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Journal articles on the topic 'Robots souples en silicone'

Author: Grafiati

Published: 22 February 2025

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1

Azouz, Naoufel, Madeleine Pascal, and Alain Combescure. "Application de la MEF à la modélisation dynamique des robots souples." Revue Européenne des Éléments Finis 7, no. 7 (1998): 763–91. http://dx.doi.org/10.1080/12506559.1998.10511340.

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2

Lin, Hao, Yihui Chen, and Wei Tang. "Soft Electrohydraulic Bending Actuators for Untethered Underwater Robots." Actuators 13, no. 6 (2024): 214. http://dx.doi.org/10.3390/act13060214.

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Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and safety than rigid robots. Among them, the soft actuator is the core component to power the soft robot. Here, we propose a class of soft electrohydraulic bending actuators suitable for underwater robots, which realize the bending motion of the actuator by squeezing the working liquid with an electric field. The actuator consists of a silicone rubbe

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3

Wang, Jie, Haoyu Zhou, Yong Gao, et al. "The Characterization of Silicone-Tungsten-Based Composites as Flexible Gamma-Ray Shields." Materials 14, no. 20 (2021): 5970. http://dx.doi.org/10.3390/ma14205970.

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Robots are very essential for modern nuclear power plants to monitor equipment conditions and eliminate accidents, allowing one to reduce the radiations on personnel. As a novel robot, a soft robot with the advantages of more degrees of freedom and abilities of continuously bending and twisting has been proposed and developed for applications in nuclear power industry. Considering the radiation and high-temperature environment, the overall performance improvement of the flexible materials used in the soft nuclear robot, such as the tensile property and gamma-ray shielding property, is an impor

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García-Samartín, Jorge Francisco, Adrián Rieker, and Antonio Barrientos. "Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm." Actuators 13, no. 1 (2024): 36. http://dx.doi.org/10.3390/act13010036.

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Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control methods. This research is centred on the design, fabrication, and control of a pneumatic soft robot. The principal objective is to develop a modular soft robot featuring multiple segments, each one with three degrees of freedom. This yields a tubular structure with five independent degrees of freedom, enabling motion across three spatial dimensions. Phy

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Sun, Hao, Bin Cheng, Ning Yang Wang, and Xiao Ping Chen. "A Preliminary Study of the HPN Robot." Applied Mechanics and Materials 575 (June 2014): 726–30. http://dx.doi.org/10.4028/www.scientific.net/amm.575.726.

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Soft robots are robots made of soft materials and actuators. Previously we proposed the HPN (Honeycomb PneuNets) Robot, where PneuNets were placed as actuators into honeycomb shaped elastomer. In this paper, we present some progress of this effort. A random search algorithm is applied to plan the obstacle-avoid movements of an HPN robot. We test it through several cases, and the results showed that the algorithm can work effectively. We introduce an HPN robot prototype, which is made of RTV-2 silicone rubber. Preliminary experiments showed that some good expansion rate and flexibility can be a

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Marzi, Christian, Nikola Fischer, and Franziska Mathis-Ullrich. "Biocompatible Soft Material Actuator for Compliant Medical Robots." Current Directions in Biomedical Engineering 7, no. 1 (2021): 58–62. http://dx.doi.org/10.1515/cdbme-2021-1013.

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Abstract Robots from material-based actuators offer high potential for small-scale robots with abilities hardly achievable by classical methods like electric motors. Besides excellent scaling to minimally invasive systems, allowing for omission of metallic components, such robots can be applied in imaging modalities such as MRI or CT. To allow for higher accessibility in this field of research, a facile method for fabrication of such soft actuators was developed. It comprises only two materials: graphene oxide and silicone elastomer. The facile fabrication method does not require specialized e

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Behkam, Bahareh, and Metin Sitti. "Design Methodology for Biomimetic Propulsion of Miniature Swimming Robots." Journal of Dynamic Systems, Measurement, and Control 128, no. 1 (2005): 36–43. http://dx.doi.org/10.1115/1.2171439.

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Miniature and energy-efficient propulsion systems hold the key to maturing the technology of swimming microrobots. In this paper, two new methods of propulsion inspired by the motility mechanism of prokaryotic and eukaryotic microorganisms are proposed. Hydrodynamic models for each of the two methods are developed, and the optimized design parameters for each of the two propulsion modes are demonstrated. To validate the theoretical result for the prokaryotic flagellar motion, a scaled-up prototype of the robot is fabricated and tested in silicone oil, using the Buckingham PI theorem for scalin

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Condino, Sara, Kanako Harada, Nicola Ng Pak, Marco Piccigallo, Arianna Menciassi, and Paolo Dario. "Stomach Simulator for Analysis and Validation of Surgical Endoluminal Robots." Applied Bionics and Biomechanics 8, no. 2 (2011): 267–77. http://dx.doi.org/10.1155/2011/583608.

