Affiliation:
1. Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering,
Southeast University, Nanjing 211189, China.
Abstract
Soft robotics has received substantial attention due to its remarkable deformability, making it well-suited for a wide range of applications in complex environments, such as medicine, rescue operations, and exploration. Within this domain, the interaction of actuation and sensing is of utmost importance for controlling the movements and functions of soft robots. Nonetheless, current research predominantly focuses on isolated actuation and sensing capabilities, often neglecting the critical integration of these 2 domains to achieve intelligent functionality. In this review, we present a comprehensive survey of fundamental actuation strategies and multimodal actuation while also delving into advancements in proprioceptive and haptic sensing and their fusion. We emphasize the importance of integrating actuation and sensing in soft robotics, presenting 3 integration methodologies, namely, sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. Furthermore, we highlight the challenges in the field and suggest compelling directions for future research. Through this comprehensive synthesis, we aim to stimulate further curiosity among researchers and contribute to the development of genuinely intelligent soft robots.
Funder
Start-up Research Fund of Southeast University
National Natural Science Foundation of China
Natural Science Foundation of Jiangsu Province
Shuangchuang Program of Jiangsu Province
Publisher
American Association for the Advancement of Science (AAAS)
Cited by
9 articles.
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