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ANGEWANDTE CHEMIE-INTERNATIONAL EDITION 2018年第16期57卷 4258-4273页

作者： Whitesides, George M. Harvard Univ Dept Chem & Chem Biol Cambridge MA 02138 USA

This description of soft robotics is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new fieldone that offers opportunities to chemists and materials scientists who like to make things and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional hard robotics. It will also suggest how and why soft robotics is more than simply a minor technical tweak on hard robotics and propose a unique role for chemistry, and materials science, in this field. soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics.

关键词： actuation materials chemistry soft robotics

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soft robotics in Upper Limb Neurorehabilitation and Assistance: Current Clinical Evidence and Recommendations

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soft robotics 2025年 2025 Jan 6页

作者： Tanczak, Natalie Yurkewich, Aaron Missiroli, Francesco Wee, Seng Kwee Kager, Simone Choi, Hyungmin Cho, Kyu-Jin Yap, Hong Kai Piazza, Cristina Masia, Lorenzo Lambercy, Olivier Singapore ETH Ctr Future Hlth Technol Programme Singapore Singapore Swiss Fed Inst Technol Dept Hlth Sci & Technol Rehabil Engn Lab Zurich Switzerland Ontario Tech Univ Mechatron Engn Oshawa ON Canada Heidelberg Univ Inst Comp Engn ZITI Fac Engn Sci Heidelberg Germany Tan Tock Seng Hosp Clin Adv Rehabil Therapeut CART Singapore Singapore Tan Tock Seng Hosp Inst Rehabil Excellence IRex Singapore Singapore Singapore Inst Technol Singapore Singapore Seoul Natl Univ Soft Robot Res Ctr SRRC Dept Mech Engn Seoul South Korea Roceso Technol Singapore Singapore Tech Univ Munich Sch Computat Informat & Technol Munich Germany Tech Univ Munich Munich Inst Robot & Machine Intelligence MIRMI Munich Germany

soft robotics is gaining interest in rehabilitation applications, bringing new opportunities to offset the loss of upper limb motor function following neurological, neuromuscular, or traumatic injuries. Unlike conventional rigid robotics, the added softness in linkages or joints promises to make rehabilitation robots compliant, which translates into higher levels of safety, comfort, usability, and portability, opening the door for these rehabilitation technologies to be used in daily life. While several reviews documented the different technical implementations of soft rehabilitation robots, it is essential to discuss the growing clinical evidence on the feasibility and effectiveness of using this technology for rehabilitative and assistive purposes, whether softness brings the expected advantages from the perspective of end users, and how we should proceed in the future of this field. In this perspective article, we present recent clinical evidence on how 13 different upper limb devices were used in both controlled (clinical) and uncontrolled (at home) settings in more than 37 clinical studies. From these findings and our own experience, we derive recommendations for future developers and end users regarding the design, application, and evaluation of soft robotics for upper limb rehabilitation and assistance.

关键词： soft robotics neurorehabilitation wearable portable medical devices clinical evidence recommendations

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Perspectives on Intelligence in soft robotics

ADVANCED INTELLIGENT SYSTEMS

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ADVANCED INTELLIGENT SYSTEMS 2025年第1期7卷

作者： Kortman, Vera Gesina Mazzolai, Barbara Sakes, Aimee Jovanova, Jovana Delft Univ Technol Dept Biomech Engn NL-2628 CD Delft Netherlands Delft Univ Technol Dept Marine & Transport Technol NL-2628 CD Delft Netherlands Ist Italiano Tecnol Bioinspired Soft Robot Lab I-16163 Genoa Italy

Engineers frequently aim to streamline environmental factors to facilitate the effective operation of robots. However, in nature, environmental considerations play a crucial role in shaping the embodiment of organisms. To comply robots with the complexity of real-world environments, embedding similar intelligence is key. In the field of soft robotics, various approaches offer insight into how intelligence can be integrated into artificial agents. A discussed topic is the intricate relationship between the brain and the body at the core of intelligence in robots. The goal of this article is, therefore, to unravel the strategies to implement different types of intelligence currently adopted in soft robots. A classification is made by making a distinction between agents that adapt to their environment by 1) their adaptive shape, 2) their adaptive functionality, and 3) their adaptive mechanics. Additionally, the perspectives on intelligence based on their computational approach are distinguished: centralized computation, decentralized computation, or embedded computation. It is concluded that a tailored robotic design approach attuned to specific environmental demands is needed. To unlock the full potential of soft robots, a fresh perspective on embodied intelligence is described, so-called mechanical intelligence, emphasizing the robot's responsiveness to changing external conditions of a real-world environment. This study explores strategies for embedding intelligence in soft robots to adapt to complex real-world environments. It classifies robots that embed intelligence by adaptive shape, functionality, and mechanics and by computational approach: centralized, decentralized, or embedded. The study concludes that a tailored design and a new perspective on embodied intelligence, called "mechanical intelligence," is essential for optimizing soft *** (c) 2024 WILEY-VCH GmbH

