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
The field of soft robotics has witnessed impressive progress in recent decades,driven by the necessity to develop robotic systems that are more adaptable,flexible,and user-friendly.Biomimetic soft robotics,inspired by...The field of soft robotics has witnessed impressive progress in recent decades,driven by the necessity to develop robotic systems that are more adaptable,flexible,and user-friendly.Biomimetic soft robotics,inspired by nature and biological principles,has brought numerous benefits across various applications,ranging from industrial automation to underwater exploration.Advances in actuation mechanisms,sensing technology,and control systems have expanded the potential of these robots,enabling them to navigate complex,unstructured environments with unparalleled adaptability.This special issue on“Biomimetic soft robotics:actuation,sensing,and integration”includes seven research articles.展开更多
Achieving autonomously responding to external stimuli and providing real-time feedback on their motion state are key challenges in soft robotics.Herein,we propose an asymmetric three-layer hydrogel muscle with integra...Achieving autonomously responding to external stimuli and providing real-time feedback on their motion state are key challenges in soft robotics.Herein,we propose an asymmetric three-layer hydrogel muscle with integrated sensing and actuating performances.The actuating layer,made of p(NIPAm-HEMA),features an open pore structure,enabling it to achieve 58%volume shrinkage in just 8 s.The customizable heater allows for efficient programmable deformation of the actuating layer.A strain-responsive hydrogel layer,with a linear response of up to 50%strain,is designed to sense the deformation process.Leveraging these actuating and sensing capabilities,we develop an integrated hydrogel muscle that can recognize lifted objects with various weights or grasped objects of different sizes.Furthermore,we demonstrate a self-crawling robot to showcase the application potential of the hydrogel muscle for soft robots working in aquatic environments.This robot,featuring a modular distributed sensing and actuating layer,can autonomously move forward under closed-loop control based on self-detected resistance signals.The strategy of modular distributed stimuli-responsive sensing and actuating materials offers unprecedented capabilities for creating smart and multifunctional soft robotics.展开更多
Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limit...Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limitations in soft grippers,medical mobile robots,and XR(Extended Reality)interfaces.These electroactive programmable adhesive materials are adaptively designed for a variety of complex surfaces,including soft,wet,non-flat,or contamination-susceptible feature such as bio-surfaces and vulnerable objects.They can be produced via solution-based methods of replica coating or 3/4-dimensional printing.The integration of electroactive programmable materials and intelligent adhesive architecture enables super-adaptive switchable adhesion to a variety of complex surfaces through control of physical deformation and mechanical properties at the adhesive interface,presenting a breakthrough in soft electro-robotics and extended reality(XR)Haptic interfaces technology.These surface-adaptive platform can provide multiple functionalities that can efficiently control physical deformations of soft bioinspired architectures or transfer physical energy(heat,vibration,pressure)into the engaged surfaces in a lightweight and human-friendly form.This review focuses on intelligent strategies,principles,design,and fabrication methods of super-adaptive electroactive programmable materials intelligently combined with bioinspired switchable adhesives for next-generation human–robot interaction devices,along with current challenges and prospects.展开更多
Electronic skin(e-skin),capable of perceiving various external stimuli,has emerged as a ubiquitous technology in the field of flexible electronics,finding diverse applications in healthcare systems,prosthetics,and sof...Electronic skin(e-skin),capable of perceiving various external stimuli,has emerged as a ubiquitous technology in the field of flexible electronics,finding diverse applications in healthcare systems,prosthetics,and soft robotics.Particularly,anisotropic e-skins have garnered extensive research attention due to their unique directional properties.Nevertheless,the continuous interference from diverse stimuli and intricate environments,along with low sensitivity,have hindered the further widespread application of anisotropic e-skin.Here,we present a transparent e-skin exhibiting remarkable anisotropic strain sensing performance,along with exceptional resilience against interference from other stimuli and harsh environments.Benefiting from the synergistic coexistence of aligned silver nanowires wrinkles and cracks,the e-skin achieves outstanding anisotropy showcasing maximum strain gauge factors(GFs)difference of 2825 and 0.69 along two perpendicular directions,exceeding a difference of more than 4000 times.Furthermore,the e-skin displays superior anti-interference capability,evidenced by a resistance change of less than 6%when subjected to high pressure(663 kPa),torsion(540°),or bending(180°),and exhibits negligible performance degradation even after exposure to harsh environments.Finally,our e-skin is successfully applied to undisturbed predicting crack propagation and precise control of dual-mode soft robots,highlighting its immense potential in structural damage warning and intelligent robotics.展开更多
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
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
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
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
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
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 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
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
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
