Soft Robotics: a Perspective—Current Trends and Prospects for the Future
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Regenerative Robotics
This is a repository copy of Regenerative robotics. White Rose Research Online URL for this paper: http://eprints.whiterose.ac.uk/147130/ Version: Published Version Article: Damian, D. orcid.org/0000-0002-0595-0182 (2019) Regenerative robotics. Birth Defects Research. ISSN 2472-1727 https://doi.org/10.1002/bdr2.1533 Reuse This article is distributed under the terms of the Creative Commons Attribution (CC BY) licence. This licence allows you to distribute, remix, tweak, and build upon the work, even commercially, as long as you credit the authors for the original work. More information and the full terms of the licence here: https://creativecommons.org/licenses/ Takedown If you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing [email protected] including the URL of the record and the reason for the withdrawal request. [email protected] https://eprints.whiterose.ac.uk/ Received: 15 May 2019 Accepted: 19 May 2019 DOI: 10.1002/bdr2.1533 REVIEW ARTICLE Regenerative robotics Dana D. Damian Department of Automatic Control and Systems Engineering, University of Abstract Sheffield, Sheffield, United Kingdom Congenital diseases requiring reconstruction of parts of the gastrointestinal tract, skin, or bone are a challenge to alleviate especially in rapidly growing children. Correspondence Dana D. Damian, Department of Automatic Novel technologies may be the answer. This article presents the state-of-art in regen- Control and Systems Engineering, erative robotic technologies, which are technologies that assist tissues and organs to University of Sheffield, Sheffield, United regenerate using sensing and mechanotherapeutical capabilities. -
An Overview of Novel Actuators for Soft Robotics
actuators Review An Overview of Novel Actuators for Soft Robotics Pinar Boyraz 1,2,* ID , Gundula Runge 3 and Annika Raatz 3 1 Mechanics and Maritime Sciences Department, Chalmers University of Technology, 41296 Gothenburg, Sweden 2 Mechanical Engineering Department, Istanbul Technical University, Istanbul 34437, Turkey 3 Institut fur Montagetechnik (match), Leibniz Universität Hannover, 30823 Garbsen, Hannover, Germany; [email protected] (G.R.); [email protected] (A.R.) * Correspondence: [email protected]; Tel.: +46-730-49-8780 Received: 10 June 2018; Accepted: 9 August 2018; Published: 16 August 2018 Abstract: In this systematic survey, an overview of non-conventional actuators particularly used in soft-robotics is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary and potential applications. In addition to this, initial guidelines to compare the performance and applicability of these novel actuators are provided. The meta-analysis is restricted to five main types of actuators: shape memory alloys (SMAs), fluidic elastomer actuators (FEAs), shape morphing polymers (SMPs), dielectric electro-activated polymers (DEAPs), and magnetic/electro-magnetic actuators (E/MAs). In exploring and comparing the capabilities of these actuators, the focus was on eight different aspects: compliance, topology-geometry, scalability-complexity, energy efficiency, operation range, modality, controllability, and technological readiness level (TRL). The overview presented here provides a state-of-the-art summary of the advancements and can help researchers to select the most convenient soft actuators using the comprehensive comparison of the suggested quantitative and qualitative criteria. Keywords: soft-robotics; actuator performance; SMA; SMP; FEA; DEAP; E/MA 1. -
Customizing a Self-Healing Soft Pump for Robot
ARTICLE https://doi.org/10.1038/s41467-021-22391-x OPEN Customizing a self-healing soft pump for robot ✉ Wei Tang 1, Chao Zhang 1 , Yiding Zhong1, Pingan Zhu1,YuHu1, Zhongdong Jiao 1, Xiaofeng Wei1, ✉ Gang Lu1, Jinrong Wang 1, Yuwen Liang1, Yangqiao Lin 1, Wei Wang1, Huayong Yang1 & Jun Zou 1 Recent advances in soft materials enable robots to possess safer human-machine interaction ways and adaptive motions, yet there remain substantial challenges to develop universal driving power sources that can achieve performance trade-offs between actuation, speed, portability, and reliability in untethered applications. Here, we introduce a class of fully soft 1234567890():,; electronic pumps that utilize electrical energy to pump liquid through electrons and ions migration mechanism. Soft pumps combine good portability with excellent actuation per- formances. We develop special functional liquids that merge unique properties of electrically actuation and self-healing function, providing a direction for self-healing fluid power systems. Appearances and pumpabilities of soft pumps could be customized to meet personalized needs of diverse robots. Combined with a homemade miniature high-voltage power con- verter, two different soft pumps are implanted into robotic fish and vehicle to achieve their untethered motions, illustrating broad potential of soft pumps as universal power sources in untethered soft robotics. ✉ 1 State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China. email: [email protected]; [email protected] NATURE COMMUNICATIONS | (2021) 12:2247 | https://doi.org/10.1038/s41467-021-22391-x | www.nature.com/naturecommunications 1 ARTICLE NATURE COMMUNICATIONS | https://doi.org/10.1038/s41467-021-22391-x nspired by biological systems, scientists and engineers are a robotic vehicle to achieve untethered and versatile motions Iincreasingly interested in developing soft robots1–4 capable of when the customized soft pumps are implanted into them. -
