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3D Printed Hydrogels for Soft Robotic Applications
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作者 Kunlin Wu Jingcheng Xiao +1 位作者 Junwei Li Yifan Wang 《Journal of Polymer Materials》 2025年第2期277-305,共29页
The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actu... The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development. 展开更多
关键词 HYDROGELS 3D printing soft robotics soft actuators soft robots soft sensors
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Wireless,Multifunctional System‑Integrated Programmable Soft Robot
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作者 Sungkeun Han Jeong‑Woong Shin +13 位作者 Joong Hoon Lee Bowen Li Gwan‑Jin Ko Tae‑Min Jang Ankan Dutta Won Bae Han Seung Min Yang Dong‑Je Kim Heeseok Kang Jun Hyeon Lim Chan‑Hwi Eom So Jeong Choi Huanyu Cheng Suk-Won Hwang 《Nano-Micro Letters》 2025年第7期12-25,共14页
Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mec... Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants. 展开更多
关键词 Untethered multimodal locomotion soft robotics soft electronics WIRELESS Reprogrammable magnetic soft robot
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Machine learning-enhanced soft robotic system inspired by rectal functions to investigate fecal incontinence
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作者 Zebing Mao Sota Suzuki +3 位作者 Hiroyuki Nabae Shoko Miyagawa Koichi Suzumori Shingo Maeda 《Bio-Design and Manufacturing》 2025年第3期482-494,I0056-I0061,共19页
Fecal incontinence(FI),which can arise from various pathogenic mechanisms,has attracted considerable attention worldwide.Despite its importance,the reproduction of the defecatory system to study the mechanisms of FI r... Fecal incontinence(FI),which can arise from various pathogenic mechanisms,has attracted considerable attention worldwide.Despite its importance,the reproduction of the defecatory system to study the mechanisms of FI remains limited,largely because of social stigma and being considered inappropriate.Inspired by the rectum’s functionalities,we developed a soft robotic system that includes a power supply,pressure sensors,data acquisition systems,a flushing mechanism,stages,and a rectal module.Specifically,the innovative soft rectal module includes actuators inspired by sphincter muscles,both soft and rigid covers,and a soft rectum mold.The rectal mold,which was fabricated from materials that mimic human rectal tissue,was produced using a mold replication fabrication method.Both the soft and rigid components of the mold were created using three-dimensional(3D)printing technology.In addition,the sphincter muscle-inspired actuators featured double-layer pouch structures that were modeled and optimized based on multilayer perceptron methods to obtain a high contraction ratio(100%),generate high pressure(9.8 kPa),and have a short recovery time(3 s).Upon assembly,this defecation robot could smoothly expel liquid feces,perform controlled solid fecal cutting,and defecate extremely solid long feces,thus closely replicating the functions of the human rectum and anal canal.This defecation robot has the potential to facilitate human understanding of the complex defecation system and contribute to the development of improved quality-of-life devices related to defecation. 展开更多
关键词 Fecal incontinence soft robot Machine learning DEFECATION PNEUMATIC
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Magnetic continuum soft robot-driven precise delivery of prodrug nanoassemblies for gastric cancer chemo-immunotherapy
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作者 Yuequan Wang Hao Ye +11 位作者 Denis von Arx Yukang Li YifanWang Alexandre Mesot Carlos Franco Xiang-Zhong Chen Yuting Wang Shenwu Zhang Salvador Pané Meng Niu Bradley J.Nelson Cong Luo 《Asian Journal of Pharmaceutical Sciences》 2025年第6期164-179,共16页
Local precise drug delivery is conducive to improving therapeutic efficacy and minimizing off-target toxicity.Current local delivery approaches are focused mostly on superficial or postoperative tumor lesions,due to t... Local precise drug delivery is conducive to improving therapeutic efficacy and minimizing off-target toxicity.Current local delivery approaches are focused mostly on superficial or postoperative tumor lesions,due to the challenges posed by the inaccessibility of deep-seated tumors.Herein,we report a magnetic continuum soft robot capable of non-invasive and site-specific delivery of prodrug nanoassemblies-loaded hydrogel.The nanoassemblies are co-assembled from redox-responsive docetaxel prodrug and oxaliplatin prodrug,and subsequently embedded into a hydrogel matrix.The hydrogel precursor and crosslinker are synchronously delivered using the soft robot under magnetic guidance and in situ crosslinked at the gastric cancer lesions,forming a drug depot for sustained release and long-lasting treatment.As the hydrogel gradually degrades,the nanoassemblies are internalized by tumor cells.The redox response ability enables them to be selectively activatedwithin tumor cells to trigger the release of docetaxel and oxaliplatin,exerting a synergistic anti-tumor effect.We find that the combination effectively induces immunogenic cell death of gastric tumor,enhancing antitumor immune responses.This strategy offers an intelligent and controllable integration platform for precise drug delivery and combined chemo-immunotherapy. 展开更多
