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Contribution of individual legs to overall attachment in the adult ladybird Harmonia axyridis depends on the relative leg orientation to an external force

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ENTOMOLOGIA EXPERIMENTALIS ET APPLICATA 2025年第3期173卷 232-245页

作者： Saitta, Valerio Rebora, Manuela Piersanti, Silvana Gorb, Elena Salerno, Gianandrea Gorb, Stanislav Univ Perugia Dipartimento Sci Agr Alimentari & Ambientali Perugia Italy Univ Perugia Dipartimento Chim Biol & Biotecnol Perugia Italy Univ Kiel Zool Inst Dept Funct Morphol & Biomech Kiel Germany

This study investigates the attachment ability of harlequin ladybird, Harmonia axyridis (Pallas) (Coleoptera: Coccinellidae), focusing on the synergic action of opposite legs, the anisotropy of adhesive organs and sexual dimorphism. Contrary to expectations, experiments showed that beetles with fewer legs sometimes exhibited higher attachment forces, challenging the hypothesis that collective leg action enhances attachment. This result is attributed to differences in experimental set-ups, where our centrifugal method highlighted the importance of pad orientation relative to external forces. The anisotropy of adhesive pads, characterized by the directional dependence of adhesion and friction, significantly influenced attachment performance. Results demonstrated that inward-oriented legs enhanced attachment due to lower peeling angles, whereas outward orientation reduced effectiveness. Sexual dimorphism was evident in the structure of adhesive pads, with males possessing discoidal setae on fore- and midlegs. No significant difference in attachment was observed between intact males and females on smooth surfaces, although ablated males sometimes showed higher forces due to the presence of discoidal setae. These findings underscore that attachment strength in H. axyridis is not solely dependent on pad area but also on the orientation and anisotropic properties of adhesive organs, as well as the specific role of sexual dimorphism in leg morphology.

关键词： adhesive organs anisotropy behaviour centrifuge Coccinellidae Coleoptera friction force harlequin ladybird morphology sexual dimorphism

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Singular-Perturbation Control of a Tendon-Driven soft Robot: Theory and Experiments

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IEEE TRANSACTIONS ON CONTROL systems TECHNOLOGY 2025年

作者： Ribeiro, Lucas Novaki Borja, Pablo Della Santina, Cosimo Deutschmann, Bastian German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany Univ Plymouth Sch Engn Comp & Math Plymouth PL4 8AA England

The existing model-based control strategies for tendon-driven continuum soft robots neglect the dynamics of the actuation system. Nevertheless, such dynamics have an important impact on the closed-loop performance. This work analyzes the influence of the actuation dynamics in tendon-driven continuum soft robots performing trajectory-tracking tasks. To this end, we use singular perturbation (SP) theory to design controllers that account for such dynamics. We provide the analytical formulation of the SP controllers and their in-depth experimental validation. Additionally, we use high-and low-stiffness tendons to experimentally compare the performance of the proposed SP controllers against traditional feedback control schemes that disregard the actuation dynamics. The experimental results show that SP controllers outperform the approaches that neglect the actuation dynamics by reducing oscillations and achieving lower errors without relying on high gains. Furthermore, it is shown that neglecting the actuation dynamics may lead to instability when the tendons have a low stiffness coefficient.

关键词： soft robotics Robots Tendons Vectors Aerodynamics Motors Actuators Trajectory Frequency modulation Jacobian matrices Continuum soft robots model-based control singular perturbation tendon-driven robots

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Passive and active acoustic sensing for soft pneumatic actuators

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INTERNATIONAL JOURNAL OF roboticS RESEARCH 2023年第3期42卷 108-122页

作者： Wall, Vincent Zoeller, Gabriel Brock, Oliver Tech Univ Berlin Robot & Biol Lab Berlin Germany Res Cluster Excellence Sci Intelligence Berlin Germany

We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it travels through the structure. Using simple machine learning, we create a computational sensor that infers the corresponding state from sound recordings. We demonstrate the acoustic sensor on a soft pneumatic continuum actuator and use it to measure contact locations, contact forces, object materials, actuator inflation, and actuator temperature. We show that the sensor is reliable (average classification rate for six contact locations of 93%), precise (mean spatial accuracy of 3.7 mm), and robust against common disturbances like background noise. Finally, we compare different sounds and learning methods and achieve best results with 20 ms of white noise and a support vector classifier as the sensor model.

