Search Results (18)

This study presents a magnetically actuated soft robot inspired by the peristaltic locomotion of flatworms, designed to replicate the biological locomotion of worms to achieve robust maneuverability. Fabricated entirely from photocurable soft resin, the robot features a flexible elastomeric body and two webbed fins with embedded soft magnets. By applying a vertically oscillating magnetic field, the robot achieves forward crawling through the coordinated bending and lifting of fins, converting oscillating magnetic fields into continuous undulatory motion that mimics the gait of flatworms. The experimental results demonstrate that the system maintains consistent bidirectional velocities in the range of 4–7 mm/s on flat surfaces. Beyond linear locomotion, the robot demonstrates effective terrain adaptability, navigating complex topographies, including curved obstacles up to 16 times its body thickness, by autonomously adopting a high-lifting kinematic strategy to overcome gravitational resistance. Furthermore, load-carrying tests reveal that the robot can transport a 6 g payload without velocity degradation. These findings underscore the robot’s efficacy in overcoming mobility constraints, highlighting promising applications in fields requiring non-invasive intervention, such as biomedical capsule endoscopy and industrial pipeline inspection. Full article

Biocompatible electroactive hydrogels with bidirectional pH-responsive bending are important for the creation of biomedical actuators. This study developed chitosan/carboxymethylcellulose (CS/CMC) semi-interpenetrating networks (SIPNs) with different volume ratios, which were crosslinked with glutaraldehyde. The swelling and bending behaviors of SPINs were systematically characterized as a function of the pH of the solution and the magnitude of the applied electric field. The hydrogels exhibited pH-dependent bidirectional actuation, with the maximum swelling of 4.67–6.00 at pH ≈ 3.9 and minimum swelling of 1.58–2.53 at pH ≈ 5.7. The SPINs with CS/CMC = 1:1 composition achieved the highest bending angle of 77° at pH ≈ 5.7, while cathodic bending up to an angle of −13.7° was observed in basic conditions. The electromechanical response was significantly enhanced by decreasing the electrode distance and increasing the applied voltage. The observed correlation between the composition, swelling behavior, and bending performance was explained in terms of the electrostatic interactions between NH₃⁺ and COO⁻ groups present in the CS/CMC mixtures. These findings provided novel insight into the ongoing efforts for the development of non-toxic electroactive hydrogels with tailored electromechanical bending behavior necessary for use as artificial muscles and biomedical actuators. Full article

A novel multi-degree-of-freedom bionic Soft Pneumatic Actuator (SPA) inspired by the shoulder joint of a sea turtle is proposed. The SPA is mainly composed of a combination of oblique chamber actuator units capable of omnidirectional bending and bi-directional twisting, which can restore the multi-modal motions of a sea turtle’s flipper limb in three-dimensional space. To address the nonlinear behavior of the complex structure of SPA, traditional modeling is difficult. The attitude information of each axis of the actuator is extracted in real time using a high-precision Inertial Measurement Unit (IMU), and the attitude outputs of the SPA are modeled using six machine learning methods. The results show that the XGBoost model performs best in attitude modeling. Its R² can reach 0.974, and the average absolute errors of angles in Roll, Pitch, and Yaw axes are 1.315°, 1.543°, and 1.048°, respectively. The multi-axis attitude of the SPA can be predicted with high accuracy in real time. The studies on deformation capability, actuation output performance, and underwater validation experiments demonstrate that the SPA meets the bionic sea turtle shoulder joint requirements. This study provides a new theoretical foundation and technical path for the development, control, and bionic application of complex multi-degree-of-freedom SPA systems. Full article