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A testing environment that imitates gastric geometry and contractile activity is necessary to analyse and validate endoluminal surgical robotic devices developed for gastric pathologies. To achieve this goal, a silicone stomach model and a mechanical setup to simulate gastric contractile motion were designed and fabricated. The developed stomach simulator was validated and its usefulness was demonstrated by means of internal pressure measurements and self-assembly tests of mock-ups of capsule devices. The results demonstrated that the stomach simulator is helpful for quantitative evaluation of

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9

Chiu, Wan-Ting, Yui Watanabe, Masaki Tahara, Tomonari Inamura, and Hideki Hosoda. "Investigations of Shape Deformation Behaviors of the Ferromagnetic Ni–Mn–Ga Alloy/Porous Silicone Rubber Composite towards Actuator Applications." Micromachines 14, no. 8 (2023): 1604. http://dx.doi.org/10.3390/mi14081604.

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Ferromagnetic shape memory alloys (FSMAs), which are potential candidates for future technologies (i.e., actuators in robots), have been paid much attention for their high work per volume and rapid response as external stimulation, such as a magnetic field, is imposed. Among all the FSMAs, the Ni–Mn–Ga-based alloys were considered promising materials due to their appropriate phase transformation temperatures and ferromagnetism. Nevertheless, their intrinsic embrittlement issue and sluggish twin motion due to the inhibition of grain boundaries restrict their practicability. This study took adva

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Li, Junfeng, Songyu Chen, and Minjie Sun. "Design and fabrication of a crawling robot based on a soft actuator." Smart Materials and Structures 30, no. 12 (2021): 125018. http://dx.doi.org/10.1088/1361-665x/ac2e1b.

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Abstract Inspired by biological systems, soft crawling robots provide unique advantages in terms of resilience and adaptive shaping during robotic motion. However, soft robots actuated by motors and pumps are usually heavy, noisy and bulky. In this paper, based on the principle of liquid-vapor changes of ethanol, a novel soft crawling robot that demonstrates more silent actuation and lighter weight compared with other robots is proposed. To increase the crawling speed of the robot, silicone mixed with liquid metal with a volume ratio of 20% is used to fabricate the actuators. The deformation o

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11

Wu, Huaqing, Yutong Han, Xinyu Chen, et al. "Design, Fabrication, and Characterization of a Novel Crawling Pneumatic Soft Robot." Automation 6, no. 1 (2025): 7. https://doi.org/10.3390/automation6010007.

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Soft robots have shown great application potential in human–computer interaction, scientific exploration, and biomedical fields. However, they generally face issues like poor load capacity. Inspired by the propagation and movement mechanisms of ocean waves, this study proposes a novel type of pneumatically driven crawling soft robot. An automated pneumatic drive system was first constructed for driving and controlling the crawling soft robot, and then the soft robot body was made using additive manufacturing and silicone molding. Experimental testing of the robot’s performance revealed that it

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Xing, Yu, Lei Liu, Chao Liu, et al. "Mechanical Deformation Analysis of a Flexible Finger in Terms of an Improved ANCF Plate Element." Machines 10, no. 7 (2022): 518. http://dx.doi.org/10.3390/machines10070518.

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In recent years, flexible continuum robots have been substantially developed. Absolute nodal coordinates formulation (ANCF) gives a feasible path for simulating the behavior of flexible robots. However, the model of finger-shaped robots is often regarded as a cylinder and characterized by a beam element. Obviously, this is short of characterizing the geometrical feature of fingers in detail, especially under bending conditions. Additionally, for the lower-order plate element, it is hard to characterize the bending behavior of the flexible finger due to fewer nodes; a higher-order plate element

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Jyothi, Mrs N. Krishna. "Plucking Flowers using Soft Robot." International Journal for Research in Applied Science and Engineering Technology 11, no. 11 (2023): 575–79. http://dx.doi.org/10.22214/ijraset.2023.56490.

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Abstract: Soft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of complaint materials, instead of rigid links. In contrast to the rigid-bodied robots built from metals, ceramics, and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans. The main objective of this project is to pluck flowers using a soft robot. The proposed system is designed to provide gentle manipulation of flowers in a horticultural setting. The soft robot is composed of flexible and deformable materials, such

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Gao, Hang, James Lynch, and Nick Gravish. "Soft Molds with Micro-Machined Internal Skeletons Improve Robustness of Flapping-Wing Robots." Micromachines 13, no. 9 (2022): 1489. http://dx.doi.org/10.3390/mi13091489.

