Science Advances
·
2021
·Vol. 7
·期 34
·
IF 14.143
Wei Tang,Yangqiao Lin,Chao Zhang,Yuwen Liang,Jinrong Wang,Wei Wang,Chen Ji,Maoying Zhou,Huayong Yang,Jun Zou
Soft robotics revolutionized human-robot interactions, yet there exist persistent challenges for developing high-performance soft actuators that are powerful, rapid, controllable, safe, and portable. Here, we introduce a class of self-contained soft electrofluidic actuators (SEFAs), which can directly convert electrical energy into the mechanical energy of the actuators through electrically responsive fluids that drive the outside elastomer deformation. The use of special dielectric liquid enhances fluid flow capabilities, improving the actuation performance of the SEFAs. SEFAs are easily manufactured by using widely available materials and common fabrication techniques, and display excellent comprehensive performances in portability, controllability, rapid response, versatility, safety, and actuation. An artificial muscle stretching a joint and a soft bionic ray swimming in a tank demonstrate their effective performance. Hence, SEFAs offer a platform for developing soft actuators with potential applications in wearable assistant devices and soft robots.
研究领域:
机器人学
·
材料科学
·
电气工程
·
生物力学
✓ 已验证
DOI
高影响因子
Small
·
2024
·
IF 13
Xuqi Peng,Haitian Tang,Zhenwen Zhao,Yating Zheng,Xiran Gui,Aijun Jiang,Pan He,Xiaofei Wen,Qian Zhang,Ziyang Mei,Yesi Shi,Chengchao Chu,Yang Zhang,Gang Liu
Microrobots for endovascular embolization face challenges in precise delivery within dynamic blood vessels. Here, an intelligent generic high-throughput oscillatory shear technology (iGHOST) is proposed to fabricate diversely programmable, multifunctional microrobots capable of real-time visual guidance for in vivo endovascular embolization. Leveraging machine learning (ML), key synthesis parameters affecting the success and sphericity of the microrobots are identified. Therefore, the ML-optimized iGHOST enables continuous production of uniform microrobots with programmable sizes (400−1000 µm) at an ultrahigh rate exceeding 240 mL h −1 by oscillatory segmenting fluid into droplets before ionic cross-linking, and without requiring purification. Particularly, the iGHOST-fabricated magnetically responsive lipiodol-calcium alginate (MagLiCA) microrobots are highly distinguishable under X-ray imaging, which allows for precise navigation in fluid flows of up to 4 mL min −1 and accurate embolization in liver and kidney blood vessels, thus addressing the current issues. Crucially, MagLiCA microrobots possess drug-loading capabilities, enabling simultaneous embolization and site-specific treatment. The iGHOST process is an intelligent, rapid, and green manufacturing method, which can produce size-controllable, multifunctional microrobots with the potential for precise drug delivery and treatment under real-time imaging across various medical applications.
研究领域:
医学工程
·
生物材料学
✓ 已验证
产品关联
DOI
PubMed
高影响因子
Soft Robotics
·
2023
·Vol. 10
·期 2
·354-364
·
IF 7.9
Jiahui Xu,Yiling Dong,Jiang Yang,Ziyin Jiang,Longcheng Tang,Xiangrong Chen,Kun Cao
Dielectric elastomer actuators (DEAs) are widely used in robotics and artificial muscles because of their large energy densities and short response time. In this study, we developed two types of soft ray-inspired robots using solid–liquid interpenetrating silicone-based DEAs, named SIS DEAs. The optimized SIS DEA had an actuation strain of 79.8% at 20.43 kV/mm in a freestanding state, which was used as the muscle of the ray robot. To imitate the swimming behavior of the ray, the effect of the driving frequency on the velocity of the ray robot was explored. The ray robot achieved a maximum swimming rate of 5.7 mm/s when the driving frequency was ∼0.6 Hz. In addition, the steady-state and the transient simulation were carried out to reveal the mechanism of the ray robot's electro-swimming. The results revealed that the actuating deformation of the SIS DEAs caused the electro-deformation of the ray robot, and the periodical electro-deformation generated the high-speed vortex beneath the robot to push the ray robot forward. The high actuation strain in the freestanding state and the shape customizability of the SIS DEAs made it an ideal alternative to muscles for various soft robots.
