamental actuation strategies and multimodal actuation while also delving into advancements in proprioceptive and haptic sensing and their fusion.We emphasize the importance of integrating actuation and sensing in soft robotics,presenting 3 integration methodologies,namely,sensor surface integration,sensor internal integration,and closed-loop system integration based on sensor feedback.Furthermore,we highlight the challenges in the field and suggest compelling directions for future research.Through this comprehensive synthesis,we aim to stimulate further curiosity among researchers and contribute to the development of genuinely intelligent soft robots.