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Mobile millimeter and centimeter scale robots often use smart composite manufacturing (SCM) for the construction of body components and mechanisms. The fabrication of SCM mechanisms requires laser machining and laminating flexible, adhesive, and structural materials into small-scale hinges, transmissions, and, ultimately, wings or legs. However, a fundamental limitation of SCM components is the plastic deformation and failure of flexures. In this work, we demonstrate that encasing SCM components in a soft silicone mold dramatically improves the durability of SCM flexure hinges and provides rob

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15

Xie, Disheng, Zhuo Ma, Jianbin Liu, and Siyang Zuo. "Pneumatic Artificial Muscle Based on Novel Winding Method." Actuators 10, no. 5 (2021): 100. http://dx.doi.org/10.3390/act10050100.

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This paper proposes a pneumatic artificial muscle based on a novel winding method. By this method, the inflation of silicone tubes is transformed to the contraction of muscle, whereas the expansion keeps on one side of the muscle, i.e., the expansion of the actuator does not affect the object close to it. Hence the muscle is great for wearable robots without squeezing on the user’s skin. Through necessary simplification, the contraction ratio model and force model are proposed and verified by experiments. The prototype of this paper has a maximum contraction ratio of 35.8% and a maximum output

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Delda, Ray Noel Medina, Rex Balisalisa Basuel, Rodel Peralta Hacla, Dan William Carpiano Martinez, John-John Cabibihan, and John Ryan Cortez Dizon. "3D Printing Polymeric Materials for Robots with Embedded Systems." Technologies 9, no. 4 (2021): 82. http://dx.doi.org/10.3390/technologies9040082.

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The fabrication of robots and their embedded systems is challenging due to the complexity of the interacting components. The integration of additive manufacturing (AM) to robotics has made advancements in robotics manufacturing through sophisticated and state-of-the-art AM technologies and materials. With the emergence of 3D printing, 3D printing materials are also being considered and engineered for specific applications. This study reviews different 3D printing materials for 3D printing embedded robotics. Materials such as polyethylene glycol diacrylate (PEGDA), acrylonitrile butadiene styre

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17

Xu, Ruomeng, and Qingsong Xu. "Design of a Bio-Inspired Untethered Soft Octopodal Robot Driven by Magnetic Field." Biomimetics 8, no. 3 (2023): 269. http://dx.doi.org/10.3390/biomimetics8030269.

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Inspired by insects in nature, an increasing number of soft robots have been proposed to mimic their locomotion patterns. As a wireless actuation method, the magnetic actuation technique has been widely applied to drive soft magnetic robots for diverse applications. Although recent works on soft materials have stimulated the development of soft robots, it is challenging to achieve the efficient movement of soft robots for in vivo biomedical application. Inspired by centipede locomotion, a soft octopodal robot is designed in this paper. The robot is fabricated by mixing magnetic particles with

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18

Ribuan, Mohamed Najib, Shuichi Wakimoto, Koichi Suzumori, and Takefumi Kanda. "Omnidirectional Soft Robot Platform with Flexible Actuators for Medical Assistive Device." International Journal of Automation Technology 10, no. 4 (2016): 494–502. http://dx.doi.org/10.20965/ijat.2016.p0494.

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This manuscript explains the employment of flexible actuators to act as a soft robot and transporting agent to assist medical X-ray examinations. Although soft robots from silicone material can be transparence and a human compliance used as medical assistive devices, soft robots have some problems: they tend to be sluggish, have long and imprecise gait trajectories, and need their control parameters to be adjusted for motion diversion. A soft robot with omnidirectional locomotion has been created, one that has a combination of pneumatic rubber legs that form a soft robot platform and an associ

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Zhou, Zhangxi, Jianlin Yang, Mark Runciman, James Avery, Zhijun Sun, and George Mylonas. "A Tension Sensor Array for Cable-Driven Surgical Robots." Sensors 24, no. 10 (2024): 3156. http://dx.doi.org/10.3390/s24103156.

