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Development of a Photo-Curing 3D Printer for Fabrication of Small-Scale soft robots With Programming Spatial Magnetization

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IEEE robotICS AND AUTOMATION LETTERS 2025年第3期10卷 2766-2773页

作者： Li, Shishi Meng, Xianghe Shen, Xingjian Wang, Jinrong Xie, Hui Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China

The magnetic soft robot has potential applications in biomimetic, soft interaction, and biomedical fields. However, its functionality depends on deformation patterns and locomotion modes, challenging the fabrication of complex structures with precise magnetization. Therefore, we developed a programming magnetization photo-curing 3D printer for fabrication of small-scale soft robots. The printer integrates a three-dimensional magnetic field generator (3D-MFG) and a digital light processing photo-curing system. The 3D-MFG generates a high-strength (up to 80 mT) magnetic field through Halbach arrays (x-y plane) and a solenoid (z-axis), generating arbitrary uniform magnetic field with low energy consumption. Adhesion between the printed structure and the substrate was analyzed, and A real-time force-based printing control method is presented for precise optimization of key parameters, including layer thickness, approaching force, and separation speed, enhancing overall print quality and reliability in stacking of complex three-dimensional structures. Finally, a crawling robot mimicking inchworm gait, a swimming robot with butterfly-inspired motion, and a capsule robot for targeted drug delivery were fabricated by the developed system. These experimental results validated the printer's capability to fabricate highly complex structures, advancing the practical application of small-scale soft robots in biomimetic and biomedical fields.

关键词： Three-dimensional printing Solenoids robots Coils Magnetization Magnetic separation soft robotics Fabrication Programming Curing soft robot materials and design additive manufacturing biologically-inspired robots

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soft, Fiber-Reinforced Bellow Actuators

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IEEE robotICS AND AUTOMATION LETTERS 2025年第2期10卷 1896-1903页

作者： Vo, Vi T. Yanez, Leonardo Zamora Muter, Casper Moran, Anna Maria Saxena, Manvi Matthews, Grace Ranzani, Tommaso Boston Univ Dept Mech Engn Boston MA 02215 USA

Stacked balloon actuators, constructed from heat- and pressure-bonded, stacked layers of sheet films have demonstrated their utility in soft robotics for performing intricate tasks and adapting to space-constrained environments. However, these actuators face limitations such as reduced force output at low displacement heights due to buckling and small retractive forces at high displacement heights due to radial collapse under vacuum. To mitigate these issues, we introduce a method for integrating fiber reinforcements: a nylon mesh fabric that increases the tensile strength of the actuator's structural layers without constraining the maximum inflated height, and a heat-sealable nylon taffeta fabric that provides radial support to the actuator's multi-chamber design. We demonstrate the advantages of this approach in a quadruped soft robot, showcasing improved force output, actuation speed, and the advantageous use of actuator's collapsibility for shape morphing.

关键词： Actuators Fabrics Heating systems soft robotics Stress Force Strain Shape Laser beam cutting Fabrication soft sensors and actuators soft robot materials and design soft robot applications

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PneuSIC Box: Pneumatic Sequential and Independent Control Box for Scalable Demultiplexing

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IEEE robotICS AND AUTOMATION LETTERS 2025年第3期10卷 2526-2533页

作者： Giri, Ayush Rivas, Alvaro M. Yeerella, Ram Hemanth Cai, Shengqiang Morimoto, Tania K. Univ Calif San Diego Dept Mech & Aerosp Engn San Diego CA 92093 USA

soft robots are well suited for various applications, including wearable robotics, haptic devices, and medical robotics, due to their inherent compliance. While there are many methods for actuating soft robots, pneumatic actuation remains the dominant choice because it enables large force output and a fast response time. However, actuating a robot with multiple independent pneumatic actuators requires an equal number of pressure regulators and associated electromechanical components, making the back-end control setup bulky, expensive, and unsuitable for potential untethered applications. In this work, we present PneuSIC Box, a pneumatic demultiplexer inspired by the working principle of a music box. Unlike other pneumatic demultiplexing methods that require many pneumatic and control inputs based on the number of actuators, PneuSIC Box operates with just a single pneumatic input and a motor. Furthermore, PneuSIC Box enables simultaneous control of multiple actuators and allows pneumatic memory retention in the attached actuators without any energy expenditure due to the use of soft kink valves. We discuss the working principle and design of the device, provide a finite element analysis (FEA) model to aid in the design of the kink valves, and present detailed device characterization. Finally, we demonstrate the device's applicability using an inchworm-like robot and a robotic hand with soft fingers.

