This paper presents the complete development and analysis of a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on antagonistic arrangement circular longitudinal muscle groups Oligochaetes. Sequential motion achieved in flexible braided mesh-tube structure using nickel titanium (NiTi) coil actuators wrapped spiral pattern around circumference. An enhanced theoretical model NiTi spring describes combination martensite deformation elasticity as function...

Soft wearable robots are good alternatives to rigid-frame exoskeletons because they compact and lightweight. This article describes a soft hand robot called the Exo-Glove that uses tendon routing system an underactuation adaptive mechanism. The proposed can be used develop other types of robots. glove part is weighs 194 g. results conducted using healthy subject showed sufficient performance for execution daily life activities, namely pinch force 20 N, wrap grasp 40 maximum grasped object...

A hygroresponsive actuation system crawls on a moist surface using aligned nanofibers that quickly swell and shrink.

Jumping on water is a unique locomotion mode found in semi-aquatic arthropods, such as striders. To reproduce this feat surface tension-dominant jumping robot, we elucidated the hydrodynamics involved and applied them to develop bio-inspired impulsive mechanism that maximizes momentum transfer water. We striders rotate curved tips of their legs inward at relatively low descending velocity with force just below required break (144 millinewtons/meter). built 68-milligram at-scale robotic...

Recent research progress of relieving discomfort between electronics and human body involves serpentine designs, ultrathin films, extraordinary properties nanomaterials. However, these strategies addressed thus far each face own limitation for achieving desired form electronic-skin applications. Evenly matched mechanical anywhere on the imperceptibility are two essentially required characteristics future (E-skin) devices. Yet accomplishing main simultaneously is still very challenging....

Abstract To add more functionalities and overcome the limitation in conventional soft robots, highly anisotropic actuators with color shifting function during actuation is demonstrated for first time. The electrothermally operating installed transparent metal nanowire percolation network heater allow easy programming of their direction instantaneous visualization temperature changes through change. Due to unique dependent coefficient thermal expansion mismatch, suggested actuator...

Fleas can jump more than 200 times their body length. They do so by employing a unique catapult mechanism: storing large amount of elastic energy and releasing it quickly torque reversal triggering. This paper presents flea-inspired mechanism for miniature jumping robots. A robotic design was created to realize the biological with shape memory alloy (SMA) spring actuators smart composite microstructure. SMA replace conventional actuators, transmissions, element reduce size. The uses four-bar...

A self-locking foldable mechanism enables a robotic arm to be folded flat and maintain high stiffness when deployed.

A skin-like driving system enables compact and reversible assembly of wirelessly activated, fully soft robots.

This article presents Exo-Glove Poly (EGP) II, a soft wearable robot for the hand with glove that is completely constructed of polymer materials and operates through tendon-driven actuation use in spinal cord injury (SCI). EGP II can restore ability to pinch grasp any object people SCI daily life. The design allows it be compact extends range sizes fit. A passive thumb structure was developed oppose improved grasping. To increase robustness glove, designed have minimal number components...

An entirely stretchable origami inspired by pelican eels is unfolded and stretched to create adaptive, extreme shape morphing.

Additive manufacturing, or 3D printing attracts growing attention as a promising method for creating functionally graded materials. Fused deposition modeling (FDM) is widely available, but due to its simple process, spatial gradation of diverse properties using FDM challenging. Here, we present printed digital material filament that structured towards functional gradients, utilizing only readily available printer and filaments. The DM consists multiple base materials combined with specific...

This paper proposes three design concepts for developing a crawling robot inspired by an inchworm, called the Omegabot. First, locomotion, strides bending its body into omega shape; anisotropic friction pads enable to move forward using this simple motion. Second, is made of single part but has two four-bar mechanisms and one spherical six-bar mechanism; are 2-D patterned piece composite folded become that weighs less than 1 g can crawl steer. does not require assembly various structure,...

We report on the design, optimization, and performance evaluation of a new wheel-leg hybrid robot. This robot utilizes novel transformable wheel that combines advantages both circular legged wheels. To minimize complexity transformation process is passive, which eliminates need for additional actuators. A triggering mechanism also employed to increase success rate. maximize climbing ability in legged-wheel mode, design parameters are tuned based behavioral analyses. The our development...

A shape memory alloy (SMA) coil spring actuator is fabricated by annealing an SMA wire wound on a rod. Four design parameters are required for the winding: diameter, rod pitch angle and number of active coils. These determine force stroke produced actuator. In this paper, we present engineering framework to select these basis desired stoke. The behavior described in detail provide information about inner workings aid selecting parameters. new static two-state model, which represents...

This paper presents the development of a polymer-based tendon-driven wearable robotic hand, Exo-Glove Poly. Unlike previously developed Exo-Glove, fabric-based Poly was using silicone to allow for sanitization between users in multiple-user environments such as hospitals. use two motors, one thumb and other index/middle finger, an under-actuation mechanism grasp various objects. In order realize Poly, design features fabrication processes were permit adjustment different hand sizes, protect...

For a new class of soft robotic platforms, development flexible and robust actuators is quintessential. Remarkable resilience, shape memory effect, high energy density, scalability are attributed to nickel titanium (NiTi) making it an excellent actuator candidate for meso-scale applications. This paper presents micro-muscle fiber crafted from alloy coiled springs. An enhanced spring NiTi model describes the combination martensite deformation effect due its geometry. also manufacturing...

The Venus flytrap uses bistability, the structural characteristic of its leaf, to actuate leaf's rapid closing motion for catching prey. This paper presents a flytrap-inspired robot and novel actuation mechanism that exploits characteristics this structure developable surface. We focus on concept exploiting actuation. Using shape memory alloy (SMA), actuates artificial leaves made from asymmetrically laminated carbon fiber reinforced prepregs. exploit two distinct leaves. First, bistability...

A wheel drive mechanism is simple, stable, and efficient, but its mobility in unstructured terrain seriously limited. Using a deformable one of the ways to increase robot. By changing radius wheels, robot becomes able pass over not only high steps also narrow gaps. In this article, we propose novel design for variable-diameter using an origami-based soft robotics approach. simply folding patterned sheet into shape, was built without requiring lots mechanical parts complex assembly process....

Customization is an important issue for assistive gloves because it affects glove performance. In this letter, we propose assembly based customizable soft pneumatic glove, named Exo-Glove PM. Pneumatic robots generally consist of a single structure with embedded actuators. However, when assembled, the region where assemblies are connected easily undergoes large stress concentration that leads to failure. To overcome issue, have developed hybrid actuator module combines actuation and rigid...

Ladybird beetle–inspired origami uses the deformation and geometry of its facet to enable unique energy storage self-locking.