Affiliation:
1. Soft BioRobotics Perception Istituto Italiano di Tecnologia (IIT) Genova 16163 Italy
2. Casali Center for Applied Chemistry Institute of Chemistry Center for Nanotechnology and Nanoscience Hebrew University of Jerusalem Jerusalem 9190401 Israel
3. Singapore‐HUJ Alliance for Research and Enterprise (SHARE) Smart Grippers for Soft Robotics (SGSR) Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602 Singapore
Abstract
AbstractAlthough natural continuum structures, such as the boneless elephant trunk, provide inspiration for new versatile grippers, highly deformable, jointless, and multidimensional actuation has still not been achieved. The challenging pivotal requisites are to avoid sudden changes in stiffness, combined with the capability of providing reliable large deformations in different directions. This research addresses these two challenges by harnessing porosity at two levels: material and design. Based on the extraordinary extensibility and compressibility of volumetrically tessellated structures with microporous elastic polymer walls, monolithic soft actuators are fabricated by 3D printing unique polymerizable emulsions. The resulting monolithic pneumatic actuators are printed in a single process and are capable of bidirectional movements with just one actuation source. The proposed approach is demonstrated by two proof‐of‐concepts: a three‐fingered gripper, and the first ever soft continuum actuator that encodes biaxial motion and bidirectional bending. The results open up new design paradigms for continuum soft robots with bioinspired behavior based on reliable and robust multidimensional motions.
Subject
General Physics and Astronomy,General Engineering,Biochemistry, Genetics and Molecular Biology (miscellaneous),General Materials Science,General Chemical Engineering,Medicine (miscellaneous)
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献