Soft robotics

Soft Robotics is the specific subfield of

robotics dealing with constructing robots from
highly compliant materials, similar to those
found in living organisms.[1]

Soft robotics draws heavily from the way in

which living organisms move and adapt to
their surroundings. In contrast to robots built
from rigid materials, soft robots allow for
increased flexibility and adaptability for
accomplishing tasks, as well as improved
safety when working around humans.[2] These
characteristics allow for its potential use in the
fields of medicine and manufacturing.

Contents
Types and designs
Biomimicry
Manufacturing
Control methods and materials
Electric field
Thermal
Pressure difference Soft-Legged Wheel-Based Robot with T
errestrial Locomotion Abilities.
Uses and applications
International journals
International events
In popular culture
See also
External links
References

Types and designs

The bulk of the field of soft robotics is based upon the design and construction of robots made completely from compliant materials,
with the end result being similar to invertebrates like worms and octopuses. The motion of these robots is difficult to model,[1] as
continuum mechanics apply to them, and they are sometimes referred to as continuum robots. Soft Robotics is the specific sub-field
of robotics dealing with constructing robots from highly compliant materials, similar to those found in living organisms. Similarly,
soft robotics also draws heavily from the way in which these living organisms move and adapt to their surroundings. This allows
scientists to use soft robots to understand biological phenomena using experiments that cannot be easily performed on the original
biological counterparts. In contrast to robots built from rigid materials, soft robots allow for increased flexibility and adaptability for
accomplishing tasks, as well as improved safety when working around humans.[2] These characteristics allow for its potential use in
the fields of medicine and manufacturing.[1] However, there exist rigid robots that are also capable of continuum deformations, most
notably the snake-arm robot.

Also, certain soft robotic mechanics may be used as a piece in a larger, potentially rigid robot. Soft robotic end effectors exist for
grabbing and manipulating objects, and they have the advantage of producing a low force that is good for holding delicate objects
without breaking them.

In addition, hybrid soft-rigid robots may be built using an internal rigid framework with soft exteriors for safety. The soft exterior
may be multifunctional, as it can act as both the actuators for the robot, similar to muscles in vertebrates, and as padding in case of a
collision with a person.

Biomimicry
Plant cells can inherently produce hydrostatic pressure due to a solute concentration gradient between the cytoplasm and external
surroundings (osmotic potential). Further, plants can adjust this concentration through the movement of ions across the cell
membrane. This then changes the shape and volume of the plant as it responds to this change in hydrostatic pressure. This pressure
derived shape evolution is desirable for soft robotics and can be emulated to create pressure adaptive materials through the use of
fluid flow.[3] The following equation[4] models the cell volume change rate:

is the rate of volume change.

is the cell membrane.
is the hydraulic conductivity of the material.
is the change in hydrostatic pressure.
is the change in osmotic potential.

This principle has been leveraged in the creation of pressure systems for soft robotics. These systems are composed of soft resins and
contain multiple fluid sacs with semi-permeable membranes. The semi-permeability allows for fluid transport that then leads to
[3]
pressure generation. This combination of fluid transport and pressure generation then leads to shape and volume change.

Another biologically inherent shape changing mechanism is that of hygroscopic shape change. In this mechanism, plant cells react to
changes in humidity. When the surrounding atmosphere has a high humidity, the plant cells swell, but when the surrounding
atmosphere has a low humidity, the plant cells shrink. This volume change has been observed in pollen grains[5] and pine cone
scales.[3][6]

Manufacturing
Conventional manufacturing techniques, such as subtractive techniques like drilling and milling, are unhelpful when it comes to
constructing soft robots as these robots have complex shapes with deformable bodies. Therefore, more advanced manufacturing
techniques have been developed. Those include Shape Deposition Manufacturing (SDM), the Smart Composite Microstructure
(SCM) process, and 3D multimaterial printing.[2][7][8]