关键词： Acoustic sensing force and tactile sensing computational sensor soft sensors pneumatic actuators soft robotics

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Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion

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NATURE PROTOCOLS 2024年第2期19卷 441-486页

作者： Ren, Ziyu Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept Stuttgart Germany Swiss Fed Inst Technol Inst Biomed Engn Zurich Switzerland Koc Univ Sch Med Istanbul Turkiye Koc Univ Coll Engn Istanbul Turkiye

Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required. The protocol describes a sheet-shaped millirobot with 12 locomotion modes for traversing different terrains, a jellyfish-inspired millirobot for manipulating objects in liquids, a zebrafish-inspired millirobot for efficient swimming and a dual stimuli-responsive millirobot that can switch locomotion modes automatically by responding to the environmental ***-bodied robots lack deformation capabilities, limiting them to specific functions, whereas soft-bodied millibots display sophisticated locomotion strategies similar to those adopted by small-scale organisms. The detailed design and fabrication of small-scale magnetic soft-bodied robots with

关键词： Actuators Mechanical engineering

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Graphene/fabric-based sensors for low-to-mid-range acoustic signals

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SENSORS AND ACTUATORS A-PHYSICAL 2025年 382卷

作者： Chakraborthy, Aniket Oezer, Mehmet Sait Harija, H. Nuthalapati, Suresh Nag, Anindya Alahi, Md. Eshrat E. Altinsoy, M. Ercan Tech Univ Dresden Ctr Tactile Internet Human Inthe Loop CeTI D-01069 Dresden Germany Tech Univ Dresden Fac Elect & Comp Engn D-01062 Dresden Germany Tech Univ Dresden Dept Urol Suresh Nuthapati Life Res Hub 6G D-01069 Dresden Germany Walailak Univ Sch Engn & Technol 222 Thaiburi Nakhon Si Thammarat 80160 Thailand

The paper highlights the research on designing, developing and utilising low-cost graphene-based sensors for acoustic applications. Although commercial sensors are available to detect acoustic signals, some limitations are limited access, high cost, and difficulty in replicability. The work showcases the development of low-cost graphene/fabric sensors for acoustic applications. Due to the excellent electromechanical characteristics of graphene, it has been integrated with fabrics to form sensors with high integrity and flexibility. The rise and fall times for the PDMS-based sensors were 32.77 ms and 106.06 ms, respectively, and it was 35.1 ms and 135.02 for the PI-based substrates. The pressure-sensitive nature of these sensors has allowed them to respond to acoustic signals with varied nature, amplitude and frequency. A comparison has been made of their performances when they were attached to two different polymeric substrates, including polydimethylsiloxane and polyimide. The results shown here depict the high potentiality of these sensors and offer a podium towards low-cost acoustic sensing for wearable and industrial applications.

关键词： Graphene Acoustic Flexible Piezoresistive Fabric

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Investigating frictional contact behavior for soft material robot simulations

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MECCANICA 2023年第11期58卷 2165-2176页

作者： Berthold, Rebecca Burgner-Kahrs, Jessica Wangenheim, Matthias Kahms, Stephanie Leibniz Univ Hannover Inst Dynam & Vibrat Res Univ 1 D-30823 Hannover Germany Univ Toronto Dept Math & Computat Sci Continuum Robot Lab 3359 Mississauga Rd Mississauga ON L5L 1C6 Canada

The ability to interact safely with the environment is known as one of the major advantages of soft robots (SRs). Due to their low material stiffness, these continuously deformable robots offer inherent flexibility. These advantages make them suitable for application that involve human-robot collaboration in industrial settings as well as medical application such as minimally invasive surgery. To date only few research groups have analyzed the contact and frictional behavior of soft robots. In fact, the contact behavior is often oversimplified or neglected. Motivated by the idea to bridge this gap, this work presents measurements and the resulting coefficient of friction (COF) for silicone rubbers that are widely used in the field of SRs and different contact partners which depend on contact pressure and ambient temperature. From these measurements, a more representative contact model is established and used to more accurately simulate soft material robots' frictional contact behavior. Moreover the influence of friction and therefore the need to implement frictional behavior is demonstrated for a typical application of a SR.

关键词： soft robotics Elastomers Friction Contact modeling Friction measurement

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Task Space Trajectory Planning for an Articulated Dielectric Elastomer soft Robot with Input Saturation and Underactuation 20

Task Space Trajectory Planning for an Articulated Dielectric...

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20th IEEE/ASME International Conference on Mechatronic and Embedded systems and Applications (MESA)

作者： Soleti, Giovanni Cicali, Lorenzo Franci, Michael Pugi, Luca Rizzello, Gianluca Saarland Univ Dept Syst Engn Saarbrucken Germany Univ Florence Dept Elect & Automat Engn Florence Italy

ISBN: (纸本)9798331516246;9798331516239

In this paper we propose a new trajectory planning algorithm for an underactuated soft robot based on dielectric elastomer actuators. The planning of the dynamic trajectories is addressed by accounting for the constraints imposed by the underactuated nature of the robot, the physical limits of its operational space, as well as control input saturation. After deriving all the feasible equilibrium configurations of the robot, a trajectory planning algorithm is proposed to achieve a desirable motion in the configuration space of the system. The obtained trajectories provide a feasible reference for trajectory tracking motion control algorithms. The effectiveness of the approach is verified via numerical simulations conducted on an experimentally validated, physics-based model of the system.