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Tendon–sheath structures are commonly utilized to drive surgical robots due to their compact size, flexibility, and straightforward controllability. However, long-distance cable tension estimation poses a significant challenge due to its frictional characteristics affected by complicated factors. This paper proposes a miniature tension sensor array for an endoscopic cable-driven parallel robot, aiming to integrate sensors into the distal end of long and flexible surgical instruments to sense cable tension and alleviate friction between the tendon and sheath. The sensor array, mounted at the di

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Shibata, Mizuho. "Fish-Like Robot with a Deformable Body Fabricated Using a Silicone Mold." Journal of Robotics and Mechatronics 34, no. 1 (2022): 40–46. http://dx.doi.org/10.20965/jrm.2022.p0040.

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This paper describes a fish-like robot with a deformable outer shell fabricated using a silicone mold. Based on the difference in the contact condition between the serial-link robot and the shell, the fabrication methods are classified into embedded type and skin type. This study analyzes the mechanical properties of embedded and skin-type underwater robots from the viewpoint of material mechanics. A low-torque motor can sufficiently drive the skin-type underwater robot if the friction coefficient and pressure between the skin and the link are appropriately selected. Furthermore, the outer ski

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Cho, Geun-Sik, and Yong-Jai Park. "Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status." Applied Sciences 11, no. 15 (2021): 6957. http://dx.doi.org/10.3390/app11156957.

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With the Fourth Industrial Revolution, many factories aim for efficient mass production, and robots are being used to reduce human workloads. In recent years, the field of gripper robots with a soft structure that can grip and move objects without damaging them has attracted considerable attention. This paper proposes a variable-stiffness soft gripper, based on previous designs, with an added silicone coating for increased friction and an EGaIn soft sensor for monitoring grip forces. The variable-stiffness structure used in this study was constructed by connecting soft structures to rigid stru

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Xue, Yun, and Chul-Hee Lee. "Inchworm Robots Utilizing Friction Changes in Magnetorheological Elastomer Footpads Under Magnetic Field Influence." Micromachines 16, no. 1 (2024): 19. https://doi.org/10.3390/mi16010019.

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The application of smart materials in robots has attracted considerable research attention. This study developed an inchworm robot that integrates smart materials and a bionic design, using the unique properties of magnetorheological elastomers (MREs) to improve the performance of robots in complex environments, as well as their adaptability and movement efficiency. This research stems from solving the problem of the insufficient adaptability of traditional bionic robots on different surfaces. A robot that combines an MRE foot, an electromagnetic control system, and a bionic motion mechanism w

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Sun, Xiyang, Akinao Nose, and Hiroshi Kohsaka. "A vacuum-actuated soft robot inspired by Drosophila larvae to study kinetics of crawling behaviour." PLOS ONE 18, no. 4 (2023): e0283316. http://dx.doi.org/10.1371/journal.pone.0283316.

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Peristalsis, a motion generated by the propagation of muscular contraction along the body axis, is one of the most common locomotion patterns in limbless animals. While the kinematics of peristalsis has been examined intensively, its kinetics remains unclear, partially due to the lack of suitable physical models to simulate the locomotion patterns and inner drive in soft-bodied animals. Inspired by a soft-bodied animal, Drosophila larvae, we propose a vacuum-actuated soft robot mimicking its crawling behaviour. The soft structure, made of hyperelastic silicone rubber, was designed to imitate t

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Herzog, Thomas, Georg Schnell, Carsten Tille, and Hermann Seitz. "Comparison of Conventional and Robotic Fused Filament Fabrication on Silicone Build Plates." Materials 15, no. 18 (2022): 6352. http://dx.doi.org/10.3390/ma15186352.

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The objective of this study is the investigation of the transferability of the material extrusion process from conventional to robotic fabrication on silicone build plates for use in Enhanced Multipoint Moulding with Additive Attachments. Therefore, the study is based on two series of experiments. The first series of tests used a conventional plant extended by a silicone construction platform. In comparison, a six-axis industrial robot was chosen to produce the test specimens in the second series of tests. The comparisons of adhesion strengths and relative shape deviations are used to validate

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Rusu, Dan Mihai, Olivia Laura Petrașcu, Adrian Marius Pascu, and Silviu Dan Mândru. "The Influence of Industrial Environmental Factors on Soft Robot Materials." Materials 16, no. 8 (2023): 2948. http://dx.doi.org/10.3390/ma16082948.

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This work aims to identify the effects that a series of environmental factors, specific to the industrial conditions, have on the materials in the structure of soft robots and, therefore, on soft robotics systems. The purpose is to understand the changes in the mechanical characteristics of silicone materials, with the aim of transferring soft robotics applications from the sphere of services in the industrial field. Distilled water, hydraulic oil, cooling oil, and UV rays are the environmental factors considered in which the specimens were immersed/exposed for 24 h according to ISO-62/2008. T

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Chiu, Wan-Ting, Motoki Okuno, Masaki Tahara, Tomonari Inamura, and Hideki Hosoda. "Fundamental Investigations of the Deformation Behavior of Single-Crystal Ni-Mn-Ga Alloys and Their Polymer Composites via the Introduction of Various Fields." Applied Sciences 13, no. 14 (2023): 8475. http://dx.doi.org/10.3390/app13148475.