Position Control for Soft Actuators, Next Steps Toward Inherently Safe Interaction
electronics Article Position Control for Soft Actuators, Next Steps toward Inherently Safe Interaction Dongshuo Li, Vaishnavi Dornadula, Kengyu Lin and Michael Wehner * Department of Electrical and Computer Engineering, University of California, Santa Cruz, CA 95064, USA; [email protected] (D.L.); [email protected] (V.D.); [email protected] (K.L.) * Correspondence: [email protected] Abstract: Soft robots present an avenue toward unprecedented societal acceptance, utility in popu- lated environments, and direct interaction with humans. However, the compliance that makes them attractive also makes soft robots difficult to control. We present two low-cost approaches to control the motion of soft actuators in applications common in human-interaction tasks. First, we present a passive impedance approach, which employs restriction to pneumatic channels to regulate the inflation/deflation rate of a pneumatic actuator and eliminate the overshoot/oscillation seen in many underdamped silicone-based soft actuators. Second, we present a visual servoing feedback control approach. We present an elastomeric pneumatic finger as an example system on which both methods are evaluated and compared to an uncontrolled underdamped actuator. We perturb the actuator and demonstrate its ability to increase distal curvature around the obstacle and maintain the desired end position. In this approach, we use the continuum deformation characteristic of soft actuators as an advantage for control rather than a problem to be minimized. With their low cost and complexity, these techniques present great opportunity for soft robots to improve human–robot interaction. Citation: Li, D.; Dornadula, V.; Lin, Keywords: soft robot; human–robot interaction; control K.; Wehner, M. Position Control for Soft Actuators, Next Steps toward Inherently Safe Interaction. -
Chemical Engineering (CH E) 1
Chemical Engineering (CH E) 1 CH E 210: Material and Energy Balances CHEMICAL ENGINEERING (CH (3-0) Cr. 3. F.S. E) Prereq: Chem 178, Math 166, CH E 160 Introduction to chemical processes. Physical behavior of gases, liquids, Courses primarily for undergraduates: and solids. Application of material and energy balances to chemical engineering equipment and processes. CH E 104: Chemical Engineering Learning Community Cr. R. F. CH E 220: Introduction to Biomedical Engineering Prereq: Enrollment in Chemical Engineering Learning Team (Cross-listed with B M E). (3-0) Cr. 3. S. (1-0) Curriculum in career planning and academic course support for Prereq: BIOL 212, ENGR 160 or equiv, MATH 166, CHEM 167 or CHEM 178, Freshmen learning team. PHYS 222 Engineering analysis of basic biology and engineering problems CH E 160: Chemical Engineering Problems with Computer Applications associated with living systems and health care delivery. The course Laboratory will illustrate biomedical engineering applications in such areas as: (2-2) Cr. 3. F.S. biotechnology, biomechanics, biomaterials and tissue engineering, and Prereq: MATH 143 or satisfactory scores on mathematics placement biosignal and image processing, and will introduce the basic life sciences examinations; credit or enrollment in MATH 165 and engineering concepts associated with these topics. Formulation and solution of engineering problems. Significant figures. Use of SI units. Graphing and curve-fitting. Flowcharting. Introduction CH E 310: Computational Methods in Chemical Engineering to material balances, engineering economics, and design. Use of (3-0) Cr. 3. F.S. spreadsheet programs to solve and present engineering problems. Prereq: CH E 160, CH E 205, CH E 210, MATH 265 Solution of engineering problems using computer programming Numerical methods for solving systems of linear and nonlinear equations, languages. -
Lab Notebook – Soft Robotics
Technology Lab: Lab Notebook – Soft Robotics ã2018 Boy Scouts of America. All rights reserved. No portion of this publication may be reproduced, stored in a retrieval system, or transmitted in any form by any means without the proper written permission of the Boy Scouts of America or as expressly permitted by law. The design of a circle divided into four quadrants with wavy lines along the perimeter (the “BSA STEM logo”) is a trademark of the Boy Scouts of America. Lab Notebook Soft Robotics OVERVIEW ........................................................................................................................... 3 MEETING 1: SOFT ROBOT STRUCTURES ............................................................................. 5 MEETING 2: POWERING SOFT ROBOTS ............................................................................. 16 MEETING 3: BUILD A SOFT ROBOTIC GRASPER ............................................................... 24 MEETING 4: BUILD A SOFT TENTACLE-ARM ROBOT – PART 1 ......................................... 