Soft pneumatic actuators and motor-based mechanisms being concomitant with the cumbersome appendages have many challenges to making independent robotic system compact lightweight configuration. Meanwhile, shape memory shown a promising alternative solution in engineering applications ranging from artificial muscle aerospace industry. However, one of main limitations such systems is their inherent softness resulting small actuation force, which prevents them more effective applications. This...

The one-dimensional deformation of shape memory alloy (SMA) wires and springs can be implemented into different types functional structures with three-dimensional deformations. These classified based on the type structure how SMA element has been following categories: rigid mechanical joints, semi-rigid flexural hinges, elements externally attached to a soft structure, embedded structure. have wide range properties implementation requirements, they used produce variety robots motions....

A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable both two-way linear and turning movement has been proposed, developed, tested. The was divided into three functional parts based on the different functions inchworm: body, back foot, front foot. Shape memory alloy wires were embedded longitudinally in a polymer to imitate longitudinal muscle fibers that control abdominal contractions inchworm during locomotion. Each foot segments friction coefficients...

Nastic movements in plants that occur response to environmental stimuli have inspired many man-made shape-morphing systems. Tendril is an exemplification serving as a parasitic grasping component for the climbing by transforming from straight shape into coiled configuration via asymmetric contraction of internal stratiform plant tissues. Inspired tendrils, this study using three-dimensional (3D) printing approach developed class soft grippers with preprogrammed deformations being capable...

This work described a bioinspired soft robotic finger with variable bending length to conform objects different sizes by means of selectively varying the structural stiffness its segments. The basic design is shape memory alloy-based actuator embedded stiffness-varying structures serving as modifiable endoskeletons. structure composed polymer (SMP) Nichrome (Ni-Cr) wires heating elements. Joule SMP through Ni-Cr wire inducing phase change from glassy state rubbery enables stiff (E = 125.65...

Deployable structure composed of smart materials based actuators can reconcile its inherently conflicting requirements low mass, good shape adaptability, and high load-bearing capability. This work describes the fabrication deployable structures using soft composite combining a matrix with variable stiffness properties hinge-like movement through rigid skeleton. The hinge actuator has advantage being simple to fabricate, inexpensive, lightweight actuate. basic then be used form modules...

The stress-response strategy is one of the nature's greatest developments, enabling animals and plants to respond quickly environmental stimuli. One example Venus flytrap, which enables such a delicate plant perceive prey on insects at an imperceptible speed by their soft terminal lobes. Here, inspired this unique strategy, gripper that aims challenges high-speed dynamic grasping tasks presented. gripper, called (HSG), based two basic design concepts. snap-through instability HSG sense...

The beam steering mechanism has been a key element for various applications ranging from sensing and imaging to solar tracking systems. However, conventional systems are bulky complex present significant challenges scaling up. This work introduces the use of soft deployable reflectors combining structure with simple kirigami/origami reflective films. can be used as macroscale that is both compact. first develops easily scalable by patterning linear actuators. capable increasing its height...

Shape-memory polymers (SMPs) are an intriguing class of smart materials possessing reversible shape change and recovery capabilities. Effective routes to shape-memory porous films (SMPFs) few limited in scope owing the difficulty manipulating pores by conventional methods. Herein we report unconventional strategy for crafting light-driven SMPFs judiciously constructing highly ordered via a facile "breath figure" approach, followed sequential vapor crosslinking nondestructive directional...

Recently, robots have become a topic of interest with regard to their functionality as they need complete large number diverse tasks in variety environments. When using traditional mechanical components, many parts are needed realize complex deformations, such motors, hinges, and cranks. To produce this work introduces smart soft composite torsional actuator single shape memory alloy (SMA) wire without any additional elements. The proposed twisting is composed torsionally prestrained SMA...

A new manufacturing method for smart soft composite (SSC) actuators that consists of double casting a SSC actuator to produce an with non-linear shape memory alloy (SMA) wire positioning is proposed. This used manufacture tube-shaped in which the SMA wires follow curvature tube and capable pure-twisting deformations while sustaining cantilever load. The concept tested by measuring maximum twisting angle simple control proposed actuator. Then, robotic wrist length 18 cm built, its...

Abstract Robots are often required to have multimodal and amphibious capabilities for dynamic environments. Although shape memory alloy (SMA) has been exploited in creating various types of deformation soft actuators, no SMA‐based robot reported. This study describes a made actuators that mimics the terrestrial subaqueous motion crawling seals. The named SEALicone exhibits two gaits, locomotion oscillatory underwater propulsion. consists actuators: backbone actuator with wave‐like support...

Purpose This paper presents the design of climbing robots for glass‐wall cleaning. Design/methodology/approach A systemic analysis basic functions a cleaning system is given based on research working targets. Then constraints designing robot are discussed. The driving method, attachment principle, mechanical structure and unique aspects three pneumatic named Sky Cleaners follow. In end summary main special features given. All tested site. Findings Our groups spent several years in developing...

Abstract Background Robot‐assisted minimally invasive surgery has shown tremendous advances over the traditional technique. However, currently commercialized systems are large and complicated, which vastly raises system cost operation room requirements. Methods A MIS robot named ‘MicroHand’ was developed past few years. The basic principle key technologies analyzed in this paper. Comparison between proposed da Vinci is also presented. Finally, animal experiments were carried out to test...

The first soft deployable robot, called DeployBot, capable of both deploying itself and movement without additional motors is introduced. This robot can serve as the step toward a new class robots that modular, self-deploying, locomotion “out box”.

Abstract A new composite isolator named shape memory alloy cable-double friction pendulum bearing (SCDFPB), which combines a double (DFPB) with superelastic (SMA) cables, is proposed. Based on the SMA proposed isolation as SCDFPB had capability to adapt multi-level earthquake intensities in horizontal directions, was superior conventional DFPB. series of research performed investigate hysteretic behavior SCDFPB, and numerical simulation method for this device also developed. First,...

Grasping and twisting motions are vital when manipulating objects due to their fundamental role in enabling precision, adaptability, effective interaction. However, few studies soft robotics exploiting artificial muscles have achieved object manipulation situ through the coordination of grasping akin our forearm hand's capabilities. Especially, using same muscle module achieve these two will greatly simplify manufacturing control complexity. Here, we introduce identical origami modules...