关键词： embodied intelligence mechanical intelligence morphological computation physical intelligence soft robotics

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Physics-based modeling of twisted and coiled artificial muscles (TCAMs) for soft robotics using extended Cosserat theory of rods

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SMART MATERIALS AND STRUCTURES 2025年第4期34卷 045015-045015页

作者： Golestaneh, Amirreza Fahim Cichella, Venanzio Lamuta, Caterina Univ Iowa Dept Mech Engn Iowa City IA 52242 USA

The current work develops a physics-based model for twisted and coiled artificial muscles (TCAMs) using the extended Cosserat theory of rods. These artificial muscles are lightweight and low-cost, generating a high power-to-weight ratio. They produce tensile forces up to 12 600 times their own weight, closely mimicking the functionality of biological muscles. The contraction of these muscles is driven by the anisotropic volume expansion of their twisted fibers, induced by deformation of the fibers' cross-section. Unlike prior models, this study implements the extended Cosserat theory, which models not only rigid rotations (like standard Cosserat theory) but also planar anisotropic deformation of the TCAMs' cross-section. The static deformation and dynamic motion of TCAMs are formulated herein. The governing equations for the bulk deformation of TCAMs are derived through standard Cosserat rod theory, while a continuum mechanics approach is utilized to model the cross-sectional deformation. The Bernstein polynomial method is applied to discretize the continuous formulations, enabling numerical solutions to the problem. Experimental datasets are used for evaluation of the models.

关键词： physics-based modeling extended Cosserat theory of rods continuum mechanics soft robotics twisted and coiled artificial muscles (TCAMs) Bernstein polynomials

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Model-Based Capacitive Touch Sensing in soft robotics: Achieving Robust Tactile Interactions for Artistic Applications

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IEEE robotics AND AUTOMATION LETTERS 2025年第5期10卷 4596-4603页

作者： Silva-Plata, Carolina Rosel, Carlos Cangan, Barnabas Gavin Alagi, Hosam Hein, Bjoern Katzschmann, Robert K. Fernandez, Ruben Mojtahedi, Yosra Navarro, Stefan Escaida Univ OHiggins Inst Ciencias Ingn Rancagua Chile Univ Chile Dept Deingn Mecan Santiago Chile Swiss Fed Inst Technol Soft Robot Lab SRL D MAVT CH-8092 Zurich Switzerland Proxception GmbH Karlsruhe 76199 Germany Univ Appl Sci Karlsruhe Inst Robot & Autonomous Syst IRAS D-76133 Karlsruhe Germany Univ Chile Dept Ingn Mecan Santiago Chile

In this letter, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA framework, contact detection is achieved for arbitrary shapes. Furthermore, the implementation of the capacitive touch technology presented here is selectively sensitive to human touch (conductive objects), while it is largely unaffected by the deformations created by the pneumatic actuation of our soft robot. Multi-touch interactions are also possible. We evaluated our approach with an organic soft robotics sculpture that was created by a visual artist. In particular, we evaluate that the touch localization capabilities are robust under the deformation of the device. We discuss the potential this approach has for the arts and entertainment as well as other domains.

关键词： Sensors Robot sensing systems soft robotics Deformation Human-robot interaction Skin Force Tactile sensors Shape Capacitance soft sensors and actuators soft robot applications modeling control and learning for soft robots

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Electrically Driven, Bioluminescent Compliant Devices for soft robotics

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ACS APPLIED MATERIALS & INTERFACES 2025年第7期17卷 11248-11258页

作者： Kusama, Kengo Oishi, Atsuro Ueno, Hitoshi Yoshimi, Akihide Nagase, Miki Shintake, Jun Univ Electrocommun Dept Mech & Intelligent Syst Engn Tokyo 1828585 Japan Kyorin Univ Sch Med Dept Anat Tokyo 1810004 Japan Natl Canc Ctr Div Canc RNA Res Res Inst Tokyo 1040045 Japan

