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Micromachines
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Soft Actuators: Design, Fabrication and Applications, 2nd Edition
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Soft Actuators: Design, Fabrication and Applications, 2nd Edition

A special issue of Micromachines (ISSN 2072-666X). This special issue belongs to the section "A：Physics".

Deadline for manuscript submissions: 25 July 2025 | Viewed by 3304

Special Issue Editors

Dr. Chongjing Cao

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Guest Editor
Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China
Interests: soft robotics; bioinspired robotics; smart materials; dielectric elastomer actuators; nonlinear dynamics
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Bo Li

E-Mail Website
Guest Editor
School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China
Interests: soft robots; smart materials; kirigami; flexible structures
Special Issues, Collections and Topics in MDPI journals
Dr. Xing Gao

E-Mail Website
Guest Editor
Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China
Interests: soft robotics; medical robotics; smart materials; dielectric elastomer actuators
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Soft robotics is a fascinating research field that integrates material sciences, robotics and biology to create the next generation of robots that can better adapt to natural environments with complex uncertainties and human-centric operations with strict safety requirements. As one of the core components of soft robots, soft actuators have always been the focus of this particular field of research. Over the last decade, we have witnessed the rapid development of many novel soft actuators, such as pneu-net and electroactive polymers, which have enabled soft robots to be capable of agile locomotion and complex task operations. However, we need to acknowledge that this field is still facing a set of key challenges. These include achieving more efficient/effective actuation of soft actuators through clever and elegant design; developing rapid, yet reliable, fabrication techniques to replace conventional, time-consuming casting for soft actuators; and developing novel applications for these soft actuators that exhibit their true potential in real-world settings.

This Special Issue will be devoted to state-of-the-art research on soft actuators, including the design, fabrication and applications of soft actuators. We seek submissions with original perspectives and advanced thinking on the theme addressed. In particular, the topics of interest include, but are not limited to, the following:

  • Design of soft actuators;
  • Bio-inspired soft actuators;
  • Modeling of soft actuators;
  • Control of soft actuators;
  • Sensing of soft robots;
  • Materials of soft actuators;
  • Advanced fabrication techniques for soft actuators;
  • Artificial intelligence for soft robots;
  • Micro/nano soft actuators;
  • Soft robotic applications.

Dr. Chongjing Cao
Prof. Dr. Bo Li
Dr. Xing Gao
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Micromachines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2100 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • soft robotics
  • soft actuators
  • smart materials
  • bio-inspired designs
  • novel fabrication techniques
  • control of soft actuators
  • soft robotics applications

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Related Special Issue

Published Papers (3 papers)

