Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
4.5
4.5
Journals
Biomimetics
Special Issues
Soft Robotics
share announcement

Soft Robotics

A special issue of Biomimetics (ISSN 2313-7673).

Deadline for manuscript submissions: closed (31 July 2018) | Viewed by 77605

Special Issue Editor

Dr. Barbara Mazzolai

E-Mail Website
Guest Editor
Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
Interests: plant-inspired robotics; self-growing robots; soft robotics; biomimetics; robotics for biology; variable stiffness soft actuators; plant-hybrid energy

Special Issue Information

Dear Colleagues,

What is a soft robot? Robotics is the science of building machines that interact with the world around them, move parts of their own, perform tasks that a human might tackle and are programmable, or, in some cases, capable of making certain decisions. The approach to take inspiration from nature and use soft deformable and variable stiffness technologies represents an innovative trend in robotics, which has generated new branches, such as bioinspired robotics and soft robotics, respectively. The importance of soft body parts appears clear in many natural organisms, as animals that are composed almost entirely of soft materials and liquids have increased adaptability and robustness. Grasping and manipulation of unknown objects, locomotion on unstructured and rough terrains, proving safer contact with humans, are just some of the tasks a soft robot is asked to perform.

The integration of functions and the hybrid assembly of soft materials represent key aspects for achieving autonomous soft robots. There is a growing belief that soft materials may help go beyond capacities of current robotics technology. The use of soft materials or deformable structures provides robots with more advanced and efficient abilities, such as squeezing, stretching, climbing, growing, morphing, and others, which were not possible with an approach to robot design based on only rigid links. At the same time, this approach poses challenges to science and technology, which include understanding the ways that robots can adapt their morphologies to the environment, making more difficult control solutions in computational terms, defining new design rules, but also in developing and adopting innovative manufacturing technologies.

Soft robotics is still taking its first steps, but it has already driven promising robotics application scenarios, which include biomedical, service, inspection, search-and-rescue, exploration, opening new perspectives for improving wellness and quality of life.

We invite authors to submit original research and review articles, which stimulate the continuing efforts to understand and improve knowledge in this field.

Dr. Barbara Mazzolai
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Biomimetics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2200 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • soft robots
  • soft sensors
  • soft actuators
  • bioinspired materials design, characterization and modeling
  • biomimetics
  • bioinspired design
  • soft autonomous locomotion
  • soft manufacturing techniques
  • soft materials
  • self-healing materials
  • bioinspired surfaces
  • bioinspired adhesion
  • self-cleaning materials
  • responsive materials and actuators
  • sensing materials

Published Papers (9 papers)

Download All Papers
Order results
Result details
Show export options expand_more Show export options expand_less
Select all
Export citation of selected articles as:

Editorial

Jump to: Research, Review

3 pages, 144 KiB  
Editorial
Soft Robotics
by Barbara Mazzolai
Biomimetics 2019, 4(1), 22; https://doi.org/10.3390/biomimetics4010022 - 12 Mar 2019
Cited by 2 | Viewed by 2921
Abstract
In Nature, the adaptability of many organisms and their capability to survive in challenging and dynamically changing environments are closely linked to their characteristics and the morphology of their body parts [...] Full article
(This article belongs to the Special Issue Soft Robotics)

Research

Jump to: Editorial, Review

28 pages, 17562 KiB  
Article
Review and Proposal for a Classification System of Soft Robots Inspired by Animal Morphology
by Alexandro López-González, Juan C. Tejada and Janet López-Romero
Biomimetics 2023, 8(2), 192; https://doi.org/10.3390/biomimetics8020192 - 04 May 2023
Cited by 4 | Viewed by 2592
Abstract
The aim of this article is to propose a bio-inspired morphological classification for soft robots based on an extended review process. The morphology of living beings that inspire soft robotics was analyzed; we found coincidences between animal kingdom morphological structures and soft robot [...] Read more.
The aim of this article is to propose a bio-inspired morphological classification for soft robots based on an extended review process. The morphology of living beings that inspire soft robotics was analyzed; we found coincidences between animal kingdom morphological structures and soft robot structures. A classification is proposed and depicted through experiments. Additionally, many soft robot platforms present in the literature are classified using it. This classification allows for order and coherence in the area of soft robotics and provides enough freedom to expand soft robotics research. Full article
(This article belongs to the Special Issue Soft Robotics)
►▼ Show Figures

