Search Results (289)

Polymer actuators are promising, as they are widely used in various fields, such as sensors and soft robotics, for their unique properties, such as their ability to form high-quality films, sensitivity, and flexibility. In recent years, advances in structural and fabrication processes have significantly improved the reliability of polymer sensing-based actuators. Polymer actuators have attracted considerable attention for use in artificial or biohybrid systems, as they have the potential to operate under diverse conditions with high durability. This review briefly describes different types of polymer actuators and provides an understanding of their working mechanisms. It focuses on actuation modes controlled by diverse or multiple stimuli. Furthermore, it discusses the fabrication processes of polymer actuators; the fabrication process is an important consideration in the development of high-quality actuators with sensing properties for a wide range of applications in soft robotics. Additionally, the high potential of polymer actuators for use in sensing technology is examined, and the latest developments in the field of polymer actuators, such as the development of biohybrid polymers and the use of polymer actuators in 4D printing, are briefly described. Full article

Soft continuum robots, with their flexible and deformable structures, excel in tasks requiring delicate manipulation and navigation through complex environments. Accurate shape sensing is vital to enhance their performance, safety, and adaptability. Unlike rigid sensors, soft sensors conform to the robot’s flexible surfaces, ensuring consistent measurement of shape and motion. This paper introduces a new approach using soft e-textile resistive sensors, which integrate seamlessly with the robot’s structure. These sensors adjust their resistance in response to movements, capturing multidimensional force data. A deep Convolutional Neural Network (CNN) decodes the sensor signals, enabling precise shape estimation and control. Our findings indicate that soft e-textile sensors may surpass traditional rigid sensors in shape sensing and control, significantly improving the functionality of soft continuum robots in challenging applications. Full article

Conductive hydrogels have been widely used in soft robotics, as well as skin-attached and implantable bioelectronic devices. Among the candidates of conductive fillers, conductive polymers have become popular due to their intrinsic conductivity, high biocompatibility, and mechanical flexibility. However, it is still a challenge to construct conductive polymer-incorporated hydrogels with a good performance using a facile method. Herein, we present a simple method for the one-pot preparation of conductive polymer-incorporated hydrogels involving rapid photocuring of the hydrogel template followed by slow in situ polymerization of pyrrole. Due to the use of a milder oxidant, hydrogen peroxide, for polypyrrole synthesis, the photocuring of the hydrogel template and the growing of polypyrrole proceeded in an orderly manner, making it possible to prepare conductive polymer-incorporated hydrogels in one pot. The preparation process is facile and extensible. Moreover, the obtained hydrogels exhibit a series of properties suitable for biomedical strain sensors, including good conductivity (2.49 mS/cm), high stretchability (>200%), and a low Young’s modulus (~30 kPa) that is compatible with human skin. Full article

Owing to their physical and chemical properties and stimuli-responsive nature, gels and hydrogels play vital roles in diverse application fields. The three-dimensional polymeric network structure of hydrogels is considered an alternative to many materials, such as conductors, ordinary films, constituent components of machines and robots, etc. The most recent applications of gels are in different devices like sensors, actuators, flexible screens, touch panels, flexible storage, solar cells, batteries, and electronic skin. This review article addresses the devices where gels are used, the progress of research, the working mechanisms of hydrogels in those devices, and future prospects. Preparation methods are also important for obtaining a suitable hydrogel. This review discusses different methods of hydrogel preparation from the respective raw materials. Moreover, the mechanism by which gels act as a part of electronic devices is described. Full article