研究领域:
仿生学
·
软体机器人技术
·
材料科学
✓ 已验证
产品关联
DOI
PubMed
高影响因子
Microsystems & Nanoengineering
·
2025
·Vol. 11
·期 1
·1-10
·
IF 9.9
Zhou Yexi,Zhao Yu,Zhao Dazhe,Guan Xiao,Zhang Kaijun,Pi Yucong,Zhong Junwen
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.
研究领域:
材料科学
·
软体机器人
·
智能材料
·
生物仿生学
✓ 已验证
产品关联
DOI
PubMed
高影响因子
Matter
·
2025
·
IF 17.5
Jie Shen,Yun Wang,Min Yao,Shubo Liu,Zhiguang Guo,Li Zhang,Ben Wang
Lumbar puncture is a minimally invasive technique for delivering drugs into cerebrospinal fluid (CSF). However, its effectiveness is limited by the spine’s extensive length and the narrow, complex CSF spaces, which hinder efficient passive diffusion of therapeutic agents. Here, we have engineered a differentiable stem cell-assembled soft robot (SCASR) by using a three-dimensional self-assembly process in liquid marbles. These biologically viable robots can interface with the tissues inside the CSF, adapting to the complex surroundings while navigating. With X-ray imaging and magnetic actuation, the SCASRs can be guided toward targeted regions. The SCASRs autonomously disassemble into individual cells, which then differentiate into neural cells to facilitate the restoration of neural connections, thereby aiding the recovery of paralyzed lower limbs. The proposed strategy provides an imaging-based therapeutic system for nerve injury, enabling accessibility of hard-to-reach spinal regions and facilitating efficient therapy in minimally invasive manner, by means of soft microrobots.
研究领域:
生物医学工程
·
神经科学
·
干细胞研究
·
机器人学
·
治疗系统
✓ 已验证
产品关联
DOI
高影响因子
IEEE Access
·
2023
·
IF 3.9
Taewon Seo,Sijun Ryu,Jee Ho Won,Youngsoo Kim,Hwa Soo Kim
Indoor service robots have been widely introduced in the fields of cleaning, delivery, education, guidance, and healthcare, etc. in indoor environments. The mobility of an indoor service robot is essential to expanding its applications. However, the mobility of existing indoor service robots is highly limited by surrounding indoor environments. For example, a stair is one of the major obstacles that restrict the reachable areas of indoor service robots. Even though many studies have been performed to develop reliable and fast stair-climbing robots based on legged, tracked, wheel-legged and wheel-linkage mechanisms, a market-dominant stair-climbing robot remains unsolved. This review investigates the efforts of engineers devoted to stair-climbing robots. To this end, the locomotion mechanisms of stair climbing robots are classified and their sensing method are summarized. In this review, we also propose useful criteria for evaluating the stair-climbing ability of an indoor service robot. By virtue of these criteria, the stair-climbing performance of existing robots are qualitatively compared. We hope this review helps develop the reliable and fast stair-climbing robots and the reasonable criteria for their performances.
研究领域:
机器人学
·
智能系统
·
机械设计
·
自动化技术
·
服务机器人
✓ 已验证
DOI
高影响因子
NATURE
·
2025
·Vol. 647
·期 8091
·889-896
·
IF 48.5
Xue Yaoting,Cao Jiasheng,Feng Tao,Zhang Kaihang,Li Siyang,Hu Jiahao,Guo Haotian,Zhang Jinming,Song Yaoxian,Wang Zhuofan,Wang Lei,Huang Qishan,Zhou Haofei,Zhou Fanghao,Shen Jiliang,Fan Yaowei,Wang Zhe,Li Xinge,Wong Jie-Wei,Chen Zhiwei,Ruan Dongrui,Miao Zhikun,Zhang Bin,Zhou Enjie,Gan Letian,Wang Xuanqi,Cao Ertai,Chen Tong,Zou Weifeng,Zhang Junhui,Lu Haojian,Zhang Qinghai,Liu Song,Dong Huixu,Xiong Shiying,Peng Shuyou,Wong Tuck-Whye,Chen Yuanjie,Li Tiefeng,Chen Mingyu,Yang Xuxu,Yang Wei,Cai Xiujun
Mechanical transmission is essential in force-related activities ranging from the daily tying of shoe laces 1 to sophisticated surgical 2 and robotic operations 3 , 4 . Modern machines and robots typically use complex electronic devices designed to sense and limit force 5 , some of which still face challenges when operating space is limited (for example, in minimally invasive surgeries) 6 or when resources are scarce (for example, operations in remote areas without electricity). Here we describe an alternative slipknot-based mechanical transmission mechanism to control the intelligent operation of both human and robotic systems. Through topological design, slipknot tying and release can encode and deliver force with a consistency of 95.4% in repeating operations, which circumvents the need for additional sensors and controllers. When applied to surgical repair, this mechanism helped inexperienced surgeons to improve their knotting-force precision by 121%, enabling them to perform surgical knots as good as those of experienced surgeons. Moreover, blood supply and tissue healing after surgery were improved. The mechano-intelligence exhibited in slipknots may inspire investigations of knotted structures across multiple length scales. This slipknot-gauged mechanical transmission strategy can be widely deployed, opening up opportunities for resource-limited healthcare, science education and field exploration.