Figure 1

14 pages, 3791 KiB  
Article
Fiber Embroidery of Self-Sensing Soft Actuators
by Steven Ceron, Itai Cohen, Robert F. Shepherd, James H. Pikul and Cindy Harnett
Biomimetics 2018, 3(3), 24; https://doi.org/10.3390/biomimetics3030024 - 04 Sep 2018
Cited by 22 | Viewed by 7494
Abstract
Natural organisms use a combination of contracting muscles and inextensible fibers to transform into controllable shapes, camouflage into their surrounding environment, and catch prey. Replicating these capabilities with engineered materials is challenging because of the difficulty in manufacturing and controlling soft material actuators [...] Read more.
Natural organisms use a combination of contracting muscles and inextensible fibers to transform into controllable shapes, camouflage into their surrounding environment, and catch prey. Replicating these capabilities with engineered materials is challenging because of the difficulty in manufacturing and controlling soft material actuators with embedded fibers. In addition, while linear and bending motions are common in soft actuators, rotary motions require three-dimensional fiber wrapping or multiple bending or linear elements working in coordination that are challenging to design and fabricate. In this work, an automatic embroidery machine patterned Kevlar™ fibers and stretchable optical fibers into inflatable silicone membranes to control their inflated shape and enable sensing. This embroidery-based fabrication technique is simple, low cost, and allows for precise and custom patterning of fibers in elastomers. Using this technique, we developed inflatable elastomeric actuators embedded with a planar spiral pattern of high-strength Kevlar™ fibers that inflate into radially symmetric shapes and achieve nearly 180° angular rotation and 10 cm linear displacement. Full article
(This article belongs to the Special Issue Soft Robotics)
►▼ Show Figures

Graphical abstract

16 pages, 7755 KiB  
Article
Modular Continuum Manipulator: Analysis and Characterization of Its Basic Module
by Anand Kumar Mishra, Alessio Mondini, Emanuela Del Dottore, Ali Sadeghi, Francesca Tramacere and Barbara Mazzolai
Biomimetics 2018, 3(1), 3; https://doi.org/10.3390/biomimetics3010003 - 14 Feb 2018
Cited by 33 | Viewed by 6972
Abstract
We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. [...] Read more.
We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is characterized by a three-dimensional workspace with a constant radius around its rotation axis, large and highly repeatable bending, complete rotation, and passive stiffness. We present an extensive analysis and characterization of the basic module of the SIMBA arm in terms of design, fabrication, kinematic model, stiffness, and bending behavior. All the theoretical models presented were validated with empirical results. Our findings show a positional typical error of less than ≈6% in module diameter (highly repeatable) with a passive stiffness of 0.8 N/mm (≈1 kg load). Our aim is to demonstrate that this kind of robotic element can be exploited as an elementary module of a more complex structure, which can be used in any application requiring high directional stiffness but without the need for an active stiffness mechanism, as is the case in daily activities (e.g., door opening, water pouring, obstacle avoidance, and manipulation tasks). Full article
(This article belongs to the Special Issue Soft Robotics)
►▼ Show Figures

