Muscle-inspired soft robots based on bilateral dielectric elastomer actuators
Abstract Muscle groups perform their functions in the human body via bilateral muscle actuation, which brings bionic inspiration to artificial robot design. Building soft robotic systems with artificial muscles and multiple control dimensions could be an effective means to develop highly controllabl...
| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Publishing Group
2023-10-01
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| Series: | Microsystems & Nanoengineering |
| Online Access: | https://doi.org/10.1038/s41378-023-00592-2 |
| _version_ | 1827710499937058816 |
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| author | Yale Yang Dengfeng Li Yanhua Sun Mengge Wu Jingyou Su Ying Li Xinge Yu Lu Li Junsheng Yu |
| author_facet | Yale Yang Dengfeng Li Yanhua Sun Mengge Wu Jingyou Su Ying Li Xinge Yu Lu Li Junsheng Yu |
| author_sort | Yale Yang |
| collection | DOAJ |
| description | Abstract Muscle groups perform their functions in the human body via bilateral muscle actuation, which brings bionic inspiration to artificial robot design. Building soft robotic systems with artificial muscles and multiple control dimensions could be an effective means to develop highly controllable soft robots. Here, we report a bilateral actuator with a bilateral deformation function similar to that of a muscle group that can be used for soft robots. To construct this bilateral actuator, a low-cost VHB 4910 dielectric elastomer was selected as the artificial muscle, and polymer films manufactured with specific shapes served as the actuator frame. By end-to-end connecting these bilateral actuators, a gear-shaped 3D soft robot with diverse motion capabilities could be developed, benefiting from adjustable actuation combinations. Lying on the ground with all feet on the ground, a crawling soft robot with dexterous movement along multiple directions was realized. Moreover, the directional steering was instantaneous and efficient. With two feet standing on the ground, it also acted as a rolling soft robot that can achieve bidirectional rolling motion and climbing motion on a 2° slope. Finally, inspired by the orbicularis oris muscle in the mouth, a mouthlike soft robot that could bite and grab objects 5.3 times of its body weight was demonstrated. The bidirectional function of a single actuator and the various combination modes among multiple actuators together allow the soft robots to exhibit diverse functionalities and flexibility, which provides a very valuable reference for the design of highly controllable soft robots. |
| first_indexed | 2024-03-10T17:40:07Z |
| format | Article |
| id | doaj.art-b1d8af4e30d9411191590289400aef46 |
| institution | Directory Open Access Journal |
| issn | 2055-7434 |
| language | English |
| last_indexed | 2024-03-10T17:40:07Z |
| publishDate | 2023-10-01 |
| publisher | Nature Publishing Group |
| record_format | Article |
| series | Microsystems & Nanoengineering |
| spelling | doaj.art-b1d8af4e30d9411191590289400aef462023-11-20T09:44:55ZengNature Publishing GroupMicrosystems & Nanoengineering2055-74342023-10-019111010.1038/s41378-023-00592-2Muscle-inspired soft robots based on bilateral dielectric elastomer actuatorsYale Yang0Dengfeng Li1Yanhua Sun2Mengge Wu3Jingyou Su4Ying Li5Xinge Yu6Lu Li7Junsheng Yu8State Key Laboratory of Electronic Thin Films and Integrated Devices, School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China (UESTC)Hong Kong Centre for Cerebro-Cardiovascular Health Engineering (COCHE)State Key Laboratory of Electronic Thin Films and Integrated Devices, School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China (UESTC)State Key Laboratory of Electronic Thin Films and Integrated Devices, School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China (UESTC)Department of Biomedical Engineering, City University of Hong KongChongqing Key Laboratory of Materials Surface & Interface Science, Chongqing Co-Innovation Center for Micro/Nano Optoelectronic Materials and Devices, Micro/Nano Optoelectronic Materials and Devices International Science and Technology Cooperation Base of China, School of Materials Science and Engineering, Chongqing University of Arts and SciencesDepartment of Biomedical Engineering, City University of Hong KongChongqing Key Laboratory of Materials Surface & Interface Science, Chongqing Co-Innovation Center for Micro/Nano Optoelectronic Materials and Devices, Micro/Nano Optoelectronic Materials and Devices International Science and Technology Cooperation Base of China, School of Materials Science and Engineering, Chongqing University of Arts and SciencesState Key Laboratory of Electronic Thin Films and Integrated Devices, School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China (UESTC)Abstract Muscle groups perform their functions in the human body via bilateral muscle actuation, which brings bionic inspiration to artificial robot design. Building soft robotic systems with artificial muscles and multiple control dimensions could be an effective means to develop highly controllable soft robots. Here, we report a bilateral actuator with a bilateral deformation function similar to that of a muscle group that can be used for soft robots. To construct this bilateral actuator, a low-cost VHB 4910 dielectric elastomer was selected as the artificial muscle, and polymer films manufactured with specific shapes served as the actuator frame. By end-to-end connecting these bilateral actuators, a gear-shaped 3D soft robot with diverse motion capabilities could be developed, benefiting from adjustable actuation combinations. Lying on the ground with all feet on the ground, a crawling soft robot with dexterous movement along multiple directions was realized. Moreover, the directional steering was instantaneous and efficient. With two feet standing on the ground, it also acted as a rolling soft robot that can achieve bidirectional rolling motion and climbing motion on a 2° slope. Finally, inspired by the orbicularis oris muscle in the mouth, a mouthlike soft robot that could bite and grab objects 5.3 times of its body weight was demonstrated. The bidirectional function of a single actuator and the various combination modes among multiple actuators together allow the soft robots to exhibit diverse functionalities and flexibility, which provides a very valuable reference for the design of highly controllable soft robots.https://doi.org/10.1038/s41378-023-00592-2 |
| spellingShingle | Yale Yang Dengfeng Li Yanhua Sun Mengge Wu Jingyou Su Ying Li Xinge Yu Lu Li Junsheng Yu Muscle-inspired soft robots based on bilateral dielectric elastomer actuators Microsystems & Nanoengineering |
| title | Muscle-inspired soft robots based on bilateral dielectric elastomer actuators |
| title_full | Muscle-inspired soft robots based on bilateral dielectric elastomer actuators |
| title_fullStr | Muscle-inspired soft robots based on bilateral dielectric elastomer actuators |
| title_full_unstemmed | Muscle-inspired soft robots based on bilateral dielectric elastomer actuators |
| title_short | Muscle-inspired soft robots based on bilateral dielectric elastomer actuators |
| title_sort | muscle inspired soft robots based on bilateral dielectric elastomer actuators |
| url | https://doi.org/10.1038/s41378-023-00592-2 |
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