Abstract
Compared with traditional rigid robots, soft robots have high flexibility, low stiffness, and adaptability to unstructured environments, and as such have great application potential in scenarios such as fragile object grasping and human machine interaction. Similar to biological muscles, the soft actuator is one of the most important parts in soft robots, and can be activated by fluid, thermal, electricity, magnet, light, humidity, and chemical reaction. In this paper, existing principles and methods for actuation are reviewed. We summarize the preprogrammed and reprogrammed structures under different stimuli to achieve motions such as bending, linear, torsional, spiral. and composite motions, which could provide a guideline for new soft actuator designs. In addition, predominant manufacturing methods and application fields are introduced, and the challenges and future directions of soft actuators are discussed.
Funder
National Key R&D Program of China
National Science Foundation of China
Central Universities
Natural Science Foundation of Chongqing
Subject
Control and Optimization,Control and Systems Engineering
Cited by
13 articles.
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