关键词 Magnetic continuum soft robot PRODRUG Nanoassembly Hydrogel CHEMO-IMMUNOTHERAPY
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Autonomous Soft Robots:Self-regulation,Self-sustained,and Recovery Strategies
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作者 Chen Zhu Bo-Yu Liu +1 位作者 Li-Zhi Zhang Lin Xu 《Chinese Journal of Polymer Science》 2025年第4期535-547,共13页
Autonomous,adaptable,and multimodal locomotion capabilities,which are crucial for the advanced intelligence of biological systems.A prominent focus of investigations in the domain of bionic soft robotics pertains to t... Autonomous,adaptable,and multimodal locomotion capabilities,which are crucial for the advanced intelligence of biological systems.A prominent focus of investigations in the domain of bionic soft robotics pertains to the emulation of autonomous motion,as observed in natural organisms.This research endeavor faces the challenge of enabling spontaneous and sustained motion in soft robots without relying on external stimuli.Considerable progress has been made in the development of autonomous bionic soft robots that utilize smart polymer materials,particularly in the realms of material design,microfabrication technology,and operational mechanisms.Nonetheless,there remains a conspicuous deficiency in the literature concerning a thorough review of this subject matter.This study aims to provide a comprehensive review of autonomous soft robots that have been developed based on self-regulation strategies that encompass self-propulsion,self-oscillation,multistimulus response,and topological constraint structures.Furthermore,this review engages in an in-depth discussion regarding their tunable selfsustaining motion and recovery capabilities,while also contemplating the future development of autonomous soft robotic systems and their potential applications in fields such as biomechanics. 展开更多
关键词 Smart materials Autonomous soft robots SELF-REGULATION Self-oscllation Smart structure
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Sea Turtle-inspired Magnetic Soft Robot Demonstrates Versatile Land-to-Submerged Locomotion
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作者 Yida Guo Jia Zhu +7 位作者 Yutong Wang Lei Zhang Shichuan Wang Binhong Dou Shenghao Yang Bing Li Fuzhou Niu Chonglei Hao 《Journal of Bionic Engineering》 2025年第3期1039-1048,共10页
Soft robots capable of navigating complex environments hold promise for minimally invasive medical procedures and micromanipulation tasks.Here,we present a magnetically controlled multi-legged soft robot inspired by g... Soft robots capable of navigating complex environments hold promise for minimally invasive medical procedures and micromanipulation tasks.Here,we present a magnetically controlled multi-legged soft robot inspired by green sea turtle locomotion.Our designed robot,featuring six magnetized feet,demonstrates stable motion within a magnetic field strength range of 1.84–6.44 mT.Locomotion displacement scales linearly with field strength,while velocity correlates with frequency,reaching approximately 25 mm/s at 10 Hz.The robot navigates dry,semi-submerged,and fully submerged conditions,climbs slopes up to 30°,and maneuvers through U-shaped bends.Additionally,we demonstrate the robot's capability to smoothly transition between terrestrial and aquatic environments,demonstrating its amphibious locomotion performance.This adaptability to diverse environments,coupled with precise magnetic control,opens new possibilities for soft robotics in confined and complex spaces.Our findings provide a framework for designing highly maneuverable small-scale soft robots with potential applications ranging from targeted drug delivery to environmental sensing in challenging terrains. 展开更多
关键词 Bio-inspiration soft robot Terrestrial-aquatic locomotion Magnetically controlled robot
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Dual-responsive Tumbleweed-inspired Soft Robot Based on Poly(N‑isopropylacrylamide) and MoS_(2) for Targeted Drug Delivery in Stomach
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作者 Xiangyu Teng Shuxuan Yu +2 位作者 Zezheng Qiao Zhixing Ge Wenguang Yang 《Journal of Bionic Engineering》 2025年第2期562-573,共12页
