Themed collection Soft Robotics

26 items
Editorial

Introduction to Soft Robotics

Anand Kumar Mishra, Zhihong Nie, Jamie Paik and Robert Shepherd introduce the Soft Matter themed issue on Soft Robotics.

Graphical abstract: Introduction to Soft Robotics
From the themed collection: Soft Robotics
Review Article

Soft robot-enabled controlled release of oral drug formulations

The creation of highly effective oral drug delivery systems (ODDSs) has long been the main objective of pharmaceutical research.

Graphical abstract: Soft robot-enabled controlled release of oral drug formulations
From the themed collection: Soft Robotics
Review Article

Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications

Compared to traditional rigid-bodied robots, soft robots are constructed using physically flexible/elastic bodies and electronics to mimic nature and enable novel applications in industry, healthcare, aviation, military, etc.

Graphical abstract: Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications
From the themed collection: Soft Robotics
Review Article

Multicomponent and multifunctional integrated miniature soft robots

The seamless integration of multiple units greatly enhances the functionalities and adaptability of miniature soft robots. This review delivers the recent progress in multicomponent and multifunctional integrated miniature soft robots.

Graphical abstract: Multicomponent and multifunctional integrated miniature soft robots
From the themed collection: Soft Robotics
Review Article

Electrically driven liquid crystal network actuators

Electrically driven liquid crystal network (LCN) actuators, combining the merits of electrical modulation and the great actuation properties of LCN, have been advanced towards practical applications, new robotic functions and advanced motion control.

Graphical abstract: Electrically driven liquid crystal network actuators
From the themed collection: Soft Robotics
Communication

Harnessing osmotic swelling stress for robust hydrogel actuators

The swelling of a hydrogel can exert enormous osmotic swelling stress, which can be harnessed to achieve robust hydrogel actuators. A hydrogel jack that can lift a weight 2000 times its own weight is demonstrated.

Graphical abstract: Harnessing osmotic swelling stress for robust hydrogel actuators
From the themed collection: Soft Robotics
Paper

3D printable adhesive elastomers with dynamic covalent bond rearrangement

Soft 3D-printable adhesive elastomers with self-healing capabilities were formulated. These materials were 3D printed into complex structures and used to modify soft robots for shape-selective lifting.

Graphical abstract: 3D printable adhesive elastomers with dynamic covalent bond rearrangement
From the themed collection: Soft Robotics
Open Access Paper

Sensorless force and displacement estimation in soft actuators

We propose a novel sensorless estimation method for soft pneumatic actuators through injecting pressure oscillations and monitoring pressure response. We demonstrate this approach by sensing force and displacement without use of dedicated sensors.

Graphical abstract: Sensorless force and displacement estimation in soft actuators
From the themed collection: Soft Robotics
Paper

Magnetically induced stiffening for soft robotics

Stiffness modulation is paramount in the design of soft robotics and magnetorheological jamming beams, which combine magnetorheological fluid with scaffolding material, providing a novel method for achieving magnetically tunable stiffening ranges.

Graphical abstract: Magnetically induced stiffening for soft robotics
From the themed collection: Soft Robotics
Paper

Amorphous entangled active matter

Examining the properties of amorphous entangled systems through in silico simulations and in living aggregates of worm blobs, large-amplitude changes of the particle's shape improve the entanglement and tensile strength of the collective.

Graphical abstract: Amorphous entangled active matter
From the themed collection: Soft Robotics
Open Access Paper

Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors

We propose a neural architecture to make sense of the nonlinear relationship between the perceived intensity of the magnetic field and the shape of a continuum soft robot and improve efficiency by injecting priori knowledge from a kinematic model.

Graphical abstract: Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors
From the themed collection: Soft Robotics
Paper

Soft electrochemical bubble actuator with liquid metal electrode using an embodied hydrogel pneumatic source

Here, we report soft electrochemical systems that could enable pump-free pneumatic actuation. Besides, the electrochemical approach requires only a few volts to actuate, unlike dielectric actuators, which require ∼kV.

Graphical abstract: Soft electrochemical bubble actuator with liquid metal electrode using an embodied hydrogel pneumatic source
From the themed collection: Soft Robotics
Paper

Stretchable and conformable variable stiffness device through an electrorheological fluid

A thin, fully-soft, and stretchable variable stiffness device through electrorheological fluid was proposed, which could conform to complex surfaces in its inactive state, hang on it in its active state, and detach when the electric field is removed.

Graphical abstract: Stretchable and conformable variable stiffness device through an electrorheological fluid
From the themed collection: Soft Robotics
Open Access Paper

Modelling the compression of a soft ellipsoid fingertip

This paper describes an analytical formulation of the deformation of an ellipsoid soft membrane, applied to a purely mechanically driven haptic feedback system, in particular, to the membrane of the fingertip sensor.

Graphical abstract: Modelling the compression of a soft ellipsoid fingertip
From the themed collection: Soft Robotics
Paper

Effects of AC frequency on the capacitance measurement of hybrid response pressure sensors

E-skins consisting of soft pressure sensors are enabling technology for soft robots, bio-integrated devices, and deformable touch panels.