Soft actuators have garnered substantial attention in current years in view of their potential appliances in diverse domains like robotics,biomedical devices,and biomimetic systems.These actuators mimic the natural mo...Soft actuators have garnered substantial attention in current years in view of their potential appliances in diverse domains like robotics,biomedical devices,and biomimetic systems.These actuators mimic the natural movements of living organisms,aiming to attain enhanced flexibility,adaptability,and versatility.On the other hand,angle-independent structural color has been achieved through innovative design strategies and engineering approaches.By carefully controlling the size,shape,and arrangement of nanostructures,researchers have been able to create materials exhibiting consistent colors regardless of the viewing angle.One promising class of materials that holds great potential for bioinspired soft actuators is MXenes in view of their exceptional mechanical,electrical,and optical properties.The integration of MXenes for bioinspired soft actuators with angle-independent structural color offers exciting possibilities.Overcoming material compatibility issues,improving color reproducibility,scalability,durability,power supply efficiency,and cost-effectiveness will play vital roles in advancing these technologies.This perspective appraises the development of bioinspired MXene-centered soft actuators with angleindependent structural color in soft robotics.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
Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate objects.However,the highly elastic fingers of most soft grippers are prone to separate from each other w...Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate objects.However,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing capacity.To tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft fingers.The novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding mechanisms.Here,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch flexibly.Experiments demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed design.The proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.展开更多
With the advance of smart material science,robotics is evolving from rigid robots to soft robots.Compared to rigid robots,soft robots can safely interact with the environment,easily navigate in unstructured fields,and...With the advance of smart material science,robotics is evolving from rigid robots to soft robots.Compared to rigid robots,soft robots can safely interact with the environment,easily navigate in unstructured fields,and be minimized to operate in narrow spaces,owning to the new actuation and sensing technologies developed by the smart materials.In the review,different actuation and sensing technologies based on different smart materials are analyzed and summarized.According to the driving or feedback signals,actuators are categorized into electrically responsive actuators,thermally responsive actuators,magnetically responsive actuators,and photoresponsive actuators;sensors are categorized into resistive sensors,capacitive sensors,magnetic sensors,and optical waveguide sensors.After introducing the principle and several robotic prototypes of some typical materials in each category of the actuators and sensors.The advantages and disadvantages of the actuators and sensors are compared based on the categories,and their potential applications in robotics are also presented.展开更多
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.
文摘The field of soft robotics has witnessed impressive progress in recent decades,driven by the necessity to develop robotic systems that are more adaptable,flexible,and user-friendly.Biomimetic soft robotics,inspired by nature and biological principles,has brought numerous benefits across various applications,ranging from industrial automation to underwater exploration.Advances in actuation mechanisms,sensing technology,and control systems have expanded the potential of these robots,enabling them to navigate complex,unstructured environments with unparalleled adaptability.This special issue on“Biomimetic soft robotics:actuation,sensing,and integration”includes seven research articles.
基金supported by the Science and Technology Development Fund of Macao SAR(File No.0117/2024/AMJ)the University of Macao(MYRGGRG2023-00041-FST-UMDF,MYRG-GRG2024-00121-FST-UMDF,MYRGCRG2024-00014-FST-ICI).
文摘Achieving autonomously responding to external stimuli and providing real-time feedback on their motion state are key challenges in soft robotics.Herein,we propose an asymmetric three-layer hydrogel muscle with integrated sensing and actuating performances.The actuating layer,made of p(NIPAm-HEMA),features an open pore structure,enabling it to achieve 58%volume shrinkage in just 8 s.The customizable heater allows for efficient programmable deformation of the actuating layer.A strain-responsive hydrogel layer,with a linear response of up to 50%strain,is designed to sense the deformation process.Leveraging these actuating and sensing capabilities,we develop an integrated hydrogel muscle that can recognize lifted objects with various weights or grasped objects of different sizes.Furthermore,we demonstrate a self-crawling robot to showcase the application potential of the hydrogel muscle for soft robots working in aquatic environments.This robot,featuring a modular distributed sensing and actuating layer,can autonomously move forward under closed-loop control based on self-detected resistance signals.The strategy of modular distributed stimuli-responsive sensing and actuating materials offers unprecedented capabilities for creating smart and multifunctional soft robotics.
基金National Research Foundation of Korea,Grant/Award Numbers:NRF-2022R1A4A3032923,RS-2023-00214236,RS-2024-00352352South Korean Ministry of Trade,Industry and Energy,Grant/Award Number:RS-2022-00154781National Research Council of Science and Technology,Grant/Award Number:CRC230231-000。
文摘Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limitations in soft grippers,medical mobile robots,and XR(Extended Reality)interfaces.These electroactive programmable adhesive materials are adaptively designed for a variety of complex surfaces,including soft,wet,non-flat,or contamination-susceptible feature such as bio-surfaces and vulnerable objects.They can be produced via solution-based methods of replica coating or 3/4-dimensional printing.The integration of electroactive programmable materials and intelligent adhesive architecture enables super-adaptive switchable adhesion to a variety of complex surfaces through control of physical deformation and mechanical properties at the adhesive interface,presenting a breakthrough in soft electro-robotics and extended reality(XR)Haptic interfaces technology.These surface-adaptive platform can provide multiple functionalities that can efficiently control physical deformations of soft bioinspired architectures or transfer physical energy(heat,vibration,pressure)into the engaged surfaces in a lightweight and human-friendly form.This review focuses on intelligent strategies,principles,design,and fabrication methods of super-adaptive electroactive programmable materials intelligently combined with bioinspired switchable adhesives for next-generation human–robot interaction devices,along with current challenges and prospects.