SDM is a type of rapid prototyping whereby deposition and machining occur cyclically. Essentially, one deposits a material,
machines it, embeds a desired structure, deposits a support for said structure, and then further machines the product to a final shape
that includes the deposited material and the embedded part.[7] Embedded hardware includes circuits, sensors, and actuators, and
scientists have successfully embedded controls inside of polymeric materials to create soft robots, such as the Stickybot[9] and the
iSprawl.[10]

SCM is a process whereby one combines rigid bodies of carbon fiber reinforced polymer (CFRP) with flexible polymer ligaments.
The flexible polymer act as joints for the skeleton. With this process, an integrated structure of the CFRP and polymer ligaments is
created through the use of laser machining followed by lamination. This SCM process is utilized in the production of mesoscale
 [7]
robots as the polymer connectors serve as low friction alternatives to pin joints.

3D printing can now be used to print a wide range of silicone inks using Robocasting also known as direct ink writing (DIW). This
manufacturing route allows for a seamless production of fluidic elastomer actuators with locally defined mechanical properties. It
further enables a digital fabrication of pneumatic silicone actuators exhibiting programmable bioinspired architectures and
motions.[11] A wide range of fully functional softrobots have been printed using this method including bending, twisting, grabbing
and contracting motion. This technique avoids some of the drawbacks of conventional manufacturing routes such as delamination
between glued parts. Another additive manufacturing method that produces shape morphing materials whose shape is photosensitive,
thermally activated, or water responsive. Essentially, these polymers can automatically change shape upon interaction with water,
light, or heat. One such example of a shape morphing material was created through the use of light reactive ink-jet printing onto a
polystyrene target.[12] Additionally, shape memory polymers have been rapid prototyped that comprise two different components: a
skeleton and a hinge material. Upon printing, the material is heated to a temperature higher than the glass transition temperature of
the hinge material.[13] This allows for deformation of the hinge material, while not affecting the skeleton material. Further, this
[12]
polymer can be continually reformed through heating.

Control methods and materials

All soft robots require an actuation system to generate reaction forces, to allow the for movement and interaction with its
environment. Due to the compliant nature of these robots, soft actuation systems must be able to move without the use of rigid
materials that would act as the bones in organisms, or the metal frame that is common in rigid robots. Nevertheless, several control
solutions to soft actuation problem exist and have found its use, each possessing advantages and disadvantages. Some examples of
control methods and the appropriate materials are listed below
.

Electric field
One example is utilization ofelectrostatic force that can be applied in:

Dielectric Elastomer Actuators (DEAs) that usehigh-voltage electric field in order to change its shape (example of
working DEA). These actuators can produce high forces, have high specific power (W kg −1 ), produce large strains

(>1000%), [14] possess high energy density (>3 MJ m ), −3 [15] exhibit self-sensing, and achieve fast actuation rates (10
ms - 1 s). However, the need for high-voltages quickly becomes the limiting factor in the potential practical
applications. Additionally, these systems often exhibit leakage currents, tend to have electrical breakdowns
(dielectric failure followsWeibull statistics therefore the probability increases with increased electrode area[16] ), and
require pre-strain for the greatest deformation. [17] Some of the new research shows that there are ways of
overcoming some of these disadvantages, as showne.g. in Peano-HASEL actuators, which incorporate liquid
dielectrics and thin shell components. These approach lowers the applied voltage needed, as well as allows for self-
healing during electrical breakdown.[18][19]