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To meet the great requirements of future technologies, such as robots, single-crystal (SC) Ni-Mn-Ga alloys and their composites were designed and investigated in this study. Ferromagnetic shape memory alloys (FSMAs) are promising materials for applications in high-speed actuators, which are core components of robots; however, there are some issues of embrittlement and small deformation strain. Therefore, in this work, we first prepared SC Ni-Mn-Ga alloys for fundamental investigations of the shape deformations under the application of different fields (e.g., compressive and magnetic fields). S

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Ma, Bingyin, Mohammed Z. Shaqura, Robert C. Richardson, and Abbas A. Dehghani-Sanij. "A Study on Phase-Changing Materials for Controllable Stiffness in Robotic Joints." Robotics 11, no. 3 (2022): 66. http://dx.doi.org/10.3390/robotics11030066.

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This paper studies the viability of using a class of phase-changing materials for the design of controlled variable stiffness robotic joints which enable the design of robots that can operate in confined spaces. In such environments, robots need to be able to navigate in proximity or while in contact with their environment to reach one or more manipulated target. Joints with controllable stiffness can substantially enhance functionality of this class of robots where relatively higher joint stiffness is required to support the robot weight against gravity and low stiffness is desired when opera

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Joseph, Vincent Sebastian, Theo Calais, Thileepan Stalin, et al. "Silicone/epoxy hybrid resins with tunable mechanical and interfacial properties for additive manufacture of soft robots." Applied Materials Today 22 (March 2021): 100979. http://dx.doi.org/10.1016/j.apmt.2021.100979.

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29

Long, Fei, Gaojie Xu, Jing Wang, Yong Ren, and Yuchuan Cheng. "Variable Stiffness Conductive Composites by 4D Printing Dual Materials Alternately." Micromachines 13, no. 8 (2022): 1343. http://dx.doi.org/10.3390/mi13081343.

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Materials that can be designed with programmable properties and which change in response to external stimuli are of great importance in numerous fields of soft actuators, involving robotics, drug delivery and aerospace applications. In order to improve the interaction of human and robots, materials with variable stiffness are introduced to develop their compliance. A variable stiffness composite has been investigated in this paper, which is composed of liquid metals (LMs) and silicone elastomers. The phase changing materials (LMs) have been encapsulated into silicone elastomer by printing the

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30

Ruppel, Philipp, and Jianwei Zhang. "Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration." Sensors 24, no. 6 (2024): 1912. http://dx.doi.org/10.3390/s24061912.

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We present a thin and elastic tactile sensor glove for teaching dexterous manipulation tasks to robots through human demonstration. The entire glove, including the sensor cells, base layer, and electrical connections, is made from soft and stretchable silicone rubber, adapting to deformations under bending and contact while preserving human dexterity. We develop a glove design with five fingers and a palm sensor, revise material formulations for reduced thickness, faster processing and lower cost, adapt manufacturing processes for reduced layer thickness, and design readout electronics for imp

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31

Hu, Jinjin, Beizhi Chu, Xueqing Liu, et al. "Preparation of PANI/CuPc/PDMS Composite Elastomer with High Dielectric Constant and Low Modulus Assisted by Electric Fields." Polymers 16, no. 11 (2024): 1549. http://dx.doi.org/10.3390/polym16111549.

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Dielectric elastomer is a kind of electronic electroactive polymer, which plays an important role in the application of soft robots and flexible electronics. In this study, an all-organic polyaniline/copper phthalocyanine/silicone rubber (PANI/CuPc/PDMS) dielectric composite with superior comprehensive properties was prepared by manipulating the arrangement of filler in a polymer matrix assisted by electric fields. Both CuPc particles and PANI particles can form network structures in the PDMS matrix by self-assembly under electric fields, which can enhance the dielectric properties of the comp

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32

Albrecht, Andreas, Marco Bobinger, José Salmerón, et al. "Over-Stretching Tolerant Conductors on Rubber Films by Inkjet-Printing Silver Nanoparticles for Wearables." Polymers 10, no. 12 (2018): 1413. http://dx.doi.org/10.3390/polym10121413.

