Soft Robotics: Trends, Applications and Challenges (eBook)

Contents 6
1 Introduction 8
References 10
Soft Bionics Hands with a Sense of Touch Through an Electronic Skin 12
1 Introduction 12
2 Compliance in ``Soft-Hands'' 13
3 Soft Electronic Skin for Prosthetic Hands 14
4 Conclusions 16
References 16
3 Soft Robotics Mechanosensing 18
Abstract 18
1 Introduction 18
1.1 Soft Exteroception and Proprioception 19
1.2 Electrotextile Capacitive Based Mechanosensing 21
2 A Highly Sensitive Soft Three-Axial Force Sensor 22
3 Bending and Pressure Detection in a Soft Body 23
4 Conclusions 25
References 26
4 Towards Behavior Design of a 3D-Printed Soft Robotic Hand 29
Abstract 29
1 Introduction 29
2 Design of Soft Robotic Hand 30
2.1 Bending Actuators 31
2.2 Rotational Actuator 31
2.3 Bidirectional Actuator 31
2.4 Sensing Air Chambers 32
2.5 Pneumatic Control System 32
3 Design for Manufacturing 32
4 Results 33
5 Conclusions and Future Work 34
References 34
Soft Robotics in Underwater Legged Locomotion: From Octopus--Inspired Solutions to Running Robots 36
1 Underwater Legged Locomotion 36
1.1 Crawling 37
1.2 Bipedal Walking 38
1.3 Underwater Hopping 39
2 Conclusion 40
References 40
Underwater Soft Robotics, the Benefit of Body-Shape Variations in Aquatic Propulsion 42
1 Introduction 42
2 Added Mass Variation as a Thrust Term 43
3 Numerical Validation 47
4 Added-Mass Recovery in Self-propelled Vehicles 48
5 Conclusion 50
References 50
7 Animal Models for Non-pneumatic Soft Robots 52
Abstract 52
1 Animal Models for Better Robots 53
2 Soft Animals as Model Systems 53
3 Insect Larvae as Living Prototypes for Soft Robots 55
4 The Design and Control of Caterpillar-Like Robots (Softworms) 56
5 Concluding Remarks and the Future 58
References 59
8 Plant-Inspired Growing Robots 61
Abstract 61
1 Biological Principles 61
1.1 Bioinspired Systems 63
2 Conclusive Remarks 66
Acknowledgments 66
References 66
9 Bio-inspired Soft Aerial Robots: Adaptive Morphology for High-Performance Flight 68
Abstract 68
1 Soft Structures in Nature 68
2 Soft Robotic Technologies for High Performance Flight 72
2.1 Multimodality: Adaptable Wings, Mechanisms for Transition Across Fluid Boundaries 72
2.2 Energy Management: Robotic Perching for Energy Saving and Enhanced Access 73
2.3 Aerial Construction: 3D Printing with Flying Robots 74
3 Conclusions 75
Acknowledgments 75
References 75
10 Soft Robots in Surgery 78
Abstract 78
1 Flexibility and Dexterity in Surgical Robotics 78
2 A New Paradigm in Endoluminal and Endocavitary Surgery 80
3 STIFF-FLOP Manipulator Evolution 81
3.1 First Generation: Converging into Working Modules 82
3.2 Second Generation: Optimizing Spaces 84
3.3 Third Generation: Going Thin 85
4 Main Achievements and Results 86
5 Conclusions 87
Acknowledgments 88
References 88
11 Design Principles for Soft-Rigid Hybrid Manipulators 89
Abstract 89
1 Introduction 89
2 Hybrid Manipulator Definition 90
3 Design Principles of Hybrid Manipulators 91
3.1 Articulated Link Structure 91
3.2 Soft Actuation—Tendon Driven Links 92
3.3 Differential Stiffness via Multi-material Usage 93
3.4 Guided Soft Joints 94
4 Discussion 94
References 96
12 Eating, Drinking, Living, Dying and Decaying Soft Robots 97
1 Soft Robots in a Wasteful World 97
2 Taking Inspiration from Nature 99
3 Soft Robots as Organisms 100
Acknowldgments 102
References 102
Soft Robot Modeling, Simulation and Control in Real-Time 104
1 Introduction 104
1.1 Mechanical Deformable Models for Real-Time Computation 104
1.2 Computation Process 106
1.3 Direct Kinematic Model and Contact with Environment 107
1.4 Inverse Model by Optimization 108
1.5 Results and Conclusions 109
References 110
Evolutionary Developmental Soft Robotics: Towards Adaptive and Intelligent Soft Machines Following Nature's Approach to Design 111
1 Introduction 111
2 Examples of Evolutionary Developmental Soft Robotics 114
2.1 Evolutionary Design of Real Robots 114
2.2 Studying Specific Properties of Soft-Bodied Animals 114
2.3 Studying General Properties of Soft-Bodied Creatures 114
2.4 Answering Evolutionary Biology Questions Through Evolutionary Simulations 115
3 Conclusions 115
References 116
Morphosis---Taking Morphological Computation to the Next Level 117
1 Introduction 118
2 Morphosis from the Perspective of Dynamical Systems Theory 118
3 Outlooks and Conclusions 121
References 121