关键词： Trajectory planning task-space control tracking control underactuated robot soft-robotics dielectric elastomer

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Development and Experimental Evaluation of a Compact 3D Bending Module actuated by Rolled Dielectric Elastomer Actuators 26

Development and Experimental Evaluation of a Compact 3D Bend...

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Conference on Electroactive Polymer Actuators and Devices (EAPAD) XXVI

作者： Kunze, J. Soleti, G. Bruch, D. Motzki, P. Nalbach, S. Seelecke, S. Rizzello, G. ZeMA Zentrum Mechatron & Automatisierungstech gGm Saarbrucken Germany iMSL Intelligent Mat Syst Lab Saarbrucken Germany

ISBN: (数字)9781510671973

ISBN: (纸本)9781510671973;9781510671966

soft robotic technology offers the potential for enhanced safety in human-robot collaboration. Our research introduces a compact robotic arm segment, actuated by silicone-based rolled dielectric elastomer actuators (RDEAs), in combination with a ball joint, showcasing large-angle multi-directional bending. A simplified kinematic, quasistatic model is presented. The segment was built utilizing PCBs as structural components a custom, low friction ball joint, and 3 groups of 3 RDEAs. Two different modes of operation are identified in the model as well as in experiments. One mode with smaller bending angles of 0 degrees to 7 degrees, and one mode with a larger, but constant angle of 25 degrees. The results demonstrate significant bending capabilities in a compact form-factor, laying the foundation for the development of multi-segment RDEA-actuated soft robotic tentacle arms.

关键词： soft robotic Electroactive Polymer EAP Dielectric Elastomer Actuator DEA Rolled Dielectric Elastomer Actuators RDEA Bending

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Magnetically assisted soft milli-tools for occluded lumen morphology detection

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SCIENCE ADVANCES 2023年第33期9卷 eadi3979页

作者： Yan, Yingbo Wang, Tianlu Zhang, Rongjing Liu, Yilun Hu, Wenqi Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Xi An Jiao Tong Univ Sch Aerosp Lab Multiscale Mech & Med Sci SV LAB Xian 710049 Peoples R China Swiss Fed Inst Technol Dept Informat Technol & Elect Engn CH-8092 Zurich Switzerland Koc Univ Sch Med TR-34450 Istanbul Turkiye Koc Univ Coll Engn TR-34450 Istanbul Turkiye

Methodologies based on intravascular imaging have revolutionized the diagnosis and treatment of endovascular diseases. However, current methods are limited in detecting, i.e., visualizing and crossing, complicated occluded vessels. Therefore, we propose a miniature soft tool comprising a magnet-assisted active deformation segment (ADS) and a fluid drag-driven segment (FDS) to visualize and cross the occlusions with various morphologies. First, via soft-bodied deformation and interaction, the ADS could visualize the structure details of partial occlusions with features as small as 0.5 millimeters. Then, by leveraging the fluidic drag from the pulsatile flow, the FDS could automatically detect an entry point selectively from severe occlusions with complicated microchannels whose diameters are down to 0.2 millimeters. The functions have been validated in both biologically relevant phantoms and organs ex vivo. This soft tool could help enhance the efficacy of minimally invasive medicine for the diagnosis and treatment of occlusions in various circulatory systems.

关键词： Diagnosis

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A bi-stable soft robotic bendable module driven by silicone dielectric elastomer actuators: design, characterization, and parameter study

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SMART materialS AND STRUCTURES 2022年第11期31卷 114002-114002页

作者： Baltes, Matthias Kunze, Julian Prechtl, Johannes Seelecke, Stefan Rizzello, Gianluca Saarland Univ Dept Syst Engn D-66123 Saarbrucken Germany Saarland Univ Dept Mat Sci & Engn D-66123 Saarbrucken Germany

In this paper, we present a novel concept for a planar soft robotic module actuated by smart artificial muscles. The structure consists of a flexible backbone capable of continuously bending along a plane, and having a rigid plate connected to its top. The actuation is provided by an antagonist-agonist pair of artificial muscle fibers, consisting of silicone-based rolled dielectric elastomer actuator (RDEA) membranes connected to the rigid top plate. When actuated via high voltage, the RDEAs expand and, in turn, cause the structure to bend along a desired direction. The novel prototype concept is described in detail first, and systematic parameter studies are conducted afterwards by means of a physics-based model. Then, an experimental prototype is manufactured and tested, with the aim of validating the dependency of the bending angle performance on the system design parameters. We demonstrate that the bending angle is strongly affected by the choice of the flexible beam geometry, as well as the RDEAs mounting points. It is found that, for some combinations of parameters, the buckling instability of the beam can be suitably triggered by the RDEAs, resulting in large bending angles up to 25 degrees. This feature also allows to keep the robot deformed without supplying any electric power. In contrast, parameters corresponding to mono-stable configurations result in a maximum bending angle of 11 degrees only.

关键词： dielectric elastomer dielectric elastomer actuator soft robotics bi-stability bendable module characterization

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