Graphical abstract: Effects of AC frequency on the capacitance measurement of hybrid response pressure sensors
From the themed collection: Soft Robotics
Paper

Motorized, untethered soft robots via 3D printed auxetics

We present a method of 3D printing handed shearing auxetics for scalable, motorized soft robotic actuators. The auxetics are assembled into multi-degree-of-freedom legs that enable fast, untethered locomotion over long operation times.

Graphical abstract: Motorized, untethered soft robots via 3D printed auxetics
From the themed collection: Soft Robotics
Paper

Plasticized liquid crystal networks and chemical motors for the active control of power transmission in mechanical devices

Orthogonal actuation for power and control in untethered small-scale machines is achieved with self-powered protein chemical motors and plasticized liquid crystal networks.

Graphical abstract: Plasticized liquid crystal networks and chemical motors for the active control of power transmission in mechanical devices
From the themed collection: Soft Robotics
Open Access Paper

A 3D printed hydrostatic skeleton for an earthworm-inspired soft burrowing robot

An earthworm-inspired soft-burrowing robot with a 3D-printed artificial hydrostatic skeleton.

Graphical abstract: A 3D printed hydrostatic skeleton for an earthworm-inspired soft burrowing robot
From the themed collection: Soft Robotics
Paper

X-ray scattering as an effective tool for characterizing liquid metal composite morphology

Liquid metal soft composite morphology is quantified through X-ray scattering and real-space image analysis, providing global-averaged particle size and size distributions for material design.

Graphical abstract: X-ray scattering as an effective tool for characterizing liquid metal composite morphology
From the themed collection: Soft Robotics
Open Access Paper

Stretchable reflective coating for soft optical waveguides and sensors

TiO2 particles are added into silicone matrices to develop highly reflective composite coatings. Coated soft optical waveguides and strain sensors demonstrate superior environmental light shielding, and tolerance to bending, folding, and indentation.

Graphical abstract: Stretchable reflective coating for soft optical waveguides and sensors
From the themed collection: Soft Robotics
Paper

Magnetic vitrimer-based soft robotics

We have developed a magnetic vitrimer-based soft robot that can pass through a confined space, dramatically change its configuration, self-heal without any contact, catch, secure and release a fast-moving object, and move along a planned path.

Graphical abstract: Magnetic vitrimer-based soft robotics
From the themed collection: Soft Robotics
Paper

Direct ink writing of tough, stretchable silicone composites

In this work, we report 3D printable soft composites that are simultaneously stretchable and tough.

Graphical abstract: Direct ink writing of tough, stretchable silicone composites
From the themed collection: Soft Robotics
Open Access Paper

3D printing of soft fluidic actuators with graded porosity

The InFoam method combines liquid rope coiling and regular plotting to fabricate structures softer than their original material and with graded porosity. This combination can be used to realize soft robotics structures such as soft fluidic actuators.

Graphical abstract: 3D printing of soft fluidic actuators with graded porosity
From the themed collection: Soft Robotics
Paper

Flexible and adhesive liquid-free ionic conductive elastomers toward human–machine interaction

The stretchable and adhesive liquid-free ionic conductive elastomers were developed and assembled into triboelectric nanogenerators for use as human–machine interactive keyboards.

Graphical abstract: Flexible and adhesive liquid-free ionic conductive elastomers toward human–machine interaction
From the themed collection: Soft Robotics
Paper

Real time high voltage capacitance for rapid evaluation of dielectric elastomer actuators

Dielectric elastomer actuators (DEAs) are soft electromechanical transducers for robotic applications. We report a method to continuously monitor high voltage capacitance during DEA actuation to directly measure the electrical energy consumption.

Graphical abstract: Real time high voltage capacitance for rapid evaluation of dielectric elastomer actuators
From the themed collection: Soft Robotics
Paper

3D printed linear soft multi-mode actuators expanding robotic applications

A new soft 3D printable elastomer allows for improvements to soft pneumatic actuators that can both expand and contract under different pressures. The actuators exhibit excellent performance metrics and are shown to be viable in soft mobile robots.

Graphical abstract: 3D printed linear soft multi-mode actuators expanding robotic applications
From the themed collection: Soft Robotics
26 items

About this collection

After decades of intensive research, soft robotics is not only pushing the boundary of conventional robotics but also accelerating the innovation of associated technologies. Soft robotic systems can closely mimic the complex and continuum motions of natural organisms with less manufacturing and control complexity than traditional robotics. Specifically, they show at least the following advantages over traditional robotics, including simplicity, lightweight and high compactness, infinite passive degrees of freedom, and high dexterity, agility, and adaptability, etc.

Before soft robotics become commonplace in our life, many challenges still remain. Typical ones include new material design, high-precision sensing and actuation, manufacturing, system reliability, and costs. To bring soft robots to the next level of performance, we need a tactical approach towards a well-stated goal. Guest Edited by Anand Mishra (Cornell University), Zhihong Nie (Fudan University), Jamie Paik (EPFL) and Rob Shepherd (Cornell University), this collection encompasses review and research articles relevant to the design, fabrication, and operation of soft robots.

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