Graphical abstract

Review

Jump to: Editorial, Research

20 pages, 19179 KiB  
Review
Optimizing Epicardial Restraint and Reinforcement Following Myocardial Infarction: Moving Towards Localized, Biomimetic, and Multitherapeutic Options
by Claudia E. Varela, Yiling Fan and Ellen T. Roche
Biomimetics 2019, 4(1), 7; https://doi.org/10.3390/biomimetics4010007 - 17 Jan 2019
Cited by 10 | Viewed by 5830
Abstract
The mechanical reinforcement of the ventricular wall after a myocardial infarction has been shown to modulate and attenuate negative remodeling that can lead to heart failure. Strategies include wraps, meshes, cardiac patches, or fluid-filled bladders. Here, we review the literature describing these strategies [...] Read more.
The mechanical reinforcement of the ventricular wall after a myocardial infarction has been shown to modulate and attenuate negative remodeling that can lead to heart failure. Strategies include wraps, meshes, cardiac patches, or fluid-filled bladders. Here, we review the literature describing these strategies in the two broad categories of global restraint and local reinforcement. We further subdivide the global restraint category into biventricular and univentricular support. We discuss efforts to optimize devices in each of these categories, particularly in the last five years. These include adding functionality, biomimicry, and adjustability. We also discuss computational models of these strategies, and how they can be used to predict the reduction of stresses in the heart muscle wall. We discuss the range of timing of intervention that has been reported. Finally, we give a perspective on how novel fabrication technologies, imaging techniques, and computational models could potentially enhance these therapeutic strategies. Full article
(This article belongs to the Special Issue Soft Robotics)
►▼ Show Figures

Figure 1

29 pages, 12302 KiB  
Review
Biomechanics in Soft Mechanical Sensing: From Natural Case Studies to the Artificial World
by Afroditi Astreinidi Blandin, Irene Bernardeschi and Lucia Beccai
Biomimetics 2018, 3(4), 32; https://doi.org/10.3390/biomimetics3040032 - 24 Oct 2018
Cited by 18 | Viewed by 7634
Abstract
Living beings use mechanical interaction with the environment to gather essential cues for implementing necessary movements and actions. This process is mediated by biomechanics, primarily of the sensory structures, meaning that, at first, mechanical stimuli are morphologically computed. In the present paper, we [...] Read more.
Living beings use mechanical interaction with the environment to gather essential cues for implementing necessary movements and actions. This process is mediated by biomechanics, primarily of the sensory structures, meaning that, at first, mechanical stimuli are morphologically computed. In the present paper, we select and review cases of specialized sensory organs for mechanical sensing—from both the animal and plant kingdoms—that distribute their intelligence in both structure and materials. A focus is set on biomechanical aspects, such as morphology and material characteristics of the selected sensory organs, and on how their sensing function is affected by them in natural environments. In this route, examples of artificial sensors that implement these principles are provided, and/or ways in which they can be translated artificially are suggested. Following a biomimetic approach, our aim is to make a step towards creating a toolbox with general tailoring principles, based on mechanical aspects tuned repeatedly in nature, such as orientation, shape, distribution, materials, and micromechanics. These should be used for a future methodical design of novel soft sensing systems for soft robotics. Full article
(This article belongs to the Special Issue Soft Robotics)
►▼ Show Figures

Graphical abstract

20 pages, 4290 KiB  
Review
Moving toward Soft Robotics: A Decade Review of the Design of Hand Exoskeletons
by Talha Shahid, Darwin Gouwanda, Surya G. Nurzaman and Alpha A. Gopalai
Biomimetics 2018, 3(3), 17; https://doi.org/10.3390/biomimetics3030017 - 18 Jul 2018
Cited by 106 | Viewed by 15290
Abstract
Soft robotics is a branch of robotics that deals with mechatronics and electromechanical systems primarily made of soft materials. This paper presents a summary of a chronicle study of various soft robotic hand exoskeletons, with different electroencephalography (EEG)- and electromyography (EMG)-based instrumentations and [...] Read more.
Soft robotics is a branch of robotics that deals with mechatronics and electromechanical systems primarily made of soft materials. This paper presents a summary of a chronicle study of various soft robotic hand exoskeletons, with different electroencephalography (EEG)- and electromyography (EMG)-based instrumentations and controls, for rehabilitation and assistance in activities of daily living. A total of 45 soft robotic hand exoskeletons are reviewed. The study follows two methodological frameworks: a systematic review and a chronological review of the exoskeletons. The first approach summarizes the designs of different soft robotic hand exoskeletons based on their mechanical, electrical and functional attributes, including the degree of freedom, number of fingers, force transmission, actuation mode and control strategy. The second approach discusses the technological trend of soft robotic hand exoskeletons in the past decade. The timeline analysis demonstrates the transformation of the exoskeletons from rigid ferrous materials to soft elastomeric materials. It uncovers recent research, development and integration of their mechanical and electrical components. It also approximates the future of the soft robotic hand exoskeletons and some of their crucial design attributes. Full article
(This article belongs to the Special Issue Soft Robotics)
►▼ Show Figures