基金supported by the National Natural Science Foundation of China(No.22175164)Strategic Priority Research Program of the Chinese Academy of Sciences(No.XDB0450402)。
文摘Electronic skin(e-skin),capable of perceiving various external stimuli,has emerged as a ubiquitous technology in the field of flexible electronics,finding diverse applications in healthcare systems,prosthetics,and soft robotics.Particularly,anisotropic e-skins have garnered extensive research attention due to their unique directional properties.Nevertheless,the continuous interference from diverse stimuli and intricate environments,along with low sensitivity,have hindered the further widespread application of anisotropic e-skin.Here,we present a transparent e-skin exhibiting remarkable anisotropic strain sensing performance,along with exceptional resilience against interference from other stimuli and harsh environments.Benefiting from the synergistic coexistence of aligned silver nanowires wrinkles and cracks,the e-skin achieves outstanding anisotropy showcasing maximum strain gauge factors(GFs)difference of 2825 and 0.69 along two perpendicular directions,exceeding a difference of more than 4000 times.Furthermore,the e-skin displays superior anti-interference capability,evidenced by a resistance change of less than 6%when subjected to high pressure(663 kPa),torsion(540°),or bending(180°),and exhibits negligible performance degradation even after exposure to harsh environments.Finally,our e-skin is successfully applied to undisturbed predicting crack propagation and precise control of dual-mode soft robots,highlighting its immense potential in structural damage warning and intelligent robotics.
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the National Key R&D Program of China(No.2023YFE0208700)National Natural Sci-ence Foundation of China(No.92163109 and 52072095)+7 种基金Shenzhen Science and Technology Program(No.RCJC20231211090000001,GXWD20231129101105001)the National Natural Science Foundation of China(No.52205590)the Natural Science Foundation of Jiangsu Province(No.BK20220834)the Start-up Research Fund of Southeast University(No.RF1028623098)the State Key Laboratory of Robotics and Systems(HIT)(No.SKLRS-2024-KF-11)National Natural Science Foundation of China(No.52202348)Guangdong Basic and Applied Basic Research Foundation(No.2023A1515011491)Shenzhen Science and Technology Program(Nos.GXWD20220818224716001,KJZD20231023100302006).
文摘Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.
基金supported by the 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.
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 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.
文摘Soft actuators have garnered substantial attention in current years in view of their potential appliances in diverse domains like robotics,biomedical devices,and biomimetic systems.These actuators mimic the natural movements of living organisms,aiming to attain enhanced flexibility,adaptability,and versatility.On the other hand,angle-independent structural color has been achieved through innovative design strategies and engineering approaches.By carefully controlling the size,shape,and arrangement of nanostructures,researchers have been able to create materials exhibiting consistent colors regardless of the viewing angle.One promising class of materials that holds great potential for bioinspired soft actuators is MXenes in view of their exceptional mechanical,electrical,and optical properties.The integration of MXenes for bioinspired soft actuators with angle-independent structural color offers exciting possibilities.Overcoming material compatibility issues,improving color reproducibility,scalability,durability,power supply efficiency,and cost-effectiveness will play vital roles in advancing these technologies.This perspective appraises the development of bioinspired MXene-centered soft actuators with angleindependent structural color in soft robotics.
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funded by the National Natural Science Foundation of China under Grant 62073305 and the Natural Science Foundation of Hubei Province under Grant 2022CFA041.
文摘Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate objects.However,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing capacity.To tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft fingers.The novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding mechanisms.Here,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch flexibly.Experiments demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed design.The proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB 1309800)National Natural Science Foundation of China(Grant Nos.62173197,91848206)Beijing Science&Technology Project(Grant No.Z191100008019008).
文摘With the advance of smart material science,robotics is evolving from rigid robots to soft robots.Compared to rigid robots,soft robots can safely interact with the environment,easily navigate in unstructured fields,and be minimized to operate in narrow spaces,owning to the new actuation and sensing technologies developed by the smart materials.In the review,different actuation and sensing technologies based on different smart materials are analyzed and summarized.According to the driving or feedback signals,actuators are categorized into electrically responsive actuators,thermally responsive actuators,magnetically responsive actuators,and photoresponsive actuators;sensors are categorized into resistive sensors,capacitive sensors,magnetic sensors,and optical waveguide sensors.After introducing the principle and several robotic prototypes of some typical materials in each category of the actuators and sensors.The advantages and disadvantages of the actuators and sensors are compared based on the categories,and their potential applications in robotics are also presented.