Thermal
Shape memory polymers(SMPs) are smart and reconfigurable materials that serve as an excellent example of
thermal actuation that can be used for actuation. These materials will "remember" their original shape and will revert
back to it upon temperature increase. For examplecrosslinked polymers can be strained at temperatures above their
glass-transition (Tg) or melting-transition (Tm) and then cooled down. When the temperature is increased again, the
strain will be released and materials shape will be changed back to the original. [20] This of course suggests that
there is only one irreversible movement, but there have been materials demonstrated to have up to 5 temporary
shapes.[21] One of the simplest and best known examples of shape memory polymers is a toy called Shrinky Dinks
that is made of pre-stretchedpolystyrene (PS) sheet which can be used to cut out shapes that will shrink significantly
when heated. Actuators produced using these materials can achieve strains up to 1000% [22] and have demonstrated
−3
a broad range of energy density between <50 kJ m and up to 2 MJ m . −3 [23] Definite downsides of SMPs include
their slow response (>10 s) and typically low force generated. [17] Examples of SMPs includepolyurethane (PU),
polyethylene teraphtalate(PET), polyethyleneoxide (PEO) and others.
Shape memory alloys are behind another control system for soft robotic actuation. Although made of metal, a
traditionally rigid material, the springs are made from very thin wires and are just as compliant as other soft
materials. These springs have a very high force-to-mass ratio, but stretch through the application of heat, which is
inefficient energy-wise.[24]
Pressure difference
Pneumatic artificial muscles, another control method used in soft robots, relies on changing the pressure inside a
flexible tube. This way it will act as a muscle, contracting and extending, thus applying force to whatsit’attached to.
Through the use of valves, the robot may maintain a given shape using these muscles with no additional energy
input. However, this method generally requires an external source of compressed air to function. [2]

Uses and applications

Soft robots can be implemented in the medical profession, specifically for invasive surgery. Soft robots can be made to assist
surgeries due to their shape changing properties. Shape change is important as a soft robot could navigate around different structures
[25]
in the human body by adjusting its form. This could be accomplished through the use of fluidic actuation.

Soft robots may also be used for the creation of flexible exosuits, for rehabilitation of patients, assisting the elderly, or simply
enhancing the user’s strength. A team from Harvard created an exosuit using these materials in order to give the advantages of the
additional strength provided by an exosuit, without the disadvantages that come with how rigid materials restrict a person’s natural
movement.[26]

Traditionally, manufacturing robots have been isolated from human workers due to safety concerns, as a rigid robot colliding with a
human could easily lead to injury due to the fast-paced motion of the robot. However, soft robots could work alongside humans
safely, as in a collision the compliant nature of the robot would prevent or minimize any potential injury
.

International journals
Soft Robotics (SoRo)
Soft Robotics section of Frontiers in Robotics and AI

International events
2018 Robosoft, first IEEE International Conference on Soft Robotics, April 24–28, 2018, Livorno, Italy
2017 IROS 2017 Workshop on Soft Morphological Design for Haptic Sensation, Interaction and Display , 24
September 2017, Vancouver, BC, Canada
2016 First Soft Robotics Challenge, April 29–30, Livorno, Italy
2016 Soft Robotics week, April 25–30, Livorno, Italy
2015 "Soft Robotics: Actuation, Integration, and Applications – Blending research perspectives for a leap forward in
soft robotics technology" at ICRA2015, Seattle W A
2014 Workshop on Advances on Soft Robotics, 2014 Robotics Science an Systems (RSS) Conference, Berkeley ,
CA, July 13, 2014
2013 International Workshop on Soft Robotics and Morphological Computation, Monte V erità, July 14–19, 2013
2012 Summer School on Soft Robotics, Zurich, June 18–22, 2012

In popular culture
The 2014 Disney film Big Hero 6 features a soft robot, Baymax, originally designed for use in the healthcare industry. In the film,
Baymax is portrayed as a large yet unintimidating robot with an inflated vinyl exterior surrounding a mechanical skeleton. The basis
of Baymax concept comes from real life research on applications of soft robotics in the healthcare field, such as roboticist Chris
Atkeson's work at Carnegie Mellon's Robotics Institute.[28]

The 2018 animated Sony film Spider-Man: Into the Spider-Verse features a female version of the supervillain Doctor Octopus that
utilizes tentacles built with soft robotics to subdue her foes.

See also
Articulated soft robotics
 Octobot (robot)
Bio-inspired robotics
Bionics
Biorobotics
Home robot
Robotic materials
Lists of types of robots

External links
Chris Atkeson's robot that inspired
Soft Robot - A Review (Elveflow ) the creation of Baymax[27]
Dielectric elastomer actuators (softroboticstoolkit.com)
HEASEL actuators: soft muscles (nextbigfuture.com).

References
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