关键词： Valves Actuators robots Pneumatic systems Motors soft robotics Three-dimensional printing Regulators Demultiplexing Circuits soft robot applications soft robot materials and design hydraulic/pneumatic actuators

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softTex: soft robotic Arm With Learning-Based Textile Proprioception

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IEEE robotICS AND AUTOMATION LETTERS 2025年第4期10卷 3779-3786页

作者： Pagliarani, Niccolo Alessi, Carlo Arleo, Luca Campinoti, Giulia Maselli, Martina Falotico, Egidio Cianchetti, Matteo Scuola Super Sant Anna BioRobot Inst I-56025 Pontedera Italy Scuola Super Sant Anna Dept Excellence Robot & AI I-56127 Pisa Italy

soft robots are promising in biomedical applications thanks to their inherent structural compliance and distributed large deformations. However, integrating a sensory system that maintains the robot's dexterity while offering accurate state estimation remains an open challenge for their widespread adoption. This letter presents softTex, a small-scale soft robotic arm built with textile fabrics. softTex redesigns the STIFF-FLOP soft manipulator to favor affordable, rapid, and repeatable fabrication methods, facilitating the integration of a proprioceptive system based on piezoresistive textile strips preserving the soft arm compliance. First, we characterized the bending and stretching capabilities of the soft robotic arm and its workspace. The force tests demonstrated effectiveness for potential biomedical applications, revealing pulling forces ranging from 3.4-7.4 N and pushing forces from 2-7.5 N. Finally, we leveraged actuation, motion, and proprioceptive data collected with an open-loop controller to develop a position state estimator using a parallel recurrent neural network trained with supervised curriculum learning. The proprioceptive network achieves an average prediction error of 2.0 +/- 1.8 mm (3.4 +/- 2.9%L, where L is module length). The findings are promising for closed-loop control, addressing the demand for low-cost, sensor-equipped soft robotic arms in the medical field and enhancing their potential for confined space exploration.

关键词： soft robotics Textiles Manipulators Propioception Strips Fabrication Elongation Bending Yarn Strain soft sensors and actuators soft robot materials and design modeling control and learning for soft robots

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soft Scissor: A Cartilage-Inspired, Pneumatic Artificial Muscle for Wearable Devices

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IEEE robotICS AND AUTOMATION LETTERS 2025年第3期10卷 2367-2374页

作者： Rahman, Nahian Diteesawat, Richard Suphapol Hoh, Sam Morris, Leah Turton, Ailie Cramp, Mary Rossiter, Jonathan Univ Bristol Sch Engn Math & Technol Bristol BS8 1QU England Bristol Robot Lab Bristol BS16 1QY England Univ West England Sch Hlth & Social Wellbeing Bristol BS16 1QY England

Although rigid exoskeletons can strengthen human capabilities or provide full assistance to patients with disabilities, their rigidity may constrain natural movement, developing tissue damage in long-term usage. soft and semi-soft exoskeletons and exosuits exhibit both compliance and comfort, and offer the potential to provide practical and widely-adopted assistance. soft pneumatic muscles have been explored as a means to drive wearable assist devices for over a decade;however, their softness leads to compromises in terms of power output and the precision by which forces can be applied to the human body. In this article, we introduce a novel soft extending pneumatic actuator, which combines a compliant scissor structure inspired by human cartilage and soft pneumatic muscles. The structure behaves as a compliant skeleton to the force generating pneumatic muscle, guiding its actuation behaviour and maintaining high force transmission through its body. Different designs and dimensions of the actuator and structure were investigated to observe the effect of compliance on key performance parameters. A soft single-module actuator can deliver extending force over 100 N and achieve a maximum strain of 178% when inflated at 50 kPa. A slightly thicker, but still compliant, continuum two-module actuator exhibits twice the extension compared to a single-module actuator with the same design under the same load up to 4 kg, a significant and suitable force for comfortable wearable devices. Last, a wearable prototype of this novel actuator is demonstrated, exhibiting both extension and bending actuation behaviours.

