ADVANCED MATERIALS
·
2024
·Vol. 36
·期 28
·2314152
·
IF 27.4
Qing Li Zhu,Weixuan Liu,Olena Khoruzhenko,Josef Breu,Huiying Bai,Wei Hong,Qiang Zheng,Zi Liang Wu
Self-sustained motions are widespread in biological systems by harvesting energy from surrounding environments, which inspire scientists to develop autonomous soft robots. However, most-existing soft robots require dynamic heterogeneous stimuli or complex fabrication with different components. Recently, control of topological geometry has been promising to afford soft robots with physical intelligence and thus life-like motions. Reported here are a series of closed twisted ribbon robots, which exhibit self-sustained flipping and rotation under constant light irradiation. Both Möbius strip and Seifert ribbon robots are devised for the first time by using an identical hydrogel, which responds to light irradiation on either side. Experiment and simulation results indicate that the self-regulated motions of the hydrogel robots are related to fast and reversible response of muscle-like gel, self-shadowing effect, and topology-facilitated refresh of light-exposed regions. The motion speeds and directions of the hydrogel robots can be tuned over a wide range. These closed twisted ribbon hydrogels are further applied to execute specific tasks in aqueous environments, such as collecting plastic balls, climbing a vertical rod, and transporting objects. This work presents new design principle for autonomous hydrogel robots by benefiting from material response and topology geometry, which may be inspirative for the robotics community.
研究领域:
材料科学
·
生物工程
✓ 已验证
产品关联
DOI
PubMed
高影响因子
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
CHEMICAL ENGINEERING JOURNAL
·
2024
·
IF 13.3
Yinan Li,Chenglong Fu,Liulian Huang,Lihui Chen,Yonghao Ni,Qinghong Zheng
In the realm of advanced smart manufacturing, the development of fast, sensitive, stable soft robots that can be driven by multiple stimuli remains a significant challenge. In this study, we developed a cellulose-based soft robot featuring a dual-layer structure. The top layer is a hydrophilic composite membrane made from cellulose nanofibers (CNFs), MXene nanosheets, and carbon nanotubes (CNTs), henceforth referred to as the CNF@MXene-CNT (CMN) composite membrane, while the bottom layer consists of a hydrophobic Biaxially Oriented Polypropylene (BOPP) membrane. The soft robot exhibits highly sensitive and fast response towards humidity-, natural light and electrothermal stimuli, which can be attributed to the high humidity expansion (0.0005 (%RH) -1 ), photothermal conversion, and electrical thermal conversion of CMN composite membrane, also the distinctive expansion characteristics of CMN (−0.000757 °C −1 ) and BOPP (0.000137 (°C) -1 ). Remarkably, the soft robot can be actuated with merely 67 mW cm −2 of natural light or a power supply of 2.8 V, achieving a bending range of 360° with a corresponding bending curvature of 2.67 cm −1 . The soft robot’s motion state and speed can be meticulously controlled, further emphasizing their vast applicability in various fields, including medical, industrial, aerospace, and beyond. The soft robot has been applied as a smart curtain, intelligent optical switch, and electrically controlled robot, demonstrating its exceptional multifunctionality and wide ranges of applications.
研究领域:
材料科学
·
智能系统
·
生物医学工程
✓ 已验证
产品关联
DOI
高影响因子
Advanced Intelligent Systems
·
2022
·Vol. 4
·期 9
·2200089
·
IF 7.298
Zhaojia Sun,Shuyu Wang,Yuliang Zhao,Zhitao Zhong,Lei Zuo
Multimodal sensing is crucial for soft robots’ environmental interaction and closed-loop control. The sensing signals of mechanical deformation and temperature changes are often hard to differentiate manually. Herein, two hydrogel sensors are used for simultaneously proprioceptive, thermoceptive, and mechanoreceptive sensing. These stretchable sensors show high sensitivity to strain and temperature changes. Then, a machine learning model composed of a 1D convolutional neural network and a feed-forward neural network is utilized to decode the sensing signal for various stimuli identification. It is demonstrated that the proposed method can accurately predict the soft actuator's body posture changes, such as bending, twisting, and stretching. In addition, the model can discern contact events with or without thermal stimuli. This data-driven method for multimodal sensing discrimination might pave the way for future intelligent soft robots.
研究领域:
机器人学
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材料科学
·
人工智能
✓ 已验证
产品关联
DOI
高影响因子
CERAMICS INTERNATIONAL
·
2024
·
IF 5.1
Dan Xiao,Xue-Min Yang,Jin-Xiang Lv,Meng-Ting Zheng,Qian-Ting Wang,Kathrin Harre
Aiming to endow natural minerals with fast, high-sensitivity, and controllable smart light, humidity, solvent and temperature responsiveness, a novel ceramic clay and cucurbituril (CB) guest-host system (MVCB) inspired by nature was self-assembled and rearranged via an ingenious and simple design successfully. For the first time, the multi-functional MVCB not only displayed a high intelligent multi-stimuli responsiveness as light, humidity, solvent, and temperature switches, but also had multiple selective molecular recognition responses because of different organic vapor with CB and asymmetrical bilayer clay. For instance, due to the factors of guest-host and slow release, the average response speed of self-assembled shuffling the MVCB in methanol was as high as 108°/s compared with bilayer film without CB (20°/s). Besides, the MVCB exhibited controllable swift movement and was bending for grabbing three times its own weight. Moreover, the ultra-wide operating temperature of the MVCB from was ranging −196 to 300 °C under extreme condition. More interestingly, the MVCB presented a unique and compliable self-driven, smart switch, shape memory, environmental awareness and soft robotic gripper owing to the asymmetrical swelling and supramolecular of the CB. This work not only brings a simple, cost-effective, large-scale, and efficient strategy for multi-functionalized natural minerals materials, but also opens potential applications for intelligent response, extremely resistant substances, energy conversion and soft robotics.