soft robotics, a research field wherein robots are fabricated from compliant materials, has sparked widespread research interest because of its potential applications in a variety of scenarios. In soft robots, luminescence is an important functionality for communication and information transmission, and it is typically achieved through electroluminescence, which relies on synthetic substances activated by external electric sources, such as batteries. This paper focuses on the use of luciferase, a biologically derived luminescent enzyme, as a luminescent material. Bioluminescence, which is triggered by the luciferin-luciferase reaction, is highly energy-efficient, nontoxic, and eco-friendly. In this regard, a mammalian cell-derived secreted luciferase bioluminescent liquid was developed. This bioluminescent liquid is strongly bright, stable, freezable, and scalable for use as a soft robotic material. To investigate the applicability of this bioluminescent liquid to soft robotics, it was incorporated as an electrode in electrically driven soft actuators, sensors, and robots. Specifically, dielectric elastomer sensors (DESs) and dielectric elastomer actuators (DEAs) were fabricated and characterized using established fabrication processes. The resistivity of the bioluminescent liquid was found to be 448.1 Omegacm. When the DES was subjected to uniaxial strain, it exhibited a linear response and large deformation of up to 200% strain, with a simultaneous luminance change of 27%. The DEA displayed an areal strain of 46.0% and a luminance change of 31% at an applied voltage of 3.4 kV. The waterproof bending DEA generated a tip angle of 21.8 degrees at 10 kV and was applied to a jellyfish robot that could swim in water at a speed of 2.1 mm/s. The experimental results demonstrated the successful operation of these devices, validating the concept of energy-efficient, safe, and environmentally friendly bioluminescent soft robots.

关键词： soft robotics dielectric elastomers bioluminescence biohybrid BRET

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3D-Printed Electrohydrodynamic Pump and Development of Anti-Swelling Organohydrogel for soft robotics

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ADVANCED MATERIALS 2025年第7期37卷 e2415210页

作者： Xin, Yangyang Zhou, Xinran Tan, Ming Rui Joel Chen, Shaohua Huang, Peiwen Jiang, Yawei Wu, Wenting Gao, Dace Lv, Jian Magdassi, Shlomo Lee, Pooi See Nanyang Technol Univ Sch Mat Sci & Engn 50 Nanyang Ave Singapore 639798 Singapore Singapore HUJ Alliance Res & Enterprise SHARE Smart Grippers Soft Robot SGSR Campus Res Excellence & Technol Enterprise CREATE Singapore 138602 Singapore Hebrew Univ Jerusalem Inst Chem Casali Ctr Appl Chem Ctr Nanosci & Nanotechnol IL-9190401 Jerusalem Israel

This study introduces advancements in electrohydrodynamic (EHD) pumps and the development of a 3D-printable anti-swelling organohydrogel for soft robotics. Using digital light processing (DLP)technology, precise components with less than 1% size variation are fabricated, enabling a unique manifold pump array. This design achieves an output pressure of 90.2 kPa-18 times higher than traditional configurations-and a flow rate of 800 mL min-1, surpassing previous EHD pumps. To address swelling issues in dielectric liquids, a novel organohydrogel is developed with Young's modulus of 0.33 MPa, 300% stretchability, and a swelling ratio under 10%. Its low swelling is attributed to the shield effect and edge length confinement effect. This durable material ensures consistent pump performance under mechanical stresses like bending and twisting, crucial for dynamic soft robotic environments. These innovations significantly improve EHD pump efficiency and reliability, expanding their potential applications in soft robotics, bioengineering, and vertical farming.

关键词： 3D-printable organohydrogel anti-swelling materials digital light processing (DLP) electrohydrodynamic (EHD) pumps soft robotics

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Photo-responsive superhydrophobic films for soft robotics: A new approach to remote actuation and multifunctional performance

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CHEMICAL ENGINEERING JOURNAL 2025年 506卷

作者： Wang, Jiaying Zhang, Yue Gu, Youming Jing, Zhimin Pan, Liang Ju, Jaehyung Neogi, Arup Wang, Zhiming Ludong Univ Sch Integrated Circuits Yantai 264025 Peoples R China Univ Elect Sci & Technol China Inst Fundamental & Frontier Sci Chengdu 610054 Peoples R China Shanghai Jiao Tong Univ Univ Michigan Joint Inst Shanghai Peoples R China