Using soft materials in robotic mechanisms has become a common solution to overcome many challenges associated with the rigid bodies frequently used in robotics. Compliant mechanisms allow the robot to adapt to objects and perform a broader range of tasks, unlike rigid bodies that are generally designed for specific applications. However, soft robotics presents its own set of challenges in both design and implementation, particularly in sensing and control. These challenges are abundant when dealing with the force control problem of a compliant gripping mechanism. The ability to effectively regulate the applied force of a gripper is a critical task in many control operations, as it allows the precise manipulation of objects, which drives the need for enhanced force control strategies for soft or flexible grippers. Standard sensing techniques, such as motor current monitoring and strain-based sensors, add complexities and uncertainties when establishing mathematical models of soft grippers to the required gripping forces. In addition, the soft gripper creates a complex non-linear system, compounded by adding an adhesive-type sensor. This work develops a unique visual force sensor trained on synthetic data generated using finite element analysis (FEA) and implemented by integrating a non-linear model reference adaptive controller (MRAC) to control gripping force on a fixed 6-DOF robot. The robot can be placed on a mobile platform to perform various tasks. The virtual FEA sensor and controller, combined, are termed virtual reference adaptive control (VRAC). The VRAC was compared to other methods and achieved comparable control sensing and control performance while reducing the complexity of the sensor requirements and its integration. The VRAC strategy effectively controlled the gripping force by driving the dynamics to match the desired performance after a limited amount of training cycles. The controller proposed in this work was designed to be generally applicable to most objects that the gripper will interact with and easily adaptable to a wide variety of soft grippers. Full article

Berries are nutritious and valuable, but their thin skin, soft flesh, and fragility make harvesting and picking challenging. Manual and traditional mechanical harvesting methods are commonly used, but they are costly in labor and can damage the fruit. To overcome these challenges, it may be worth exploring alternative harvesting methods. Using berry fruit-picking robots with perception technology is a viable option to improve the efficiency of berry harvesting. This review presents an overview of the mechanisms of berry fruit-picking robots, encompassing their underlying principles, the mechanics of picking and grasping, and an examination of their structural design. The importance of perception technology during the picking process is highlighted. Then, several perception techniques commonly used by berry fruit-picking robots are described, including visual perception, tactile perception, distance measurement, and switching sensors. The methods of these four perceptual techniques used by berry-picking robots are described, and their advantages and disadvantages are analyzed. In addition, the technical characteristics of perception technologies in practical applications are analyzed and summarized, and several advanced applications of berry fruit-picking robots are presented. Finally, the challenges that perception technologies need to overcome and the prospects for overcoming these challenges are discussed. Full article

This paper presents the computational design, fabrication, and control of a novel 3-degrees-of-freedom (DOF) soft parallel robot. The design is inspired by a delta robot structure. It is engineered to overcome the limitations of traditional soft serial robot arms, which are typically low in structural stiffness and blocking force. Soft robotic systems are becoming increasingly popular due to their inherent compliance match to that of human body, making them an efficient solution for applications requiring direct contact with humans. The proposed soft robot consists of three soft closed-loop kinematic chains, each of which includes a soft actuator and a compliant four-bar arm. The complex nonlinear dynamics of the soft robot are numerically modeled, and the model is validated experimentally using a 6-DOF electromagnetic position sensor. This research contributes to the growing body of literature in the field of soft robotics, providing insights into the computational design, fabrication, and control of soft parallel robots for use in a variety of complex applications. Full article

The FinRay soft gripper achieves passive enveloping grasping through its functional flexible structure, adapting to the contact configuration of the object to be grasped. However, variations in beam position and thickness lead to different behaviors, making it important to research the relationship between structure and force. Conventional research using FEM simulations has tested various virtual FinRay models but replicating phenomena such as buckling and slipping has been challenging. While hardware-based methods that involve installing sensors on the gripper and the object to analyze their states have been attempted, no studies have focused on the tangential contact force related to slipping. Therefore, we developed a 16-way object contact force measurement device incorporating two-axis force sensors into each of the 16 segmented objects and compared the normal and tangential components of the enveloping grasping force of the FinRay soft gripper under two types of contact friction conditions. In the first experiment, the proposed device was compared with a device containing a six-axis force sensor in one segmented object, confirming that the proposed device has no issues with measurement performance. In the second experiment, comparisons of the proposed device were made under various conditions: two contact friction states, three object contact positions, and two object motion states. The results demonstrated that the proposed device could decompose and analyze the grasping force into its normal and tangential components for each segmented object. Moreover, low friction conditions result in a wide contact area with lower tangential frictional force and a uniform normal pushing force, achieving effective enveloping grasping. Full article