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The necessity to place sensors far away from the processing unit in smart clothes or artificial skins for robots may require conductive wirings on stretchable materials at very low-cost. In this work, we present an easy method to produce wires using only commercially available materials. A consumer grade inkjet printer was used to print a wire of silver nanoparticles with a sheet resistance below 1 Ω/sq. on a non-pre-strained sheet of elastic silicone. This wire was stretched more than 10,000 times and was still conductive afterwards. The viscoelastic behavior of the substrate results in a tem

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Prechtl, J., J. Kunze, G. Moretti, D. Bruch, S. Seelecke, and G. Rizzello. "Modeling and experimental validation of thin, tightly rolled dielectric elastomer actuators." Smart Materials and Structures 31, no. 1 (2021): 015008. http://dx.doi.org/10.1088/1361-665x/ac34be.

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Abstract Due to their large deformation, high energy density, and high compliance, dielectric elastomer actuators (DEAs) have found a number of applications in several areas of mechatronics and robotics. Among the many types of DEAs proposed in the literature, rolled DEAs (RDEAs) represent one of the most popular configurations. RDEAs can be effectively used as compact muscle-like actuators for soft robots, since they allow eliminating the need for external motors or compressors while providing at the same time a flexible and lightweight structure with self-sensing capabilities. To effectively

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Maestre, Juan Montes, Ronan Hinchet, Stelian Coros, and Bernhard Thomaszewski. "ToRoS: A Topology Optimization Approach for Designing Robotic Skins." ACM Transactions on Graphics 42, no. 6 (2023): 1–11. http://dx.doi.org/10.1145/3618382.

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Soft robotics offers unique advantages in manipulating fragile or deformable objects, human-robot interaction, and exploring inaccessible terrain. However, designing soft robots that produce large, targeted deformations is challenging. In this paper, we propose a new methodology for designing soft robots that combines optimization-based design with a simple and cost-efficient manufacturing process. Our approach is centered around the concept of robotic skins---thin fabrics with 3D-printed reinforcement patterns that augment and control plain silicone actuators. By decoupling shape control and

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Wang, Ning, Yu Zhang, Guofeng Zhang, Wenchuan Zhao, and Linghui Peng. "Development and Analysis of Key Components of a Multi Motion Mode Soft-Bodied Pipe Robot." Actuators 11, no. 5 (2022): 125. http://dx.doi.org/10.3390/act11050125.

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In order to enhance the environmental adaptability of peristaltic soft-bodied pipe robots, based on the nonlinear and hyperelastic characteristics of silicone rubber combined with the biological structure and motion characteristics of worms, a hexagonal prism soft-bodied bionic actuator is proposed. The actuator adopts different inflation patterns to produce different deformations, so that the soft-bodied robot can realize different motion modes in the pipeline. Based on the Yeoh binomial parameter silicone rubber constitutive model, the deformation analysis model of the hexagonal prism soft-b

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Yan, Zhibin, Yi Song, Rui Zhou, Liuwei Wang, Zhiliang Wang, and Zhendong Dai. "Facial Expression Realization of Humanoid Robot Head and Strain-Based Anthropomorphic Evaluation of Robot Facial Expressions." Biomimetics 9, no. 3 (2024): 122. http://dx.doi.org/10.3390/biomimetics9030122.

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The facial expressions of humanoid robots play a crucial role in human–computer information interactions. However, there is a lack of quantitative evaluation methods for the anthropomorphism of robot facial expressions. In this study, we designed and manufactured a humanoid robot head that was capable of successfully realizing six basic facial expressions. The driving force behind the mechanism was efficiently transmitted to the silicone skin through a rigid linkage drive and snap button connection, which improves both the driving efficiency and the lifespan of the silicone skin. We used human

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Liu, Cheng, Yitao Zhuang, Amir Nasrollahi, Lingling Lu, Mohammad Faisal Haider, and Fu-Kuo Chang. "Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach." Sensors 20, no. 10 (2020): 2830. http://dx.doi.org/10.3390/s20102830.

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Tactile sensing is paramount for robots operating in human-centered environments to help in understanding interaction with objects. To enable robots to have sophisticated tactile sensing capability, researchers have developed different kinds of electronic skins for robotic hands and arms in order to realize the ‘sense of touch’. Recently, Stanford Structures and Composites Laboratory developed a robotic electronic skin based on a network of multi-modal micro-sensors. This skin was able to identify temperature profiles and detect arm strikes through embedded sensors. However, sensing for the st

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Mersch, Johannes, Najmeh Keshtkar, Henriette Grellmann, et al. "Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control." Materials 15, no. 2 (2022): 520. http://dx.doi.org/10.3390/ma15020520.