Photo-responsive soft materials for robotics have the unique advantage of being remotely actuated noninvasively with a fast response without any mechanical force. High sensitivity and low drive power are essential for the next generation of photo-actuated soft robots. The incorporation of the photothermal superhydrophobic effect into robots not only enhances their maneuverability in water but also confers self-cleaning characteristics and resistance to acid and alkali corrosion. This work reports a soft robot with large deformation under laser irradiation, which is prepared with TiN@Polydimethylsiloxane-low density polyethylene (TiN@PDMS-LDPE) superhydrophobic films, which can be remotely transformed into a flat surface using a NIR laser (150 mW & sdot;cm- 2). The high thermal sensitivity of the material induces a deformation angle approaching 187 degrees within four seconds. The contact angle (CA) of the TiN@PDMS-LDPE photo-responsive film approached 162 degrees under a corrosive environment and for long-term photo-induced deformation cycles. The TiN@PDMS-LDPE photo-responsive structure mimicking a soft robot has been successfully implemented for multifunctional applications such as linear motion, auto-actuation on fluid surfaces, manipulation of fluid direction, and deformable robotic arms. This work broadens the applicability of superhydrophobic photo-responsive soft matter for robotics relevant to microfluidics, amphibian vehicles, waterproof mechanical grippers, and artificial biomimetic membranes.

关键词： Photo-responsive Reversible deformation Superhydrophobic soft robotics Droplet manipulation

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A Review on Recent Trends of Bioinspired soft robotics: Actuators, Control Methods, Materials Selection, Sensors, Challenges, and Future Prospects

ADVANCED INTELLIGENT SYSTEMS

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ADVANCED INTELLIGENT SYSTEMS 2025年第3期7卷

作者： Sarker, Abhirup Ul Islam, Tamzid Islam, Md. Robiul Rajshahi Univ Engn & Technol Dept Mechatron Engn Rajshahi 6204 Bangladesh

Bioinspired soft robotics is an emerging field that aims to develop flexible and adaptive robots inspired by the movement and capabilities of biological organisms. This review article examines recent advances in materials, actuation mechanisms, sensors, and control strategies and discusses the challenges and future prospects of bioinspired soft robotics. Key innovations highlighted include pneumatic, elastomer actuators, variable-length shape memory alloy tendons, closed-loop control with soft sensors, and the incorporation of soft materials including shape memory polymers and conductive composites. Challenges in soft robotics such as achieving complex motion control, incorporating feedback systems, modeling soft material dynamics, and replicating biological muscle efficiency with artificial muscles are also discussed. Promising future directions are explored including the integration of biodegradable materials, machine learning-based control algorithms, and leveraging data-driven techniques for modeling and control. Building on progress in multi-functional materials, manufacturing techniques, and bioinspired design principles, soft robots hold considerable promise for expanding robot capabilities, enhancing versatility and adaptability, enabling applications from wearable assistive devices to search and rescue operations. This review provides a holistic perspective encompassing key drivers propelling innovations in the vibrant field of bioinspired soft robotics. This article reviews the current state of bioinspired soft robotics. The article discusses soft actuators, soft sensors, materials selection, and control methods used in bioinspired soft robotics. It also highlights the challenges and future prospects of this *** (c) 2024 WILEY-VCH GmbH

关键词： bioinspired control methods materials selection reinforcement learning soft actuators soft robotics soft sensors

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Magnetorheological Fluid for Adaptive soft robotics

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IEEE robotics AND AUTOMATION LETTERS 2025年第1期10卷 620-627页

作者： Li, Lin Sun, Yunquan Gong, Yi Tong, Qi Qi, Lizhe Fudan Univ Acad Engn & Technol Shanghai 200433 Peoples R China Tongji Univ Informat Off Shanghai 200092 Peoples R China Fudan Univ Dept Mat Sci Shanghai 200433 Peoples R China Fudan Univ Dept Aeronaut & Astronaut Shanghai 200433 Peoples R China

soft robotics, renowned for its robust adaptability to complex environments, holds great promise for a wide array of applications. Among the various actuation methods, magnetic fields stand out as particularly advantageous for soft robotics due to their ability to enable remote control and their biocompatibility. Current research in magnetic soft robots primarily centers on magnetic elastomers, which possess a certain load-bearing capacity and exhibit desired motions. However, these robots often lack the adaptability required to function effectively in diverse environments. Here we introduce an untethered Magnetorheological Fluid robot (MRF robot) that employs an innovative approach by encapsulating MRF within an elastic membrane. This design not only preserves the fluidity of the MRF, thereby ensuring environmental adaptability, but also provides the MRF robots with structural integrity when exposed to magnetic fields, thereby enhancing their load-bearing capabilities. The proposed MRF robot showcases its ability to navigate through narrow tunnels, manipulate and operate soft or complex objects. These results hold significant potential for inspiring versatile applications, such as the removal of foreign objects in biological systems via remote control, thereby potentially advancing medical procedures.

关键词： Robots Magnetic fields Magnetic tunneling Magnetic hysteresis soft magnetic materials Magnetic levitation Shape Wrapping Solids Navigation Finite element simulation magnetic actuation magnetorheological fluid (MRF) soft robotics

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