研究领域:
材料科学
·
化学
·
智能材料
✓ 已验证
产品关联
DOI
高影响因子
ACS Nano
·
2024
·
IF 15.8
Yuan Liu,Jing Huang,Chu Liu,Zhongyi Song,Jiandong Wu,Qilong Zhao,Yingtian Li,Fuping Dong,Lei Wang,Haifeng Xu
Small-scale magnetic robots with fixed magnetizations have limited locomotion modes, restricting their applications in complex environments in vivo. Here we present a morphology-reconfigurable millirobot that can switch the locomotion modes locally by reprogramming its magnetizations during navigation, in response to distinct magnetic field patterns. By continuously switching its locomotion modes between the high-velocity rigid motion and high-adaptability soft actuation, the millirobot efficiently navigates in small lumens with intricate internal structures and complex surface topographies. As demonstrations, the millirobot performs multimodal locomotion including woodlouse-like rolling and flipping, sperm-like rotating, and snake-like gliding to negotiate different terrains, including the unrestricted channel and high platform, narrow channel, and solid–liquid interface, respectively. Finally, we demonstrate the drug delivery capability of the millirobot through the oviduct-mimicking phantom and ex vivo oviduct. The magnetization reprogramming strategy during navigation represents a promising approach for developing self-adaptive robots for performing complex tasks in vivo.
研究领域:
生物医学工程
·
机器人学
·
药物递送系统
✓ 已验证
产品关联
DOI
PubMed
高影响因子
Nano Energy
·
2024
·
IF 16.8
Xiang Li,Lei Liu,Peng Huang,Bingjue Li,Youqiang Xing,Ze Wu
High adaptability to pipelines with small sizes and low bending radius has been a significant problem to solve in pipeline robotics. Here, inspired by the physiological structure and movement mode of human arms, and designs a new type of rigid-flexible hybrid artificial muscle LCE-MXene-Spring (LMS), which exhibits highly integrated multiple degrees of freedom deformation (multi-directional bending, contraction, and elongation) and its excellent driving force. Unlike other LCE artificial muscles, LMS shows considerable driving force under multi-modal drive. LMS is used as a driver unit for pipeline robots, overcoming the problem of the inability to drive loads during liquid crystal elastomer (LCE) recovery. This is the first time that LCE has been introduced into the field of pipeline robots. The robot designed achieves horizontal and vertical climbing movements on a millimeter-sized pipe. Based on the collaborative control strategy of electricity and light, the robot's elongation unit undergoes asymmetric deformation when passing through bends, enabling it to pass through L-shaped pipes with ultra-low bending radii (19 mm), which is the lowest among reported soft pipeline robots. Moreover, it can climb pipes of different geometric shapes, surface media, and materials. The robot is loaded with a micro camera to complete image acquisition tasks while moving, demonstrating its application prospects in pipeline detection.
研究领域:
机器人学
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材料科学
·
生物仿生学
✓ 已验证
产品关联
DOI
高影响因子
IEEE-ASME TRANSACTIONS ON MECHATRONICS
·
2021
·Vol. 26
·期 6
·3151-3162
·
IF 5.303
Chongjing Cao,Lijin Chen,Wenke Duan,Thomas L. Hill,Bo Li,Guimin Chen,Hui Li,Yingtian Li,Lei Wang,Xing Gao
The emerging demand for bioinspired soft robotics requires novel soft actuators whose performance exceeds conventional rigid ones. Dielectric elastomer actuators (DEAs) are a promising soft actuation technology with large actuation strain and fast response. Cone DEAs are one of the most widely adopted DEA configurations for their compact structure and large force/stroke output with several configuration variations developed in recent years. By driving at a resonant frequency, the cone DEAs show a significant amplification in their power outputs, which demonstrates their suitability for highly dynamic robotic applications. However, it is still unclear how the payload conditions could affect the power outputs of cone DEAs and no work has compared the output performance of different variations of cone configurations. In this article, by considering conical configuration DEAs with generalized dissipative payloads, we conduct an extensive study on the effects of payload conditions on the power outputs of the cone DEA family. Additionally, we benchmark the performance of different cone DEA configurations and illustrate the fundamental principles behind these output patterns. The findings reported in this article establish guidelines for designing high-performance cone DEA actuators.