Physical therapy is often essential for complete recovery after injury. However, a significant population of patients fail to adhere to prescribed exercise regimens. Lack of motivation and inconsistent in-person visits to physical therapy are major contributing factors to suboptimal exercise adherence, slowing the recovery process. With the advancement of virtual reality (VR), researchers have developed remote virtual rehabilitation systems with sensors such as inertial measurement units. A functional garment with an integrated wearable sensor can also be used for real-time sensory feedback in VR-based therapeutic exercise and offers affordable remote rehabilitation to patients. Sensors integrated into wearable garments offer the potential for a quantitative range of motion measurements during VR rehabilitation. In this research, we developed and validated a carbon nanocomposite-coated knit fabric-based sensor worn on a compression sleeve that can be integrated with upper-extremity virtual rehabilitation systems. The sensor was created by coating a commercially available weft knitted fabric consisting of polyester, nylon, and elastane fibers. A thin carbon nanotube composite coating applied to the fibers makes the fabric electrically conductive and functions as a piezoresistive sensor. The nanocomposite sensor, which is soft to the touch and breathable, demonstrated high sensitivity to stretching deformations, with an average gauge factor of ~35 in the warp direction of the fabric sensor. Multiple tests are performed with a Kinarm end point robot to validate the sensor for repeatable response with a change in elbow joint angle. A task was also created in a VR environment and replicated by the Kinarm. The wearable sensor can measure the change in elbow angle with more than 90% accuracy while performing these tasks, and the sensor shows a proportional resistance change with varying joint angles while performing different exercises. The potential use of wearable sensors in at-home virtual therapy/exercise was demonstrated using a Meta Quest 2 VR system with a virtual exercise program to show the potential for at-home measurements. Full article

Conductive hydrogels, known for their flexibility, biocompatibility, and conductivity, have found extensive applications in fields such as healthcare, environmental monitoring, and soft robotics. Recent advancements in 3D printing technologies have transformed the fabrication of conductive hydrogels, creating new opportunities for sensing applications. This review provides a comprehensive overview of the advancements in the fabrication and application of 3D-printed conductive hydrogel sensors. First, the basic principles and fabrication techniques of conductive hydrogels are briefly reviewed. We then explore various 3D printing methods for conductive hydrogels, discussing their respective strengths and limitations. The review also summarizes the applications of 3D-printed conductive hydrogel-based sensors. In addition, perspectives on 3D-printed conductive hydrogel sensors are highlighted. This review aims to equip researchers and engineers with insights into the current landscape of 3D-printed conductive hydrogel sensors and to inspire future innovations in this promising field. Full article

Grasping and object manipulation have been considered key domains of Cyber-Physical Systems (CPS) since the beginning of automation, as they are the most common interactions between systems, or a system and its environment. As the demand for automation is spreading to increasingly complex fields of industry, smart tools with sensors and internal decision-making become necessities. CPS, such as robots and smart autonomous machinery, have been introduced in the meat industry in recent decades; however, the natural diversity of animals, potential anatomical disorders and soft, slippery animal tissues require the use of a wide range of sensors, software and intelligent tools. This paper presents the development of a smart robotic gripper for deployment in the meat industry. A comprehensive review of the available robotic grippers employed in the sector is presented along with the relevant recent research projects. Based on the identified needs, a new mechatronic design and early development process of the smart gripper is described. The integrated force sensing method based on strain measurement and magnetic encoders is described, including the adjacent laboratory and on-site tests. Furthermore, a combined slip detection system is presented, which relies on an optical flow-based image processing algorithm using the video feed of a built-in endoscopic camera. Basic user tests and application assessments are presented. Full article