Graphical abstract

16 pages, 2376 KiB  
Review
Capability by Stacking: The Current Design Heuristic for Soft Robots
by Stephen T. Mahon, Jamie O. Roberts, Mohammed E. Sayed, Derek Ho-Tak Chun, Simona Aracri, Ross M. McKenzie, Markus P. Nemitz and Adam A. Stokes
Biomimetics 2018, 3(3), 16; https://doi.org/10.3390/biomimetics3030016 - 13 Jul 2018
Cited by 15 | Viewed by 7385
Abstract
Soft robots are a new class of systems being developed and studied by robotics scientists. These systems have a diverse range of applications including sub-sea manipulation and rehabilitative robotics. In their current state of development, the prevalent paradigm for the control architecture in [...] Read more.
Soft robots are a new class of systems being developed and studied by robotics scientists. These systems have a diverse range of applications including sub-sea manipulation and rehabilitative robotics. In their current state of development, the prevalent paradigm for the control architecture in these systems is a one-to-one mapping of controller outputs to actuators. In this work, we define functional blocks as the physical implementation of some discrete behaviors, which are presented as a decomposition of the behavior of the soft robot. We also use the term ‘stacking’ as the ability to combine functional blocks to create a system that is more complex and has greater capability than the sum of its parts. By stacking functional blocks a system designer can increase the range of behaviors and the overall capability of the system. As the community continues to increase the capabilities of soft systems—by stacking more and more functional blocks—we will encounter a practical limit with the number of parallelized control lines. In this paper, we review 20 soft systems reported in the literature and we observe this trend of one-to-one mapping of control outputs to functional blocks. We also observe that stacking functional blocks results in systems that are increasingly capable of a diverse range of complex motions and behaviors, leading ultimately to systems that are capable of performing useful tasks. The design heuristic that we observe is one of increased capability by stacking simple units—a classic engineering approach. As we move towards more capability in soft robotic systems, and begin to reach practical limits in control, we predict that we will require increased amounts of autonomy in the system. The field of soft robotics is in its infancy, and as we move towards realizing the potential of this technology, we will need to develop design tools and control paradigms that allow us to handle the complexity in these stacked, non-linear systems. Full article
(This article belongs to the Special Issue Soft Robotics)
►▼ Show Figures

Graphical abstract

41 pages, 42471 KiB  
Review
Hydrogel Actuators and Sensors for Biomedical Soft Robots: Brief Overview with Impending Challenges
by Hritwick Banerjee, Mohamed Suhail and Hongliang Ren
Biomimetics 2018, 3(3), 15; https://doi.org/10.3390/biomimetics3030015 - 10 Jul 2018
Cited by 157 | Viewed by 18970
Abstract
There are numerous developments taking place in the field of biorobotics, and one such recent breakthrough is the implementation of soft robots—a pathway to mimic nature’s organic parts for research purposes and in minimally invasive surgeries as a result of their shape-morphing and [...] Read more.
There are numerous developments taking place in the field of biorobotics, and one such recent breakthrough is the implementation of soft robots—a pathway to mimic nature’s organic parts for research purposes and in minimally invasive surgeries as a result of their shape-morphing and adaptable features. Hydrogels (biocompatible, biodegradable materials that are used in designing soft robots and sensor integration), have come into demand because of their beneficial properties, such as high water content, flexibility, and multi-faceted advantages particularly in targeted drug delivery, surgery and biorobotics. We illustrate in this review article the different types of biomedical sensors and actuators for which a hydrogel acts as an active primary material, and we elucidate their limitations and the future scope of this material in the nexus of similar biomedical avenues. Full article
(This article belongs to the Special Issue Soft Robotics)
►▼ Show Figures

Graphical abstract

Show export options expand_more Show export options expand_less
Select all
Export citation of selected articles as:
 
Displaying articles 1-9
Back to TopTop