Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation
Biological organisms often have remarkable multifunctionality through intricate structures, such as concurrent shape morphing and stiffness variation in the octopus. Soft robots, which are inspired by natural creatures, usually require the integration of separate modules to achieve these various fun...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/179261 |
| _version_ | 1826111654486605824 |
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| author | Chen, Tianyu Yang, Xudong Zhang, Bojian Li, Junwei Pan, Jie Wang, Yifan |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Chen, Tianyu Yang, Xudong Zhang, Bojian Li, Junwei Pan, Jie Wang, Yifan |
| author_sort | Chen, Tianyu |
| collection | NTU |
| description | Biological organisms often have remarkable multifunctionality through intricate structures, such as concurrent shape morphing and stiffness variation in the octopus. Soft robots, which are inspired by natural creatures, usually require the integration of separate modules to achieve these various functions. As a result, the whole structure is cumbersome, and the control system is complex, often involving multiple control loops to finish a required task. Here, inspired by the scales that cover creatures like pangolins and fish, we developed a robotic structure that can vary its stiffness and change shape simultaneously in a highly integrated, compact body. The scale-inspired layered structure (SAILS) was enabled by the inversely designed programmable surface patterns of the scales. After fabrication, SAILS was inherently soft and flexible. When sealed in an elastic envelope and subjected to negative confining pressure, it transitioned to its designated shape and concurrently became stiff. SAILS could be actuated at frequencies as high as 5 hertz and achieved an apparent bending modulus change of up to 53 times between its soft and stiff states. We further demonstrated both the versatility of SAILS by developing a soft robot that is amphibious and adaptive and tunable landing systems for drones with the capacity to accommodate different loads. |
| first_indexed | 2024-10-01T02:54:20Z |
| format | Journal Article |
| id | ntu-10356/179261 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:54:20Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1792612024-07-27T16:48:04Z Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation Chen, Tianyu Yang, Xudong Zhang, Bojian Li, Junwei Pan, Jie Wang, Yifan School of Mechanical and Aerospace Engineering Engineering Scale-inspired layered structure Robot Biological organisms often have remarkable multifunctionality through intricate structures, such as concurrent shape morphing and stiffness variation in the octopus. Soft robots, which are inspired by natural creatures, usually require the integration of separate modules to achieve these various functions. As a result, the whole structure is cumbersome, and the control system is complex, often involving multiple control loops to finish a required task. Here, inspired by the scales that cover creatures like pangolins and fish, we developed a robotic structure that can vary its stiffness and change shape simultaneously in a highly integrated, compact body. The scale-inspired layered structure (SAILS) was enabled by the inversely designed programmable surface patterns of the scales. After fabrication, SAILS was inherently soft and flexible. When sealed in an elastic envelope and subjected to negative confining pressure, it transitioned to its designated shape and concurrently became stiff. SAILS could be actuated at frequencies as high as 5 hertz and achieved an apparent bending modulus change of up to 53 times between its soft and stiff states. We further demonstrated both the versatility of SAILS by developing a soft robot that is amphibious and adaptive and tunable landing systems for drones with the capacity to accommodate different loads. Agency for Science, Technology and Research (A*STAR) Nanyang Technological University Submitted/Accepted version This workwas supported by A*STAR Singapore through the RIE2025 MTC IRG award M21K2c0118 andthe RIE2020 AME YIRG Award A2084c0162. Y.W. acknowledges the NAP award 020482 from Nanyang Technological University Singapore. 2024-07-25T01:26:27Z 2024-07-25T01:26:27Z 2024 Journal Article Chen, T., Yang, X., Zhang, B., Li, J., Pan, J. & Wang, Y. (2024). Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation. Science Robotics, 9(92), eadl0307-. https://dx.doi.org/10.1126/scirobotics.adl0307 2470-9476 https://hdl.handle.net/10356/179261 10.1126/scirobotics.adl0307 39018371 92 9 eadl0307 en M21K2c0118 A2084c0162 NAP-020482 Science Robotics doi:10.21979/N9/MTJUKK © 2024 The authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S.Government Works. This article may be downloaded for personal use only. Any other use requires prior permission of the copyright holder. The Version of Record is available online at http://doi.org/10.1126/scirobotics.adl0307. application/pdf |
| spellingShingle | Engineering Scale-inspired layered structure Robot Chen, Tianyu Yang, Xudong Zhang, Bojian Li, Junwei Pan, Jie Wang, Yifan Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation |
| title | Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation |
| title_full | Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation |
| title_fullStr | Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation |
| title_full_unstemmed | Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation |
| title_short | Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation |
| title_sort | scale inspired programmable robotic structures with concurrent shape morphing and stiffness variation |
| topic | Engineering Scale-inspired layered structure Robot |
| url | https://hdl.handle.net/10356/179261 |
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