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
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
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
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
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
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
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
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
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
Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary cha...Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary challenge due to the nature of soft bodies.To obtain a holistic view of the system’s behavior determining the governing dynamics is deemed necessary.This paper proposes a new technique to simulate the dynamic lateral undulation of a soft robotic fish with a cable-driven soft tail.By integrating the rigid finite element method with rigid-body robotics,the model represents the undulation of a finite number of rigid elements connected through a set of torsional spring and damper.Instead of directly modeling external forces,we substitute equivalent joint torques into the system dynamics,allowing us to consider external effects without complicating the model.The resulting model yields valuable insights into the system’s behavior,including propulsive and lateral forces.A comparison with experimental results shows strong agreement,with a tip amplitude error of 10% at 0.8 Hz,5.25% at 1.6 Hz and 2.54%at 2.2 Hz flapping frequency.These findings illuminate the influence of lateral undulation on the overall dynamics,paving the way for fully autonomous robotic fish.展开更多
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
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
Precise droplet manipulation is critical in material synthesis,biochemical detection,and tissue engineering.However,the droplet velocity and volume manipulated by magnetic techniques are restricted owing to the low ma...Precise droplet manipulation is critical in material synthesis,biochemical detection,and tissue engineering.However,the droplet velocity and volume manipulated by magnetic techniques are restricted owing to the low magnetic force exerted on magnetic particles and beads.Furthermore,magnetic particles are prone to contaminate droplets owing to residues and corrosion.To address these issues,this paper proposes a hydrophilic hard-magnetic soft robot(HMSR)with strong magnetic controllability and chemical stability for precise droplet manipulation.A porous HMSR was synthesized by incorporating NdFeB particles and sacrificial sugar particles into an Ecoflex elastomer.Oxygen plasma treatment was applied to make the HMSR become hydrophilic and thus enhance the driving force exerted on droplets.Three forms of droplet manipulation were demonstrated:droplet transport,droplet splitting,and robot–magnet detachment.Theoretical analysis and experimental results revealed that the critical HMSR speed requisite for droplet transport and splitting was inversely proportional to the droplet volume.Notably,a 50μl droplet was transported in a 20 mT magnetic field at a maximum velocity of 200 mm/s.The maximum droplet volume that the HMSR could transport reached 900μl.Benefiting from its chemical stability,HMSR successfully manipulated chemical reactions of acidic and alkaline droplets.Additionally,the HMSR achieved targeted removal of microparticles through droplet adhesion to them.This HMSR with precise droplet manipulation capability holds broad prospects for applications in biochemical detection,material synthesis,and surgical robotics.展开更多
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
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
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
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
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
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
基金supported by Singapore MOE Tier-2 Award MOE-T2EP50123-0015.
文摘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.
基金supported by the Korea Institute of Science and Technology(KIST)Institutional Program(Project No.2E32501-23-106)the National Research Foundation of Korea(NRF)grant funded by the Korea government(the Ministry of Science,ICT,MSIT)(RS-2022-00165524)+2 种基金the development of technologies for electroceuticals of National Research Foundation(NRF)funded by the Korean government(MSIT)(RS-2023-00220534)ICT Creative Consilience program through the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(IITP-2024-2020-0-01819)Start up Pioneering in Research and Innovation(SPRINT)through the Commercialization Promotion Agency for R&D Outcomes(COMPA)grant funded by the Korea government(Ministry of Science and ICT)(1711198921).
文摘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.
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the National Natural Science Foundation of China(Nos.52105421 and 52373050)the Guangdong Provincial Natural Science Foundation,China(No.2022A1515011621)+1 种基金the Science and Technology Projects in Guangzhou,China(Nos.202102080330 and 2024A04J6446)the Fundamental Research Funds for the Central Universities,Sun Yat-sen University(No.22qntd0101).
文摘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.
基金supported by National Natural Science Foundation of China(No.82161138029)Liaoning Revitalization Talents Program(No.XLYC2402040)the Project of China-Japan Joint International Laboratory of Advanced Drug Delivery System Research and Translation of Liaoning Province(No.2024JH2/102100007).
文摘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.
基金supported by Grant-in-Aid for Scientific Research on Innovative Areas from the Japan Society for the Promotion of Science(Nos.18H05473 and 23K13290).
文摘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.
基金supported by the National Natural Science Foundation of China(Nos.52275290 and 51905222)the Research Project of State Key Laboratory of Mechanical System and Oscillation(No.MSV202419)+2 种基金Major Program of the National Natural Science Foundation of China(NSFC)for Basic Theory and Key Technology of Tri-Co Robots(No.92248301)Opening Project of the Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University(No.KF2023006)Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.SJCX23_2091)。
文摘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.
基金supported by Shenzhen Science and Technology Program(nos.JCYJ20210324132810026,GXWD20220811164014001 and KQTD20210811090146075)the National Natural Science Foundation of China(no.52375175)+3 种基金Guangdong Basic and Applied Basic Research Foundation(no.2024A1515240015)Jiangsu Provincial Outstanding Youth Program(no.BK20230072)Suzhou Industrial Foresight and Key Core Technology Project(no.SYC2022044)grants from Jiangsu QingLan Project and Jiangsu 333 high-level talents.
文摘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.