30 MEETING 5: BUILD A SOFT TENTACLE-ARM ROBOT – PART 2 ........................................ 36 MEETING 6: PROGRAMMING MOTIONS ............................................................................41 2 Lab Notebook Soft Robotics Overview This module will delve into an exciting and newly developing branch of robotics—soft or flexible robotic structures. When you look at an elephant’s trunk or an octopus’s arm, you can see natural examples of flexible structures used to grasp and manipulate objects. There are many tasks in our world that a rigid structure just does not perform well. Soft Robotics explores the development of flexible structures to work in these areas. In this module, you and your team will explore the concept of soft robots and learn how flexible structures move and how they can be programmed to perform useful tasks. This module was developed by the REACH Lab at the University of Tennessee, Knoxville. The group focuses on medical applications of robots and soft robots, and the mathematics behind them. -
Architectures of Soft Robotic Locomotion Enabled by Simple
Architectures of Soft Robotic Locomotion Enabled by Simple Mechanical Principles Liangliang Zhu a, c, Yunteng Cao a, Yilun Liu b, Zhe Yang a, Xi Chen c* a International Center for Applied Mechanics, State Key Laboratory for Strength and Vibration of Mechanical Structures, School of Aerospace, Xi’an Jiaotong University, Xi’an 710049, China b State Key Laboratory for Strength and Vibration of Mechanical Structures, School of Aerospace, Xi’an Jiaotong University, Xi’an 710049, China c Columbia Nanomechanics Research Center, Department of Earth and Environmental Engineering, Columbia University, New York, NY 10027, USA Abstract In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and go beyond existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion * Corresponding author at: Columbia Nanomechanics Research Center, Department of Earth and Environmental Engineering, Columbia University, New York, NY10027, USA. Tel.: +1 2128543787. E-mail address: [email protected] (X. Chen). 1 functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. -
Gene Technology in Tissue Engineering
American Journal of Biochemistry and Biotechnology 2 (2): 66-72, 2006 ISSN 1553-3468 © 2006 Science Publications Gene Technology in Tissue Engineering 1Xiao-Dan Sun and 2In-Seop Lee 1Laboratory of Advanced Materials, Department of Materials Science & Engineering, Tsinghua University, Beijing 100084, China 2Institute of Physics & Applied Physics, and Atomic-scale Surface Science Research Center, Yonsei University, Seoul 120-749, Korea Abstract: Scaffold, cells and signaling factors are regarded as the three essential components in tissue engineering. With the development of molecular and cell biology, gene technology is beginning to show a promising position in tissue engineering as it can influence these essential components at DNA-level. By introducing plasmid DNA or genes encoding certain signaling factors (growth factors/cytokines) into the cells, required growth factors/cytokines can be expressed and secreted spatially and temporally by the transfected cells, which will promote the differentiation, proliferation and organization of the cells on the scaffold. Protein-based scaffolds which have specific structures can also be prepared genetically to induce attachment and spreading of the cells. This paper reviews research work of gene technology developed in tissue engineering. Key words: Gene engineering, tissue engineering, molecular biology, cell biology 1. INTRODUCTION Scaffold S D g n u n n o Tissue engineering refers to the science of e p i i io r l s t e p i e a e v r n o h e generating new living tissues to replace, repair or o i r t d p g r r n y o E A augment the diseased/damaged tissue and restore c ķ In tissue/organ function [1]. -
Tissue Engineering
An Introduction to Tissue Engineering Lesley W. Chow [email protected] October 30, 2015 disclosure: not Lehigh bear Tissue Engineering is... “an interdisciplinary field that applies the principles of engineering and life sciences towards the development of biological substitutes that restore, maintain, or improve tissue function or a whole organ” Langer and Vacanti, Science 1993 Classic Tissue Engineering: The Vacanti Mouse landmark study from 1997 that helped launched the field Cao, Vacanti, Paige, Upton, and Vacanti, Plastic and Reconstructive Surgery 100:297, 1997 Classic Tissue Engineering: The Vacanti Mouse 1 1 scaffold made from poly(glycolic acid) (PGA) and poly(lactic acid) (PLA) cast from plaster replica of an actual ear Cao, Vacanti, Paige, Upton, and Vacanti, Plastic and Reconstructive Surgery 100:297, 1997 Classic Tissue Engineering: The Vacanti Mouse 1 2 SEM micrograph showing cells and ECM on scaffold 1 2 scaffold made from scaffold seeded with poly(glycolic acid) chondrocytes and (PGA) and poly(lactic cultured for 1 week acid) (PLA) cast from plaster replica of an actual ear Cao, Vacanti, Paige, Upton, and Vacanti, Plastic and Reconstructive Surgery 100:297, 1997 Classic Tissue Engineering: The Vacanti Mouse 1 2 SEM micrograph showing cells and ECM on scaffold 1 2 scaffold made from scaffold seeded with poly(glycolic acid) chondrocytes and 3 (PGA) and poly(lactic cultured for 1 week acid) (PLA) cast from plaster replica of an 3 actual ear implanted subcutaneously on the back of a mouse Cao, Vacanti, Paige, Upton, and -
