ACS Omega
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
Published: December 2024
Soft robots have developed gradually in the fields of portability, high precision, and low noise level due to their unique advantages of low noise and low energy consumption. This paper proposes an electromagnetically driven elastomer, using gelatin and glycerol (GG) as matrix materials and a mixture of multiwalled carbon nanotubes (MWCNTs) and Ag NWs (MA) as the conductive medium. Inchworm-inspired and spider-inspired soft robots have been developed, demonstrating fast movement speed, flexibility, and loading performance. The GG/MA elastomer with a 1:1.2 ratio shows a low elastic modulus and easy demolding. With a 1:1 mixing ratio of MWCNT and Ag NWs, the elastomer exhibits excellent conductivity, torsional stability, and fatigue resistance. The inchworm-inspired soft robot achieves an average speed of 3 mm/s, while supporting weights of grains and capsule at 2.5 and 2.3 mm/s, respectively. The spider-inspired soft robot demonstrates a maximum carrying capacity of 22 g, showcasing its load-bearing capabilities. Overall, the GG/MA elastomer-based soft robot exhibits exceptional flexibility, adaptability, and reliability, with potential in various fields such as goods transportation, safety monitoring, and disaster relief.
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http://dx.doi.org/10.1021/acsomega.4c04271 | DOI Listing |
Adv Mater
January 2025
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, P. R. China.
Leech locomotion, characterized by alternating sucker attachment and body contraction provides high adaptability and stability on complex terrains. Herein, a leech-inspired triboelectric soft robot is proposed for the first time, capable of amphibious movement, climbing, and load-carrying crawling. A high-performance triboelectric bionic robot system is developed to drive and control electro-responsive soft robots.
View Article and Find Full Text PDFPolymers (Basel)
December 2024
School of Mechanical and Electronic Engineering, Northeastern University, Shenyang 110819, China.
In this study, a fuzzy adaptive impedance control method integrating the backstepping control for the PAM elbow exoskeleton was developed to facilitate robot-assisted rehabilitation tasks. The proposed method uses fuzzy logic to adjust impedance parameters, thereby optimizing user adaptability and reducing interactive torque, which are major limitations of traditional impedance control methods. Furthermore, a repetitive learning algorithm and an adaptive control strategy were incorporated to improve the performance of position accuracy, addressing the time-varying uncertainties and nonlinear disturbances inherent in the exoskeleton.
View Article and Find Full Text PDFSoft Robot
January 2025
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Republic of Korea.
Data-driven calibration methods have shown promising results for accurate proprioception in soft robotics. This process can be greatly benefited by adopting numerical simulation for computational efficiency. However, the gap between the simulated and real domains limits the accurate, generalized application of the approach.
View Article and Find Full Text PDFSoft Robot
January 2025
Singapore-ETH Centre, Future Health Technologies Programme, Singapore, Singapore.
Soft Robot
January 2025
Department of Automation, Shanghai Jiao Tong University, Shanghai, China.
Small-scale soft robots, despite their potential for adaptability in unknown environments, often encounter performance constraints due to inherent limitations within soft actuators and compact bodies. To address this problem, we proposed a fast-moving soft robot driven by electroactive materials. The robot combines the advantages of dielectric elastomer actuators (DEAs) and shape memory alloy (SMA) spring actuators, enabling its high-performance multi-modal locomotion in a small and lightweight design.
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