Medical and agricultural robots that interact with living tissue or pick fruit require tactile and flexible sensors to minimise or eliminate damage. Until recently, research has focused on the development of robots made of rigid materials, such as metal or plastic. Due to their complex configuration, poor spatial adaptability and low flexibility, rigid robots are not fully applicable in some special environments such as limb rehabilitation, fragile objects gripping, human–machine interaction, and locomotion. All these should be done in an accurate and safe manner for them to be useful. However, the design and manufacture of soft robot parts that interact with living tissue or fragile objects is not as straightforward. Given that hyper-elasticity and conductivity are involved, conventional (subtractive) manufacturing can result in wasted materials (which are expensive), incompatible parts due to different physical properties, and high costs. In this work, additive manufacturing (3D printing) is used to produce a conductive, composite flexible sensor. Its electrical response was tested based on various physical conditions. Finite element analysis (FEA) was used to characterise its deformation and stress behaviour for optimisation to achieve functionality and durability. Also, a nonlinear regression model was developed for the sensor’s performance. Full article

The defining attribute of self-excited motion is its capability to extract energy from a stable environment and regulate it autonomously, making it an extremely promising innovation for microdevices, autonomous robotics, sensor technologies, and energy generation. Based on the concept of an automobile, we propose a light-fueled self-propulsion of liquid crystal elastomer-engined automobiles in zero-energy mode. This system utilizes a wheel comprising a liquid crystal elastomer (LCE) turntable as an engine, a wheel with conventional material and a linkage. The dynamic behavior of the self-propulsion automobile under steady illumination is analyzed by integrating a nonlinear theoretical model with an established photothermally responsive LCE model. We performed the analysis using the fourth-order Runge–Kutta method. The numerical findings demonstrate the presence of two separate motion patterns in the automobile system: a static pattern and a self-propulsion pattern. The correlation between the energy input and energy dissipation from damping is essential to sustain the repetitive motion of the system. This study delves deeper into the crucial requirements for initiating self-propulsion and examines the effect of critical system parameters on the motion of the system. The proposed system with zero-energy mode motions has the advantage of a simple structural design, easy control, low friction and stable kinematics, and it is very promising for many future uses, including energy harvesting, monitoring, soft robotics, medical devices, and micro- and nano-devices. Full article

Traditional electric robots often rely on heavy gear units or expensive force–torque sensors, whereas pneumatic robots offer a cost-effective and simple alternative. However, their dependence on noisy and bulky pneumatic systems, such as compressed air technology, limits their portability and adaptability. To overcome these challenges, we have developed a reversible electrochemical pneumatic battery (REPB) that is compact, noise-free, energy-efficient, and portable. This innovative REPB, principled by the electrochemical redox reactions of zinc–air batteries, can simultaneously supply both electric and pneumatic power, either positive or negative pressure. Its modular, multi-stack structure allows for the easy customization of power output and capacity to suit various applications. We demonstrate the utility of REPB through its application in jamming robots, such as a novel soft yet robust gripper that merges the strengths of hard and soft grippers, enabling universal robotic gripping. This work presents a groundbreaking approach to powering devices that require pneumatic support. Full article

This paper presents a distributed approach to the motion control problem for a platoon of unicycle robots moving through an unknown environment filled with static obstacles under multiple hard and soft operational constraints. Each robot has an onboard camera to determine its relative position in relation to its predecessor and proximity sensors to detect and avoid nearby obstascles. Moreover, no robot apart from the leader can independently localize itself within the given workspace. To overcome this limitation, we propose a novel distributed control protocol for each robot of the fleet, utilizing the Adaptive Performance Control (APC) methodology. By utilizing the APC approach to address input constraints via the on-line modification of the error specifications, we ensure that each follower effectively tracks its predecessor without encountering collisions with obstacles, while simultaneously maintaining visual contact with its preceding robot, thus ensuring the inter-robot visual connectivity. Finally, extensive simulation results are presented to demonstrate the effectiveness of the presented control system along with a real-time experiment conducted on an actual robotic system to validate the feasibility of the proposed approach in real-world scenarios. Full article