研究领域:
软体机器人
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智能材料
·
致动器技术
·
机械工程
✓ 已验证
DOI
高影响因子
Applied Materials Today
·
2024
·
IF 7.2
Shushu Miao,Yue Xing,Xu Li,Bing Sun,Zheyuan Du,Hongshuo Cao,Pengfei Guo,Yincheng Chang,Yanhong Tian,Minghui Yao,Ke Chen,Dengbao Xiao,Xuejun Zhang,Biao Zhao,Kai Pan,Jiangman Sun,Xiubing Liang
For the intelligent 4D-printed actuators, the excellent performance, including quickly reversible spatial-shape transformation and locking, digital and precise shape manipulation in real-time, and remote actuation in special spaces or harsh environments, is significantly desirable but still challenging. Here, using a UV-curable system containing the shape memory polymer (SMP) and NdFeB particles, namely the magSMP composite, we fabricate a real-time reprogrammable soft actuator via high-resolution Digital Light Processing (DLP)-based 4D printing. The printed structure is composed of an array of physical binary magSMP composite elements (m-bits), analogous to digital bits. Owing to the NdFeB's photothermal effect, each m-bit can be independently and reversibly switched between unlocking or locking states (allowing or prohibiting responsive shape-morphing) in response to the on/off state of NIR-II light. Through projecting NIR-II light patterns for encoding a set of binary instructions onto 4D-printed actuators, the real-time light-programmed deformations are induced precisely under an actuation magnetic field due to the NdFeB's huge coercivity. Thus, the synergistic magnetic and light field-manipulated multimodal deformations of actuators, including mimosa shape changing, grasping, and wire guiding, are achieved. This study shines lights on the fabrication of soft structures of arbitrary sizes and provides their future perspectives in soft robot design.
研究领域:
材料科学
·
机器人学
·
智能材料
✓ 已验证
产品关联
DOI
高影响因子
LAB ON A CHIP
·
2024
·Vol. 24
·期 7
·2122-2134
·
IF 6.1
Meiying Zhao,Ye Tao,Wenshang Guo,Zhenyou Ge,Hanqing Hu,Ying Yan,Chaoxia Zou,Guiyu Wang,Yukun Ren
Soft actuators capable of remote-controlled guidance and manipulation within complex constrained spaces hold great promise in various fields, especially in medical fields such as minimally invasive surgery. However, most current magnetic drive soft actuators only have the functions of position control and guidance, and it is still challenging to achieve more flexible operations on different targets within constrained spaces. Herein, we propose a multifunctional flexible magnetic drive gripper that can be steered within complex constrained spaces and operate on targets of various shapes. On the one hand, changing the internal pressure of the magnetic gripper can achieve functions such as suction or injection of liquid and transportation of targets with smooth surfaces. On the other hand, with the help of slit structures in the constrained environment, by simply changing the position and orientation of the permanent magnet in the external environment, the magnetic gripper can be controlled to clamp and release targets of linear, flaked, and polyhedral shapes. The full flexibility and multifunctionality of the magnetic gripper suggest new possibilities for precise remote control and object transportation in constrained spaces, so it could serve as a direct contact operation tool for hazardous drugs in enclosed spaces or a surgical tool in human body cavities.
研究领域:
生物医学工程
·
微创手术技术
·
智能材料与器件
✓ 已验证
DOI
高影响因子
Journal of Materials Chemistry B
·
2021
·Vol. 10
·期 1
·120-130
·
IF 6.331
Xiaojun Li,Yue Cheng,Jianfeng Zhang,Yarui Hou,Xiaojuan Xu,Qingye Liu
A novel strategy to fabricate bilayer hydrogel actuators based on the asymmetric distribution of crystalline regions across the bilayer structures was proposed. By employing PVA polymer chains into an alkali solvent-derived chitosan hydrogel matrix, chitosan/PVA hybrid bilayer hydrogels with both excellent responsive bending and mechanical properties were obtained as pH-controlled manipulators. In the design, the chitosan/PVA hydrogels upon treatment with freeze-thawing cycles were taken as the first monolayer, where excessive crystalline regions appeared. The original chitosan/PVA hydrogel as the second monolayer was then integrated into one bilayer device through the chemical-crosslinking of epichlorohydrin at the interface. The results showed that the resultant chitosan/PVA bilayer hydrogel actuator with a weight ratio of 3 : 1 displayed better sensitivity upon exposure to stimuli. The actuation behaviors are strongly dependent on experimental parameters such as the pH, PVA content and the chemical-crosslinking density. It is proposed that the driving force originates from the asymmetric distribution of crystalline regions, thus resulting in differential swelling ratios between the monolayers. In addition, programmable 3D shape transformations were achieved by using the bilayer hydrogel with designed 2D geometric patterns, and the tailored gripper-like hydrogel actuator can successfully capture and transport the cargo. Moreover, this actuation behavior can be erased and re-written on demand under certain conditions. Taking advantage of this universal strategy, more attractive actuators derived from synthetic or natural polymers in combination with PVA are highly expected, which can be used as smart soft robots in various fields such as manipulators, grippers, and cantilever sensors.
研究领域:
材料科学
·
生物医学工程
✓ 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
危险品化学品经营许可证（带存储）