基金the financial support through National Natural Science Foundation of China(Project No.62273289)The Youth Innovation Science and Technology Support Program of Shandong Province(Project No.2022KJ274)+1 种基金Shandong Provincial Natural Science Foundation(ZR2024MF007)Graduate Innovation Foundation of Yantai University,GIFYTU.
文摘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.
文摘Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary challenge due to the nature of soft bodies.To obtain a holistic view of the system’s behavior determining the governing dynamics is deemed necessary.This paper proposes a new technique to simulate the dynamic lateral undulation of a soft robotic fish with a cable-driven soft tail.By integrating the rigid finite element method with rigid-body robotics,the model represents the undulation of a finite number of rigid elements connected through a set of torsional spring and damper.Instead of directly modeling external forces,we substitute equivalent joint torques into the system dynamics,allowing us to consider external effects without complicating the model.The resulting model yields valuable insights into the system’s behavior,including propulsive and lateral forces.A comparison with experimental results shows strong agreement,with a tip amplitude error of 10% at 0.8 Hz,5.25% at 1.6 Hz and 2.54%at 2.2 Hz flapping frequency.These findings illuminate the influence of lateral undulation on the overall dynamics,paving the way for fully autonomous robotic fish.
基金supported by the Shenzhen Science and Technology Program(Nos.JCYJ20210324132810026,KQTD20210811090146075,and GXWD20220811164014001)the National Natural Science Foundation of China(Nos.52375175,52005128,62473277,and 52475075)+4 种基金the National Key Research and Development Program of China(No.2022YFC3802302)Guangdong Basic and Applied Basic Research Foundation(No.2024A1515240015)Jiangsu Provincial Outstanding Youth Program(No.BK20230072)Suzhou Industrial Foresight and Key Core Technology Project(No.SYC2022044)a grant from Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,and grants from Jiangsu Qinglan Project and Jiangsu 333 High-level Talents.
文摘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.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘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.
基金supported by the Science and Technology Program from the State Grid Corporation of China(Grant No.5700-202155453A-0-0-00):“Development of flexible liquid metal based micro-sensor with anti-electromagnetic interference ability for power engineering applications.”。
文摘Precise droplet manipulation is critical in material synthesis,biochemical detection,and tissue engineering.However,the droplet velocity and volume manipulated by magnetic techniques are restricted owing to the low magnetic force exerted on magnetic particles and beads.Furthermore,magnetic particles are prone to contaminate droplets owing to residues and corrosion.To address these issues,this paper proposes a hydrophilic hard-magnetic soft robot(HMSR)with strong magnetic controllability and chemical stability for precise droplet manipulation.A porous HMSR was synthesized by incorporating NdFeB particles and sacrificial sugar particles into an Ecoflex elastomer.Oxygen plasma treatment was applied to make the HMSR become hydrophilic and thus enhance the driving force exerted on droplets.Three forms of droplet manipulation were demonstrated:droplet transport,droplet splitting,and robot–magnet detachment.Theoretical analysis and experimental results revealed that the critical HMSR speed requisite for droplet transport and splitting was inversely proportional to the droplet volume.Notably,a 50μl droplet was transported in a 20 mT magnetic field at a maximum velocity of 200 mm/s.The maximum droplet volume that the HMSR could transport reached 900μl.Benefiting from its chemical stability,HMSR successfully manipulated chemical reactions of acidic and alkaline droplets.Additionally,the HMSR achieved targeted removal of microparticles through droplet adhesion to them.This HMSR with precise droplet manipulation capability holds broad prospects for applications in biochemical detection,material synthesis,and surgical robotics.
文摘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.
基金supported by National R&D Program through the NRF funded by Ministry of Science and ICT(2021M3D1A2049315)and the Technology Innovation Program(20021909,Development of H2 gas detection films(?0.1%)and process technologies)funded by the Ministry of Trade,Industry&Energy(MOTIE,Korea)supported by the Basic Science Program through the NRF of Korea,funded by the Ministry of Science and ICT,Korea.(Project Number:NRF-2022R1C1C1008845)supported by Basic Science Research Program through the NRF funded by the Ministry of Education(Project Number:NRF-2022R1A6A3A13073158)。
文摘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.
基金the National Natural Science Foundation of China,Natural Science Foundation of Shandong Province with Grant No.ZR2019MEE019Fundamental Research Funds for the Central University with Grant No.2019ZRJC006.
文摘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.
基金the funding provided by the National Natural Science Foundation of China(Project no.62273289)Graduate Innovation Foundation of Yantai University and Joint fund of Science&Technology Department of Liaoning Province and State Key Laboratory of Robotics(Project no.2021-KF-22-03).
文摘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.
基金supported by National Natural Science Foundation of China(Grant nos.52275290,51905222)Natural Science Foundation of Jiangsu Province(Grant no.BK20211068)+2 种基金Research Project of State Key Laboratory of Mechanical System and Vibration(Grant no.MSV202419)Major Program of National Natural Science Foundation of China(NSFC)for Basic Theory and Key Technology of Tri-Co Robots(Grant no.92248301)Opening project of the Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University(Grant no.KF2023006).
文摘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.
基金This work is supported by the National Natural Science Foundation of China （nos. 11525210, 11621062, and 91748209） and the Fundamental Research Funds for the Central Universities.
文摘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.