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Research

26 pages, 16195 KiB  
Article
Cosserat Rod-Based Tendon Friction Modeling, Simulation, and Experiments for Tendon-Driven Continuum Robots
by Honghong Wang, Jingli Du and Yi Mao
Micromachines 2025, 16(3), 346; https://doi.org/10.3390/mi16030346 - 19 Mar 2025
Cited by 1 | Viewed by 620
Abstract
Traditional tendon-driven continuum robot (TDCR) models based on Cosserat rod theory often assume that tendon tension is a continuous wrench along the backbone. However, this assumption overlooks critical factors, including the discrete arrangement of disks, the segmented configuration of tensioned tendons, and the [...] Read more.
Traditional tendon-driven continuum robot (TDCR) models based on Cosserat rod theory often assume that tendon tension is a continuous wrench along the backbone. However, this assumption overlooks critical factors, including the discrete arrangement of disks, the segmented configuration of tensioned tendons, and the friction between tendons and guide holes. Additionally, tendon forces are not continuous but discrete, concentrated wrenches, with the frictional force magnitude and direction varying based on the TDCR’s bending configuration. We propose a TDCR modeling method that integrates Cosserat rod theory with a finite element approach to address these limitations. We construct a Cosserat rod model for the robot’s backbone, discretize the tendon geometry using the finite element method (FEM), and incorporate friction modeling between tendons and guide holes. Furthermore, we introduce an algorithm to determine the direction of friction forces, enhancing modeling accuracy. This approach results in a more realistic and comprehensive mathematical representation of TDCR behavior. Numerical simulations under various tendon-routing scenarios are conducted and compared with classical TDCR models. The results indicate that our friction-inclusive model improves accuracy, yielding an average configuration deviation of only 0.3% across different tendon routings. Experimental validation further confirms the model’s accuracy and robustness. Full article
(This article belongs to the Special Issue Soft Actuators: Design, Fabrication and Applications, 2nd Edition)
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14 pages, 4040 KiB  
Article
Analysis of the Radial Force of a Piezoelectric Actuator with Interdigitated Spiral Electrodes
by Yateng Wang, Tianxing Ren, Yuan Ren, Ruijie Gu and Yonggang Liu
Micromachines 2024, 15(11), 1378; https://doi.org/10.3390/mi15111378 - 15 Nov 2024
Viewed by 989
Abstract
The actuator is a critical component of the micromanipulator. By utilizing the properties of expansion and contraction, the piezoelectric actuator enables the manipulator to handle and grasp miniature objects during micromanipulation. However, in piezoelectric ceramic disc actuators with conventional surface electrode configurations, the [...] Read more.
The actuator is a critical component of the micromanipulator. By utilizing the properties of expansion and contraction, the piezoelectric actuator enables the manipulator to handle and grasp miniature objects during micromanipulation. However, in piezoelectric ceramic disc actuators with conventional surface electrode configurations, the actuating force generated in the radial direction is relatively limited. When used as the actuation element of the manipulator, achieving regulation over a wide range of operating strokes becomes challenging. Therefore, altering the electrode structure is necessary to generate a greater radial force, thus enhancing the positioning and grasping capabilities of the operating arm. This paper investigates a piezoelectric actuator with interdigitated spiral electrodes, featuring a constant pitch between adjacent electrodes. The radial force was tested under mechanical clamping conditions, and the influence of the electrical signal was examined. The characteristics of the electrode structure were described, and the working principles of the piezoelectric actuators were analyzed. Theoretical equations were derived for the macroscopic characterization of the radial clamping force of the actuator, based on the piezoelectric constitutive equation, geometric principles, and Bond matrix transformation relationships. A finite element model was developed, reflecting the features of the electrode structure, and finite element simulations were employed to verify the theoretical equations for radial force. To prepare the samples, encircled interdigitated spiral electrode lines were printed on the PZT-52 piezoelectric ceramic disc using a screen printing method. The clamping force experimental platform was established, and experiments on the clamping radial force were conducted with electrical signals of varying waveforms, frequencies, and voltages. The experimental results show that the piezoelectric ceramic disc actuator with an interdigitated spiral electrode line structure, when excited by a stable sine wave operating at 200 V and 0.2 Hz, generated a peak force of 0.37 N. It was 1.76 times greater than that produced by a previously utilized piezoelectric disc with conventional electrode structures. Full article
(This article belongs to the Special Issue Soft Actuators: Design, Fabrication and Applications, 2nd Edition)
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15 pages, 9503 KiB  
Article
A Multi-Posture Grasping Manipulator Actuated by Shape Memory Alloy with Different Functional Modules
by Xiaozheng Li and Chongjing Cao
Micromachines 2024, 15(11), 1328; https://doi.org/10.3390/mi15111328 - 30 Oct 2024
Viewed by 1118
Abstract
Currently, multi-posture robots have complex grasping robotic manipulators with low power density, making it difficult to miniaturize and integrate. In this paper, a multi-posture grasping manipulator actuated by shape memory alloy with different functional modules is presented. It is composed of deflection, translation, [...] Read more.
Currently, multi-posture robots have complex grasping robotic manipulators with low power density, making it difficult to miniaturize and integrate. In this paper, a multi-posture grasping manipulator actuated by shape memory alloy with different functional modules is presented. It is composed of deflection, translation, rotation and grasping modules. Based on a D-H parameter method, the end motion trajectory model is established and the end motion space is drawn. Finally, the grasping experiment of a light circular object is carried out to verify the validity of the multi-posture grasping function of the multi-module combination manipulator, which provides a choice for future intelligent robot manipulators. Full article
(This article belongs to the Special Issue Soft Actuators: Design, Fabrication and Applications, 2nd Edition)
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