研究领域:
机械工程
·
机器人学
·
生物医学工程
·
手术技术
·
智能材料与结构
✓ 已验证
产品关联
DOI
PubMed
高影响因子
ADVANCED MATERIALS
·
2023
·
IF 29.4
Junfeng Wu,Niandong Jiao,Daojing Lin,Na Li,Tianyang Ma,Steve Tung,Wen Cheng,Anhua Wu,Lianqing Liu
Nanorobots capable of active movement are an exciting technology for targeted therapeutic intervention. However, the extensive motion range and hindrance of the blood-brain barrier impeded their clinical translation in glioblastoma therapy. Here, we report a marsupial robotic system constructed by integrating chemical/magnetic hybrid nanorobots (child robots) with a miniature magnetic continuum robot (mother robot) for intracranial cross-scale targeting drug delivery. For primary targeting on macro-scale, the continuum robot enters the cranial cavity through a minimally invasive channel (e.g., Ommaya device) in the skull and transports the nanorobots to pathogenic regions. Upon circumventing the blood-brain barrier, the released nanorobots perform secondary targeting on micro-scale to further enhance the spatial resolution of drug delivery. In vitro experiments against primary glioblastoma cells derived from different patients were conducted for personalized treatment guidance. The operation feasibility within organisms is shown in ex vivo swine brain experiments. The biosafety of the treatment system is suggested in in vivo experiments. Owing to our hierarchical targeting method, the targeting rate, targeting accuracy, and treatment efficacy have improved greatly. The marsupial robotic system offers a novel intracranial local therapeutic strategy and constitutes a key milestone in the development of glioblastoma treatment platforms. This article is protected by copyright. All rights reserved
研究领域:
生物医学工程
·
神经科学
·
机器人技术
·
药学
·
癌症治疗
✓ 已验证
产品关联
DOI
PubMed
高影响因子
Science Robotics
·
2021
·Vol. 6
·期 52
·
IF 23.956
Ben Wang,Kai Fung Chan,Ke Yuan,Qianqian Wang,Xianfeng Xia,Lidong Yang,Ho Ko,Yi-Xiang J. Wang,Joseph Jao Yiu Sung,Philip Wai Yan Chiu,Li Zhang
High-precision delivery of microrobots at the whole-body scale is of considerable importance for efforts toward targeted therapeutic intervention. However, vision-based control of microrobots, to deep and narrow spaces inside the body, remains a challenge. Here, we report a soft and resilient magnetic cell microrobot with high biocompatibility that can interface with the human body and adapt to the complex surroundings while navigating inside the body. We achieve time-efficient delivery of soft microrobots using an integrated platform called endoscopy-assisted magnetic actuation with dual imaging system (EMADIS). EMADIS enables rapid deployment across multiple organ/tissue barriers at the whole-body scale and high-precision delivery of soft and biohybrid microrobots in real time to tiny regions with depth up to meter scale through natural orifice, which are commonly inaccessible and even invisible by conventional endoscope and medical robots. The precise delivery of magnetic stem cell spheroid microrobots (MSCSMs) by the EMADIS transesophageal into the bile duct with a total distance of about 100 centimeters can be completed within 8 minutes. The integration strategy offers a full clinical imaging technique–based therapeutic/intervention system, which broadens the accessibility of hitherto hard-to-access regions, by means of soft microrobots.