关键词： Force Fabrics Shape Pneumatic actuators robots Muscles Exoskeletons Wearable devices Prototypes Strain soft robot materials and design soft robot applications wearable robotics actuation and joint mechanisms

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design and Analysis of a Snake-Inspired Crawling robot Driven by Alterable Angle Scales

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IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 3744-3751页

作者： Shen, Donghua Zhang, Qi Wang, Cunjin Wang, Xingsong Tian, Mengqian Southeast Univ Sch Mech Engn Nanjing 211189 Peoples R China

Inspired by the anisotropic friction of snakes' scales, many snake-like robots actuated by scales have been developed. However, these robots' scales' angle is unalterable, causing them to crawl in only one direction. Moreover, these robots typically require complex controllers to control their locomotion. To address these limitations, the letter proposes a crawling robot with alterable angle scales, a soft actuator, and an autonomous vibrating valve. All scales are strung on a spring wire and can rotate freely, and an airbag can easily control the rotation. The robot can crawl backward after flipping the scales' orientation. A piston located inside the vibrating valve can be periodically pushed by a reset spring and air pressure to achieve reciprocating motion, which results in periodic inflating and deflating of the soft actuator. Such that the crawling robot can move automatically. The locomotion mechanism was analyzed, and a dynamic model was built. The locomotion performance was tested by experiments. The experimental results show that both the forward and backward locomotion speed can he improved by increasing the driving pressure. When the driving pressure is 195 kPa, the robot can crawl forward and backward at the speed of 49.0 mm/s and 38.2 mm/s, respectively.

关键词： Biomimetics crawling robot scale snake-like robot soft robot materials and design

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design, Modeling and Validation of a Tendon-Driven soft Continuum robot for Planar Motion Based on Variable Stiffness Structures

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IEEE robotICS AND AUTOMATION LETTERS 2022年第2期7卷 3985-3991页

作者： Wockenfuss, Wilhelm R. Brandt, Viktor Weisheit, Linda Drossel, Welf-Guntram Fraunhofer Inst Machinefools & Forming Technol IWU D-01187 Dresden Germany

robotic structures based on variable stiffness enable high-performance and flexible motion systems that are inherently safe and thus allow safe Human-robot Collaboration. This letter presents the design of a robotic structure based on variable stiffness. A robotic manipulator is developed using three variable stiff segments based on particle jamming with a backbone architecture and two tendons for an underactuated motion control of the whole structure. By switching the structural stiffness, the manipulator is able to perform complex planar motion with only one pair of tendons, reducing the number of actuators required. A kinematic modeling approach for the calculation of the forward kinematics of this soft continuum structure is presented, and the validation on the real system is explained. The kinematic simulation is performed with a multibody simulation model (MBS) using rigid body elements in combination with rotational springs. The validation of the model is carried out with visual measurements of the real system using defined target shapes. Simulation and experimental results are discussed and compared also with a common constant curvature model. The developed MBS-model demonstrates a promising modeling approach with a position error lower 3% for the calculation of the presented manipulator under gravity.