In recent years, robots used for targeted drug delivery in the stomach have received extensive attention. Inspired by tumbleweeds, we have designed a dual-responsive soft robot based on poly(N‑isopropylacrylamide) and... In recent years, robots used for targeted drug delivery in the stomach have received extensive attention. Inspired by tumbleweeds, we have designed a dual-responsive soft robot based on poly(N‑isopropylacrylamide) and MoS_(2). Under the action of an adjustable magnetic field, it can achieve steady motion at a frequency that allows it to move up to 35 mm/s, demonstrating high flexibility and controllability. It can also roll along a predetermined path, traverse mazes, climb over obstacles, among other functions. In addition, by harnessing the photothermal conversion effect of MoS_(2), the robot can be opened and closed using light, enabling controlled drug release. Targeted drug delivery is achieved in a gastric model using our designed soft robot, marking a significant clinical advancement expected to revolutionize future medical treatments and enhance the efficacy of drug therapy. 展开更多
关键词 Bioinspiration soft robot Light-activated Magnetically actuated-Targeted drug delivery
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4D-printed snake-like biomimetic soft robots
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作者 Xingcheng Ou Jiaqi Huang +6 位作者 Dantong Huang Xiaohong Li Guoliang Chen Yabin Yang Ran Bi Yu Sheng Shuang-Zhuang Guo 《Bio-Design and Manufacturing》 2025年第1期55-67,I0018-I0038,共34页
Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,w... Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions. 展开更多
关键词 4D printing Magnetic-responsive ink Untethered medical soft robot Snake-like robot Drug delivery
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Bio-inspired magnetic soft robot with dual-modal locomotion for enhanced liquid-air interface navigation
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作者 Chonglei Hao Binhong Dou +7 位作者 Shenghao Yang Haochen Wang Lei Zhang Bing Li Qing Cao Huayong Yang Dong Han Fuzhou Niu 《Bio-Design and Manufacturing》 2025年第6期1024-1034,I0034-I0042,共20页
Small-scale magnetic soft robots are promising candidates for minimally invasive medical applications;however,they struggle to achieve efficient locomotion across various interfaces.In this study,we propose a magnetic... Small-scale magnetic soft robots are promising candidates for minimally invasive medical applications;however,they struggle to achieve efficient locomotion across various interfaces.In this study,we propose a magnetic soft robot that integrates two distinct bio-inspired locomotion modes for enhanced interface navigation.Inspired by water striders’superhydrophobic legs and the meniscus climbing behavior of Pyrrhalta nymphaeae larvae,we developed a rectangular sheet-based robot with hydrophobic surface treatment and novel control strategies.The proposed robot implements two locomotion modes:a bipedal peristaltic locomotion mode(BPLM)and a single-region contact-vibration locomotion mode(SCLM).The BPLM achieves stable movement at 20 mm/s through coordinated front-rear contact points,whereas the SCLM reaches an ultrafast speed of 52 mm/s by optimizing surface tension interactions.The proposed robot demonstrates precise trajectory control with minimal deviations and successfully navigates confined spaces while manipulating objects.Theoretical analysis and experimental validation demonstrate that the integration of triangular wave control signals and steady-state components enables smooth transitions between locomotion modes.This study presents a new paradigm for bio-inspired design of small-scale robots and demonstrates the potential for medical applications requiring precise navigation across multiple terrains. 展开更多
关键词 Magnetic soft robot Dual bio-inspired locomotion Interface navigation Water strider Pyrrhalta nymphaeae larvae
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Review: Advanced Drive Technologies for Bionic Soft Robots
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作者 Chengyao Deng Zhenkun Li 《Journal of Bionic Engineering》 2025年第2期419-457,共39页
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp... This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology. 展开更多
关键词 Bionic soft robots Bionic soft drive technologies BIOMIMETIC Application
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Soft Robotics:Morphology and Morphology-inspired Motion Strategy 被引量:7
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作者 Fan Xu Hesheng Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2021年第9期1500-1522,共23页
Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation ... Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance. 展开更多
关键词 soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics
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Direct 4D printing of functionally graded hydrogel networks for biodegradable,untethered,and multimorphic soft robots
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作者 Soo Young Cho Dong Hae Ho +1 位作者 Sae Byeok Jo Jeong Ho Cho 《International Journal of Extreme Manufacturing》 SCIE EI CAS CSCD 2024年第2期407-416,共10页
Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest benef... Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest beneficiaries of these advances,through the design of a facile four-dimensional(4D)FGAM process that can grant an intelligent stimuli-responsive mechanical functionality to the printed objects.Herein,we present a simple binder jetting approach for the 4D printing of functionally graded porous multi-materials(FGMM)by introducing rationally designed graded multiphase feeder beds.Compositionally graded cross-linking agents gradually form stable porous network structures within aqueous polymer particles,enabling programmable hygroscopic deformation without complex mechanical designs.Furthermore,a systematic bed design incorporating additional functional agents enables a multi-stimuli-responsive and untethered soft robot with stark stimulus selectivity.The biodegradability of the proposed 4D-printed soft robot further ensures the sustainability of our approach,with immediate degradation rates of 96.6%within 72 h.The proposed 4D printing concept for FGMMs can create new opportunities for intelligent and sustainable additive manufacturing in soft robotics. 展开更多
关键词 intelligent and sustainable additive manufacturing multi-material four-dimensional printing untethered soft robot multi-stimuli-responsive soft robot biodegradable soft robotics
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A Hybrid Territorial Aquatic Bionic Soft Robot with Controllable Transition Capability 被引量:2
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作者 Qingzhong Li Fukang Zhang +2 位作者 Zeying Jing Fujie Yu Yuan Chen 《Journal of Bionic Engineering》 SCIE EI CSCD 2023年第2期568-583,共16页
In this paper,a bionic mantis shrimp amphibious soft robot based on a dielectric elastomer is proposed to realize highly adaptive underwater multimodal motion.Under the action of an independent actuator,it is not only... In this paper,a bionic mantis shrimp amphibious soft robot based on a dielectric elastomer is proposed to realize highly adaptive underwater multimodal motion.Under the action of an independent actuator,it is not only able to complete forward/backwards motion on land but also has the ability of cyclically controllable transition motion from land to water surface,from water surface to water bottom and from water bottom to land.The fastest speed of the soft robot on land is 170 mm/s,and it can crawl while carrying up to 4.6 times its own weight.The maximum speeds on the water surface and the water bottom are 30 mm/s and 14.4 mm/s,respectively.Furthermore,the soft robot can climb from the water bottom with a 9°slope transition to land.Compared with other similar soft robots,this soft robot has outstanding advantages,such as agile speed,large load-carrying capacity,strong body flexibility,multiple motion modes and strong underwater adaptability.Finally,nonlinear motion models of land crawling and water swimming are proposed to improve the environmental adaptability under multiple modalities,and the correctness of the theoretical model is verified by experiments. 展开更多
关键词 TRANSITION Amphibious soft robot Dielectric elastomers Bionic mantis shrimp soft robot
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A Programmable Inchworm-Inspired Soft Robot Powered by a Rotating Magnetic Field 被引量:2
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作者 Honglin Shen Shuxiang Cai +3 位作者 Zhen Wang Zheng Yuan Haibo Yu Wenguang Yang 《Journal of Bionic Engineering》 SCIE EI CSCD 2023年第2期506-514,共9页
With the growing demand for miniaturized workspaces,the demand for microrobots has been increasing in robotics research.Compared to traditional rigid robots,soft robots have better robustness and safety.With a flexibl... With the growing demand for miniaturized workspaces,the demand for microrobots has been increasing in robotics research.Compared to traditional rigid robots,soft robots have better robustness and safety.With a flexible structure,soft robots can undergo large deformations and achieve a variety of motion states.Researchers are working to design and fabricate flexible robots based on biomimetic principles,using magnetic fields for cable-free actuation.In this study,we propose an inchworm-shaped soft robot driven by a magnetic field.First,a robot is designed and fabricated and force analysis is performed.Then,factors affecting the soft robot’s motion speed are examined,including the spacing between the magnets and the strength and frequency of the magnetic field.On this basis,the motion characteristics of the robot in different shapes are explored,and its motion modes such as climbing are experimentally investigated.The results show that the motion of the robot can be controlled in a two-dimensional plane,and its movement speed can be controlled by adjusting the strength of the magnetic field and other factors.Our proposed soft robot is expected to find extensive applications in various fields. 展开更多
关键词 soft robot Bio-inspired soft robot Magnetic actuation
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Deformation and Locomotion of Untethered Small-Scale Magnetic Soft Robotic Turtle with Programmable Magnetization 被引量:1