研究领域:
生物医学工程
·
机器人学
·
纳米技术
·
医学成像
·
靶向药物递送
·
生物工程
✓ 已验证
DOI
高影响因子
ADVANCED FUNCTIONAL MATERIALS
·
2024
·
IF 18.5
Mengyue Li,Junfeng Wu,Na Li,Junjian Zhou,Wen Cheng,Anhua Wu,Lianqing Liu,Niandong Jiao
Micro/nanorobots with active movement capabilities provide a new option for the treatment of glioblastoma (GBM). However, the long working distance of intravenous injection and the protection of the blood-brain barrier can prevent micro/nanorobots from reaching the target location. Photodynamic therapy (PDT) has gradually appeared in GBM treatment research. The limitation of the penetrating strength of the light source will nevertheless hinder the application range of PDT. Herein, a magnetic continuum robot (MCR) to deliver optical fibers and microrobots for combined chemotherapy and PDT of GBM is used. The prepared magnetic diatom microrobots can effectively move in biological fluids and move upstream. Vacuum loading can improve the drug loading efficiency. The photosensitizer in the frustule cavity can be explosively released in a short time through ultrasound. The chemotherapeutic drugs have long-term and pH-sensitivity release characteristics. In vitro cell experiments showed that the combined administration of TMZ-loaded microrobots and photosensitizer-loaded microrobots has a synergistic effect. The in vitro model demonstrated that an MCR can deliver an optical fiber and drug-loaded microrobots. This enables cross-scale delivery of microrobots and deep PDT. This delivery method may expand the drug selectivity for GBM treatment and provide a new possibility for intracranial PDT.
研究领域:
生物医学工程
·
神经科学
·
机器人技术
·
癌症研究
·
药学
✓ 已验证
产品关联
DOI
高影响因子
SENSORS AND ACTUATORS A-PHYSICAL
·
2025
·
IF 4.9
Xiaowen Wang,Yingnan Gao,Changyou Liu,Yaping Wang,Anqin Liu,Wenguang Yang
Robots have a profound impact on human production and life, which have been developed by leaps and bounds in recent decades. As the higher and higher requirements for operations in complex environments, researchers continue to develop wireless driven miniature robots. In this paper, the ratio and deformation properties of PNIPAM and PEGDA hydrogels were researched, and the microcrawls and microgrippers with 3D structure were prepared through secondary curing technology. They have light stimulus response and magnetic response characteristics, and can be reversibly transformed from 3D to 2D structure to complete crawling and transportation functions. This research offers a reference for the fabrication and programmable actuation of intelligent materials. It holds certain promise in the domains of transportation and bionics.
研究领域:
材料科学
·
仿生学
·
机器人技术
✓ 已验证
产品关联
DOI
高影响因子
ADVANCED FUNCTIONAL MATERIALS
·
2024
·Vol. 34
·期 51
·2410167
·
IF 18.5
Xianghua Wu,Xia Peng,Long Ren,Jianguo Guan,Martin Pumera
The pervasive presence of micro/nanoplastics in the environment is a significant threat to ecosystems and human health, demanding effective remediation strategies. Traditional methods for extracting these pollutants from water are often inadequate, typically leaving environmentally harmful residues. In response, this work introduces an innovative approach using reconfigurable and regenerable liquid metal microrobots (LiquidBots) that are magnetically driven to actively sequester micro/nanoplastics from aquatic environments. These LiquidBots utilize a coating of gallium oxide for enhanced adhesion and electrostatic interaction to capture over 80% of nanoplastics present in the solution. Additionally, the LiquidBots can be easily regenerated through sonication, which dislodges captured nanoplastics, allowing the microrobots to be reused. This novel technology offers a highly efficient, adaptable, and sustainable solution to combat the micro/nanoplastic pollution crisis.
研究领域:
环境科学
·
纳米技术
·
机器人学
·
污染控制
·
材料科学
✓ 已验证
DOI
高影响因子
危险品化学品经营许可证（带存储）