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Soft actuators are a promising option for the advancing fields of human-machine interaction and dexterous robots in complex environments. Shape memory alloy wire actuators can be integrated into fiber rubber composites for highly deformable structures. For autonomous, closed-loop control of such systems, additional integrated sensors are necessary. In this work, a soft actuator is presented that incorporates fiber-based actuators and sensors to monitor both deformation and temperature. The soft actuator showed considerable deformation around two solid body joints, which was then compared to th

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Johnson, Alissa Claire, Alice S. Fontaine, Emily Adair Beeman, and James H. Pikul. "Silicone Oil Emulsions As Oxygen Enriched Flow Battery Catholytes That Enable Fully Submerged Air Cathodes." ECS Meeting Abstracts MA2022-01, no. 38 (2022): 1665. http://dx.doi.org/10.1149/ma2022-01381665mtgabs.

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In biology, multifunctional interconnected systems provide increased system-level efficiency. Animal circulatory systems, for example, transport oxygen and nutrients while simultaneously regulating temperature and maintaining homeostasis. Inspired by biology, recent work has shown how multifunctional fluids can increase the total energy density of a robotic fish by both storing electrochemical energy and transmitting mechanical work to hydraulic actuators1. Despite the low energy density of the zinc-iodide electrolytes, this multifunctional approach increased the robot energy density by 4X com

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Nagase, Jun-Ya, Norihiko Saga, Toshiyuki Satoh, and Koichi Suzumori. "Development and control of a multifingered robotic hand using a pneumatic tendon-driven actuator." Journal of Intelligent Material Systems and Structures 23, no. 3 (2011): 345–52. http://dx.doi.org/10.1177/1045389x11420590.

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Because of the rapid aging of the Japanese population and the acute decrease in young workers in Japan, robots are anticipated for use in performing rehabilitation and daily domestic tasks for nursing and welfare services. Use in environments with humans, safety, and human affinity are particularly important robot hand characteristics. Such robot hands must have flexible movements and be lightweight. Under these circumstances, this study specifically addresses the expansion of a silicone rubber, tendon-driven actuator, which has been developed using a pneumatic balloon. A multifingered robotic

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Matsuda, R., Y. Isano, K. Ueno, and H. Ota. "Highly stretchable and sensitive silicone composites with positive piezoconductivity using nickel powder and ionic liquid." APL Bioengineering 7, no. 1 (2023): 016108. http://dx.doi.org/10.1063/5.0124959.

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Conductive rubber composites are mixtures of stretchable rubber and conductive materials. They can achieve conductivity and high elasticity and are used in soft robots and wearable devices. In general, these composites exhibit high electrical resistance owing to their bonds between the fillers breaking during elongation. However, there are several types of composite materials that decrease resistance by increasing contact between the conductive materials during elongation through optimization of the shape and size of the filler. These composite materials can rapidly decrease the resistance and

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Du, Tianhao, Lechen Sun, and Jingjing Wan. "A Worm-like Crawling Soft Robot with Pneumatic Actuators Based on Selective Laser Sintering of TPU Powder." Biomimetics 7, no. 4 (2022): 205. http://dx.doi.org/10.3390/biomimetics7040205.

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Soft robotics is one of the most popular areas in the field of robotics due to advancements in bionic technology, novel materials, and additive manufacturing. Existing soft crawling robots with specific structures have a single locomotion mode and cannot complete turning. Moreover, some silicone-based robots lack stiffness, leading to unstable movements especially when climbing walls, and have limited environmental adaptability. Therefore, in this study, a novel crawling soft robot with a multi-movement mode and high environmental adaptability is proposed. As the main structure of the robot, p

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Wang, Jie, Tengfei Zheng, Yong Gao, et al. "Preparation and properties characterization of a novel soft robots partially made of silicone/W-based composites for gamma ray shielding." Progress in Nuclear Energy 130 (December 2020): 103531. http://dx.doi.org/10.1016/j.pnucene.2020.103531.

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Sui, Xin, Mingzhu Lai, Jian Qi, et al. "A Fluid-Driven Loop-Type Modular Soft Robot with Integrated Locomotion and Manipulation Capability." Biomimetics 8, no. 5 (2023): 390. http://dx.doi.org/10.3390/biomimetics8050390.