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作者 Lin Xu Liu Yang +2 位作者 Tao Li Xingbang Zhang Jianning Ding 《Journal of Bionic Engineering》 SCIE EI CSCD 2024年第2期754-763,共10页
Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve bio... Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve biomimetic locomotion patterns such as straight-line swimming and turning swimming.The soft robotic turtle(12.50 mm in length and 0.24 g in weight)is integrated with an Ecoflex-based torso and four magnetically programmed acrylic elastomer VHB-based limbs containing samarium-iron–nitrogen particles,and was able to carry a load more than twice its own weight.Similar to the limb locomotion characteristics of sea turtles,the magnetic torque causes the four limbs to mimic sinusoidal bending deformation under the influence of an external magnetic field,so that the turtle swims continuously forward.Significantly,when the bending deformation magnitudes of its left and right limbs differ,the soft robotic turtle switches from straight-line to turning swimming at 6.334 rad/s.Furthermore,the tracking swimming activities of the soft robotic turtle along specific planned paths,such as square-shaped,S-shaped,and double U-shaped maze,is anticipated to be utilized for special detection and targeted drug delivery,among other applications owing to its superior remote directional control ability. 展开更多
关键词 Magnetic soft robotic turtle Programmable magnetization Untethered soft robotics Bending deformation
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Pneumatically Actuated Soft Robotic Arm for Adaptable Grasping 被引量:9
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作者 Zhe Chen Xueya Liang +3 位作者 Tonghao Wu Tenghao Yin Yuhai Xiang Shaoxing Qu 《Acta Mechanica Solida Sinica》 SCIE EI CSCD 2018年第5期608-622,共15页
Developing robotic manipulators capable of performing effective physical interac- tion tasks is a challenging topic. In this study, we design a soft robotic arm (SRA) with multiple degrees of freedom inspired by the... Developing robotic manipulators capable of performing effective physical interac- tion tasks is a challenging topic. In this study, we design a soft robotic arm (SRA) with multiple degrees of freedom inspired by the flexible structures and the unique motion mechanism of the octopus arm. The SRA is fabricated with elastomeric materials, which consists of four series of integrated pneumatic chambers that play similar roles as the muscles in the octopus arm can achieve large bending in various directions with variable stiffness. This SRA displays specified movements via controlling pressure and selecting channels. Moreover, utilizing parallel control, the SRA demonstrates complicated three-dimensional motions. The force response and motion of the SRA are determined both experimentally and computationally. The applications of the present SRA include tightly coiling around the objects because of its large bending deformation (nearly 360°), grasping multiple objects, and adjusting the grabbing mode in accordance with the shape of objects. 展开更多
关键词 soft robotic arm Elastomeric materials soft manipulation Variable stiffness actuation
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Dynamic Finite Element Modeling and Simulation of Soft Robots 被引量:7
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作者 Liang Ding Lizhou Niu +4 位作者 Yang Su Huaiguang Yang Guangjun Liu Haibo Gao Zongquan Deng 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2022年第2期45-55,共11页
Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material level.An increasing number of researchers are i... Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material level.An increasing number of researchers are interested in their designing,manufacturing,modeling,and control.However,the dynamic simulation of soft robots is difficult owing to their infinite degrees of freedom and nonlinear characteristics that are associated with soft materials and flexible geometric structures.In this study,a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft robots.Various actuators for soft robots are modeled in a virtual environment,including soft cable-driven,spring actuation,and pneumatic driving.A pneumatic driving simulation was demonstrated by the bending modules with different materials.A cable-driven soft robot arm prototype and a cylindrical soft module actuated by shape memory alley springs inspired by an octopus were manufactured and used to validate the simulation model,and the experimental results demonstrated adequate accuracy.The proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots,including hybrid actuated robots and rigid-flexible coupling robots.This study also provides a fundamental framework for simulating soft mobile robots and soft manipulators in contact with the environment. 展开更多
关键词 soft robot Finite-element modeling Dynamic simulation
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