关键词： Tendons robots Springs Mathematical models Shape Manipulators Kinematics soft robot materials and design compliant joints and mechanisms modeling control and learning for soft robots tendon wire mechanism kinematics

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On soft Fingertips for In-Hand Manipulation: Modeling and Implications for robot Hand design

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IEEE robotICS AND AUTOMATION LETTERS 2019年第3期4卷 2471-2478页

作者： Lu, Qiujie Rojas, Nicolas Imperial Coll London REDS Lab Dyson Sch Design Engn London SW7 2DB England

Contact models for soft fingertips are able to precisely compute deformation when information about contact forces and object position is known, thus improving the traditional soft finger contact model. However, the functionality of these approaches for the study of in-hand manipulation with robot hands has been shown to be limited, since the location of the manipulated object is uncertain due to compliance and closed-loop constraints. This letter presents a novel, tractable approach for contact modeling of soft fingertips in within-hand dexterous manipulation settings. The proposed method is based on a relaxation of the kinematic equivalent of point contact with friction, modeling the interaction between fingertips and objects as joints with clearances rather than ideal instances, and then approximating clearances via affine arithmetic to facilitate computation. These ideas are introduced using planar manipulation to aid discussion, and are used to predict the reachable workspace of a two-fingered robot hand with fingertips of different hardness and geometry. Numerical and empirical experiments are conducted to analyze the effects of soft fingertips on manipulation operability;results demonstrate the functionality of the proposed approach, as well as a tradeoff between hardness and depth in soft fingertips to achieve better manipulation performance of dexterous robot hands.

关键词： soft robot materials and design contact modeling dexterous manipulation grippers and other end-effectors

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design, Fabrication, and Characterization of an Untethered Amphibious Sea Urchin-Inspired robot

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IEEE robotICS AND AUTOMATION LETTERS 2019年第4期4卷 3348-3354页

作者： Paschal, Thibaut Bell, Michael A. Sperry, Jakob Sieniewicz, Satchel Wood, Robert J. Weaver, James C. Harvard Univ John A Paulson Sch Engn & Appl Sci Cambridge MA 02138 USA Harvard Univ Wyss Inst Biol Inspired Engn Cambridge MA 02138 USA

Sea urchins can easily navigate a wide range of challenging environments through the coordinated action of thousands of individually addressable rigid protective spines and flexible, reversibly adhesive tube feet. To investigate the potential implementation of these unusual locomotory appendages in a robotic context, we describe here the design, fabrication, and characterization of an untethered sea urchin-inspired robot driven by fluidic soft actuators. Due to the intrinsic design and fabrication difficulties in attempting to replicate the complexity of an adult sea urchin, we instead focused our attention on the development of a design that closely mimicked the body plan of an anatomically much simpler post-larval juvenile urchin. Consistent with its biological counterpart, our robotic prototype contained five flexible tube feet and ten rigid spines that could be independently driven by soft tripod actuators. Through the incorporation of permanent magnets into the distal ends of the flexible tube feet, our sea urchin-inspired robot could easily navigate across ferrous surfaces while adopting gaits and defensive postures that were surprisingly similar to its biological analog.

关键词： Biologically-inspired robots soft robot materials and design soft sensors and actuators hydraulic/pneumatic actuators

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design and Implementation of a Ferrofluid-Based Liquid robot for Small-Scale Manipulation

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IEEE robotICS AND AUTOMATION LETTERS 2024年第4期9卷 3060-3067页

作者： Kong, Fanxing Zhao, Jie Cai, Hegao Zhu, Yanhe Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China

Magnetic manipulation of miniature soft or liquid robots capable of deformation has gained increasing attention and is demonstrating great potential in small-scale applications, such as drug delivery, minimal invasive surgery, and manipulation of delicate objects. In this study, we introduce a liquid robot composed of ferrofluid that shows promise for small-scale magnetic manipulation applications. The objective of this work is to achieve more flexible manipulation capabilities of the robot. To this end, we utilize a redundant magnetic actuation system composed of five electromagnets and implement 4 degrees of freedom (4-DOF) control of the liquid robot in planar space. Based on the planar 4-DOF control, the liquid robot is able to perform various actions and implement versatile manipulation tasks, such as transporting objects, separating or assembling miniature parts, and operating customized tools. Furthermore, we suggest an automatic transportation method to enhance manipulation precision. A series of experiments are conducted to validate the effectiveness of the proposed method and the robot's capacity to accomplish diversified manipulation tasks. The proposed liquid robot indicates flexibility and provides novel solutions for small-scale untethered manipulation.

关键词： soft robot materials and design micro/nano robots ferrofluid liquid robot magnetic manipulation automatic transportation

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