An official website of the United States government
Creating soft robots with sophisticated, autonomous capabilities requires these systems to possess reliable, on-line proprioception of 3D configuration through integrated soft sensors. We present a framework for predicting a soft robot’s 3D configuration via deep learning using feedback from a soft, proprioceptive sensor skin. Our framework introduces a kirigami-enabled strategy for rapidly sensorizing soft robots using off-the-shelf materials, a general kinematic description for soft robot geometry, and an investigation of neural network designs for predicting soft robot configuration. Even with hysteretic, non-monotonic feedback from the piezoresistive sensors, recurrent neural networks show potential for predicting our new kinematic parameters and, thus, the robot’s configuration. One trained neural network closely predicts steady-state configuration during operation, though complete dynamic behavior is not fully captured. We validate our methods on a trunk-like arm with 12 discrete actuators and 12 proprioceptive sensors. As an essential advance in soft robotic perception, we anticipate our framework will open new avenues towards closed loop control in soft robotics.
more »
« less
Skin-inspired, sensory robots for electronic implants
Abstract Drawing inspiration from cohesive integration of skeletal muscles and sensory skins in vertebrate animals, we present a design strategy of soft robots, primarily consisting of an electronic skin (e-skin) and an artificial muscle. These robots integrate multifunctional sensing and on-demand actuation into a biocompatible platform using an in-situ solution-based method. They feature biomimetic designs that enable adaptive motions and stress-free contact with tissues, supported by a battery-free wireless module for untethered operation. Demonstrations range from a robotic cuff for detecting blood pressure, to a robotic gripper for tracking bladder volume, an ingestible robot for pH sensing and on-site drug delivery, and a robotic patch for quantifying cardiac function and delivering electrotherapy, highlighting the application versatilities and potentials of the bio-inspired soft robots. Our designs establish a universal strategy with a broad range of sensing and responsive materials, to form integrated soft robots for medical technology and beyond.
more »
« less
- Award ID(s):
- 2139659
- PAR ID:
- 10618723
- Author(s) / Creator(s):
- ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; more »
- Publisher / Repository:
- Springer Nature
- Date Published:
- Journal Name:
- Nature Communications
- Volume:
- 15
- Issue:
- 1
- ISSN:
- 2041-1723
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
Abstract Often, fluidic soft robots are driven by large pneumatic or low-bandwidth hydraulic systems which struggle to meet performance objectives. This research presents the design of two morphologies of compact, positive displacement hydraulic pumps designed to act as power supplies for fluidic soft robots. These hydraulic pumps were designed to leverage additive manufacturing technology, creating cost-effective, yet volumetrically powerful units. The operational bandwidth of these pumps (> 10Hz) was substantially higher than the natural frequency of most elastomer-based soft robots (1–5Hz), allowing high control authority. These designs allow for highly scalable pumps, with performance documented in the paper. Due to the 3D printed nature of the pump components, manufacture cost is greatly reduced when compared to machined components. Each was tested driving various soft robotic actuators, demonstrating high-bandwidth, yet precise operation. With their minimal size, these pumps are candidates for un-tethered mobile soft robots, and their low weight and low noise allows them to be carried on the body for robotic actuators used in mobility rehabilitation.more » « less
-
A stretchable pressure sensor is a necessary tool for perceiving physical interactions that take place on soft/deformable skins present in human bodies, prosthetic limbs, or soft robots. However, all existing types of stretchable pressure sensors have an inherent limitation, which is the interference of stretching with pressure sensing accuracy. Here, we present a design for a highly stretchable and highly sensitive pressure sensor that can provide unaltered sensing performance under stretching, which is realized through the synergistic creations of an ionic capacitive sensing mechanism and a mechanically hierarchical microstructure. Via this optimized structure, our sensor exhibits 98% strain insensitivity up to 50% strain and a low pressure detection limit of 0.2 Pa. With the capability to provide all the desired characteristics for quantitative pressure sensing on a deformable surface, this sensor has been used to realize the accurate sensation of physical interactions on human or soft robotic skin.more » « less
-
Soft robots, constructed from deformable materials, offer significant advantages over rigid robots by mimicking biological tissues and providing enhanced adaptability, safety, and functionality across various applications. Central to these robots are electroactive polymer (EAP) actuators, which allow large deformations in response to external stimuli. This review examines various EAP actuators, including dielectric elastomers, liquid crystal elastomers (LCEs), and ionic polymers, focusing on their potential as artificial muscles. EAPs, particularly ionic and electronic varieties, are noted for their high actuation strain, flexibility, lightweight nature, and energy efficiency, making them ideal for applications in mechatronics, robotics, and biomedical engineering. This review also highlights piezoelectric polymers like polyvinylidene fluoride (PVDF), known for their flexibility, biocompatibility, and ease of fabrication, contributing to tactile and pressure sensing in robotic systems. Additionally, conducting polymers, with their fast actuation speeds and high strain capabilities, are explored, alongside magnetic polymer composites (MPCs) with applications in biomedicine and electronics. The integration of machine learning (ML) and the Internet of Things (IoT) is transforming soft robotics, enhancing actuation, control, and design. Finally, the paper discusses future directions in soft robotics, focusing on self-healing composites, bio-inspired designs, sustainability, and the continued integration of IoT and ML for intelligent, adaptive, and responsive robotic systems.more » « less
-
Biomimicr y is a i eld of study that involves imitating the designs and processes of nature to solve problems using man- made systems. Biomimicr y offer s an empathetic, interconnected under standing of how life wor ks and where we i t in. In bio- inspired designs, the main challenge is to develop a sustainable and effective fr amewor k that can be used in the real wor ld. M ost of the soft robotic designs are state-of-the-ar t models that cannot be used in real sensing applications. In this research, we propose a sustainable sensor-integr ated modular soft robot model that can be used for locomotion and gr ipping applications. This wor k presents the steps involved in modeling, designing, and fabr icating soft and l exible end effector s that can be used for soft robots with integr ated soft stretchable sensor s. We demonstr ate the design methodology involved in modeling and simulating the proposed model for robots that would require effector s with increased functionalities.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript
- Journal Article:
- https://doi.org/10.1038/s41467-024-48903-z
