A Perspective on Miniature Soft Robotics: Actuation, Fabrication, Control, and Applications
A Perspective on Miniature Soft Robotics: Actuation, Fabrication, Control, and Applications
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DOI：
10.1002/aisy.202300063
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发表时间：
2023-04
影响因子：
7.4
通讯作者：
Yinding Chi;Yao Zhao;Yaoye Hong;Yanbin Li;Jie Yin
中科院分区：
文献类型：
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作者：
Yinding Chi;Yao Zhao;Yaoye Hong;Yanbin Li;Jie Yin
软机器人通过设计软材料和电子设备来丰富机器人的功能，从而增强了合规性、适应性和友好的人机。这十年见证了在将软机器人缩小到小规模以实现广泛的潜在和有前景的应用方面取得的非凡进展和带来的好处，包括医疗和外科软机器人、可穿戴和康复机器人以及未构建环境探索。这一观点从驱动、驱动、设计、制造、控制和应用四个方面简要而全面地介绍了微型软机器人的最新研究成果。第二节讨论了小规模系留和非系留驱动和动力的材料选择和结构设计的关键方面，包括流体驱动、刺激响应驱动和软生物生物杂化材料，以及从一维到三维的结构形式。第三节讨论了制造微型软机器人的小规模先进制造技术，包括光刻、机械自组装、添加制造、组织工程和其他制造方法。第四节讨论了微型机器人中使用的控制系统，包括机外/机载控制和基于人工智能的控制。第五节讨论了它们在医疗保健、小规模物体操作和处理以及环境监测中的潜在广泛应用。最后，对挑战和机遇进行了展望。
Soft robotics enriches the robotic functionalities by engineering soft materials and electronics toward enhanced compliance, adaptivity, and friendly human machine. This decade has witnessed extraordinary progresses and benefits in scaling down soft robotics to small scale for a wide range of potential and promising applications, including medical and surgical soft robots, wearable and rehabilitation robots, and unconstructed environments exploration. This perspective highlights recent research efforts in miniature soft robotics in a brief and comprehensive way in terms of actuation, powering, designs, fabrication, control, and applications in four sections. Section 2 discusses the key aspects of materials selection and structural designs for small‐scale tethered and untethered actuation and powering, including fluidic actuation, stimuli‐responsive actuation, and soft living biohybrid materials, as well as structural forms from 1D to 3D. Section 3 discusses the advanced manufacturing techniques at small scales for fabricating miniature soft robots, including lithography, mechanical self‐assembly, additive manufacturing, tissue engineering, and other fabrication methods. Section 4 discusses the control systems used in miniature robots, including off‐board/onboard controls and artificial intelligence‐based controls. Section 5 discusses their potential broad applications in healthcare, small‐scale objects manipulating and processing, and environmental monitoring. Finally, outlooks on the challenges and opportunities are discussed.