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In nature, some animals, such as snakes and octopuses, use their limited body structure to conduct various complicated tasks not only for locomotion but also for hunting. Their body segments seem to possess the intelligence to adapt to environments and tasks. Inspired by nature, a modular soft robot with integrated locomotion and manipulation abilities is presented in this paper. A soft modular robot is assembled using several homogeneous cubic pneumatic soft actuator units made of silicone rubber. Both a mathematical model and backpropagation neural network are established to describe the non

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Liu, Zhe, Yuqi Xiong, Jinghao Hao, et al. "Liquid Crystal-Based Organosilicone Elastomers with Supreme Mechanical Adaptability." Polymers 14, no. 4 (2022): 789. http://dx.doi.org/10.3390/polym14040789.

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Elastomers with supreme mechanical adaptability where the increasing stress under continuous deformation is significantly inhibited within a large deformation zone, are highly desired in many areas, such as artificial muscles, flexible and wearable electronics, and soft artificial-intelligence robots. Such system comprises the advantages of recoverable elasticity and internal compensation to external mechanical work. To obtain elastomer with supreme mechanical adaptability, a novel liquid crystal-based organosilicon elastomer (LCMQ) is developed in this work, which takes the advantages of reve

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Muratbakeev, Eduard, Yuriy Kozhubaev, Yao Yiming, and Shehzad Umar. "Symmetrical Modeling of Physical Properties of Flexible Structure of Silicone Materials for Control of Pneumatic Soft Actuators." Symmetry 16, no. 6 (2024): 750. http://dx.doi.org/10.3390/sym16060750.

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With the ongoing advancements in material technology, the domain of soft robotics has garnered increasing attention. Soft robots, in contrast to their rigid counterparts, offer superior adaptability to the environment, enhanced flexibility, and improved safety, rendering them highly suitable for complex application scenarios such as rescue operations and medical interventions. In this paper, a new type of pneumatic software actuator is proposed. The actuator adopts a combination of a soft structure and pneumatic control, which is highly flexible and versatile. By using the flow of gas inside t

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Wang, Fei, and Xiaoming Tao. "Carbon/Silicone Nanocomposite-Enabled Soft Pressure Sensors with a Liquid-Filled Cell Structure Design for Low Pressure Measurement." Sensors 21, no. 14 (2021): 4732. http://dx.doi.org/10.3390/s21144732.

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In the fields of humanoid robots, soft robotics, and wearable electronics, the development of artificial skins entails pressure sensors that are low in modulus, high in sensitivity, and minimal in hysteresis. However, few sensors in the literature can meet all the three requirements, especially in the low pressure range (<10 kPa). This article presents a design for such pressure sensors. The bioinspired liquid-filled cell-type structural design endows the sensor with appropriate softness (Young’s modulus < 230 kPa) and high sensitivity (highest at 0.7 kPa−1) to compression forces below 0

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Zhu, Xinping, Hanwei Zhou, Xiaoxiao Zhu, and Kundong Wang. "A Novel Caterpillar-Inspired Vascular Interventional Robot Navigated by Magnetic Sinusoidal Mechanism." Actuators 13, no. 10 (2024): 412. http://dx.doi.org/10.3390/act13100412.

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Magnetic soft continuum robots (MSCRs) hold significant potential in fulfilling the requirements of vascular interventional robots, enabling safe access to difficult-to-reach areas with enhanced active maneuverability, shape morphing capabilities, and stiffness variability. Their primary advantage lies in their tether-less actuation mechanism that can safely adapt to complex vessel structures. Existing commercial MSCRs primarily employ a magnetic-pull strategy, which suffers from insufficient driving force and a single actuation strategy, limiting their clinical applicability. Inspired by the

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NUMAJIRI, Hiroshi, and Akitoshi ITOH. "2A1-A20 Development of Biomimetic Actuator for Dancing and Jumping Robot : Development of the tendon structure for robots using silicone rubber." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (2010): _2A1—A20_1—_2A1—A20_4. http://dx.doi.org/10.1299/jsmermd.2010._2a1-a20_1.

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Ning, Kewei, and Hideyuki Sawada. "A wireless bionic soft robotic fish using shape-memory alloy actuators." IAES International Journal of Robotics and Automation (IJRA) 11, no. 4 (2022): 278. http://dx.doi.org/10.11591/ijra.v11i4.pp278-287.

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<span lang="EN-US">In this study, we present the construction of a wireless bionic soft robotic fish that has a silicone tail and uses shape-memory alloys (SMAs) as actuators. Even though there have been a lot of recent advancements in the field of soft robotics, the use of SMAs as actuators for soft robots is still not something that is investigated very often. In the course of this research, we plan to work toward the creation of a realistic bionic fish robot that possesses a high level of mobility in the water, in addition to being light enough, strong enough, and flexible enough. The

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