The SLS-Generated Soft Robotic Hand – an Integrated Approach Using Additive Manufacturing and Reinforcement Learning
The SLS-generated Soft Robotic Hand – An Integrated Approach using Additive Manufacturing and Reinforcement Learning Arne Rost Corporate Research Festo AG & Co. KG 73734 Esslingen, Germany [email protected] Stephan Schädle Institute for Artificial Intelligence University of Applied Sciences Ravensburg-Weingarten 88250 Weingarten, Germany [email protected] / [email protected] Abstract – To develop a robotic system for a complex task is a time- targeted task execution is trained via Reinforcement Learning, a consuming process. Merging methods available today, a new ap- machine learning approach. Optimization points are subsequently proach for a faster realization of a multi-finger soft robotic hand is derived and fed back into the hardware development. With this presented here. This paper introduces a robotic hand with four Concurrent Engineering strategy a fast development of this robotic fingers and 12 Degrees of Freedom (DoFs) using bellow actuators. hand is possible. The paper outlines the relevant key strategies and The hand is generated via Selective Laser Sintering (SLS), an Additive gives insight into the design process. At the end, the final hand with Manufacturing method. The complex task execution of a specific its capabilities is presented and discussed. action, i.e. the lifting, rotating and precise positioning of a handling- object with this robotic hand, is used to structure the whole develop- Soft Robotic Hand; Reinforcement Learning; Additive Manufacturing; ment process. To validate reliable functionality of the hand from SLS; Concurrent Engineering; Compliant; LearningGripper; the beginning, each development stage is SLS-generated and the I INTRODUCTION Soft robots are one kind of intrinsically safe service robots, which strategies [5, 6]. -
Advancing Tissue Science and Engineering
ADVANCING TISSUE SCIENCE AND ENGINEERING A MULTI-AGENCY StRatEGIC PLAN ABOUT THE MATES IWG The Multi-Agency Tissue Engineering Science (MATES) Interagency Working Group (IWG), organized under the auspices of the Subcommittee on Biotechnology of the National Science and Technology Council (NSTC), is the means by which Federal agencies involved in tissue engineering stay informed of each other’s activities and coordinate their efforts in a timely and efficient manner. The goals of the MATES IWG are: • To facilitate communication across departments/agencies by regular information exchanges and a common website • To enhance cooperation through co-sponsorship of scientific meetings and workshops, and facilitation of the development of standards • To monitor technology by undertaking cooperative assessments of the status of the field • To provide for support of tissue engineering research through interagency tissue engineering funding opportunity announcements For more information, see the MATES website at http://www.tissueengineering.gov. ABOUT THE NATIONAL SCIENCE AND TECHNOLOGY COUNCIL The National Science and Technology Council (NSTC) was established by Executive Order on November 23, 1993. This cabinet-level council is the principal means by which the President coordinates science, space, and technology policies across the Federal Government. NSTC coordinates diverse paths of the Federal research and development enterprise. An important objective of the NSTC is the establishment of clear national goals for Federal science and technology investments in areas ranging from information technologies and health research to improving transportation systems and strengthening fundamental research. The Council prepares research and development strategies that are coordinated across the Federal agencies to form a comprehensive investment package aimed at accomplishing multiple national goals. -
Design, Fabrication and Control of Soft Robots Daniela Rus1 and Michael T
Design, fabrication and control of soft robots Daniela Rus1 and Michael T. Tolley2 1Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology 2Department of Mechanical and Aerospace Engineering, University of California, San Diego Abstract Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modeled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates like humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics. Introduction Biology has long been a source of inspiration for engineers making ever-more capable machines1. Softness and body compliance are salient features often exploited by biological systems, which tend to seek simplicity and exhibit reduced complexity in their interactions with their environment2. Several of the lessons learned from studying biological systems are now culminating in the definition of a new class of machine we, and others, refer to as soft robots3, 4, 5, 6. Traditional, rigid-bodied robots are used today extensively in manufacturing and can be specifically programmed to perform a single task efficiently, but often with limited adaptability. Because they are built of rigid links and joints, they are unsafe for interaction with human beings. A common practice is to separate human and robotic workspaces in factories to mitigate safety concerns.