This paper presents a numerical study on the structural vibrations of a TLP-supported NREL 5MW wind turbine equipped with a tuned vibration absorber (TVA) in the nacelle. The analysis was focused on tower bending deflections and was conducted using a reference OpenFAST V3.5.3 dedicated wind turbine modelling software and a finite element simulation framework based on Comsol Multiphysics V6.3 which was newly developed for this study. The obtained four-degree-of-freedom (4-DOF) tower bending model was transferred using modal decomposition to the MATLAB/Simulink R2020b environment, where a 2-DOF TLP surge/sway model and a bidirectional (2-DOF) TVA model were embedded. The wind field was approximated by a Weibull distribution of velocities (8.86 m/s mean, 4.63 m/s standard deviation). It was combined with the wave actions simulated using a Bretschneider spectrum with a significant height of 2.5 m and a peak period of 8.1 s. The TVA model used was either the standard NREL reference 20-ton passive TVA, a 10-ton passive, or a 10-ton controlled TVA (the latter two tuned to the tower’s first bending mode). The controlled TVA utilised a magnetorheological (MR) damper, either operating independently (forming a semi-active MR-TVA) or simultaneously with a force actuator, forming, in this case, a hybrid H-MR-TVA. Both aligned and 45°/90° misaligned wind–wave excitations were examined to investigate the performance of a 10-ton real-time controlled (H-)MR-TVA operating with less working space. In aligned conditions, the semi-active and hybrid MR-TVA solutions demonstrated superior tower vibration mitigation, reducing maximum tower deflections by 11.2% compared to the reference TVA and by 14.9% with regard to the structure without TVA. The reduction in root-mean-square deflection reached up to 4.2%/2.9%, respectively, for the critical along-the-waves direction, while the TVA stroke reduction reached 18.6%. For misaligned excitations, the tower deflection was reduced by 4.3%/4.8% concerning the reference 20-ton TVA, while the stroke was reduced by 22.2%/34.4% (for 45°/90° misalignment, respectively). It is concluded that the implementation of the 10-ton real-time controlled (H-)MR-TVA is a promising alternative to the reference 20-ton passive TVA regarding tower deflection minimisation and TVA stroke reduction for the critical along-the-waves direction. The current research results may be used to design a full-scale semi-active or hybrid TVA system serving a TLP-supported floating offshore wind turbine structure. Full article

Stroke-related hand dysfunction significantly limits the ability to perform daily activities. Pneumatic soft gloves can provide rehabilitation training and support for individuals with impaired hand function, enhancing their independence. This paper presents a novel pneumatic soft robotic system for hand rehabilitation featuring bidirectional bending actuators. The system comprises a pneumatic soft glove and a pneumatic control platform, enabling various rehabilitation gestures and assisting with finger grasping. The main bending module of the pneumatic soft actuator features a three-stage cavity structure, allowing for a wider range of finger rehabilitation training gestures and greater bending angles. The reverse-bending module uses a trapezoidal cavity design to enhance the reverse-bending capability, effectively facilitating finger extension motion. The pneumatic control platform is simple to set up, but effectively controls the actuators of the soft glove, which enables both main and reverse bending. This allows individuals with hand impairments to perform various gestures and grasp different objects. Experiments demonstrate that the pneumatic soft glove has a measurable load capacity. Additionally, the pneumatic soft glove system is capable of executing single-finger movements, a variety of rehabilitation gestures, and the ability to grasp different objects. This functionality is highly beneficial for the rehabilitation of individuals with hand impairments. Full article

As wind turbines increase in size, blades become longer, thinner, and more flexible, making them more susceptible to large geometric nonlinear deformations, which pose challenges for aeroelastic simulations. This study presents a nonlinear aeroelastic model that accounts for large deformations of slender, flexible blades, coupled through the Actuator Line Method (ALM) and Geometrically Exact Beam Theory (GEBT). The accuracy of the model is validated by comparing it with established numerical methods, demonstrating its ability to capture the bending–torsional coupled nonlinear characteristics of highly flexible blades. A bidirectional fluid–structure coupling simulation of the IEA 15MW wind turbine under uniform flow conditions is conducted. The effect of blade nonlinear deformation on aeroelastic performance is compared with a linear model based on Euler–Bernoulli beam theory. The study finds that nonlinear deformations reduce predicted angle of attack, decrease aerodynamic load distribution, and lead to a noticeable decline in both wind turbine performance and blade deflection. The effects on thrust and edgewise deformation are particularly significant. Additionally, nonlinear deformations weaken the tip vortex strength, slow the momentum exchange in the wake region, reduce turbulence intensity, and delay wake recovery. This study highlights the importance of considering blade nonlinear deformations in large-scale wind turbines. Full article

Worms are organisms characterized by simple structures, low energy consumption, and stable movement. Inspired by these characteristics, worm-like soft robots demonstrate exceptional adaptability to unstructured environments, attracting considerable interest in the field of biomimetic engineering. The primary challenge currently involves improving the motion performance of worm-like robots from the perspectives of actuation and anchoring. In this study, a single segment worm-like soft robot driven by electrohydraulic actuators is proposed. The robot consists of a soft actuation module and two symmetrical anchoring modules. The actuation modules enable multi-degree-of-freedom motion of the robot using symmetric dual-electrode electrohydraulic actuators, while the anchoring modules provide active friction control through bistable electrohydraulic actuators. A hierarchical microstructure design is used for the biomimetic adhesive surface, enabling rapid, reversible, and stable attachment to and detachment from different surfaces, thereby improving the robot’s surface anchoring performance. Experimental results show that the designed robot can perform peristaltic and bending motions similar to a worm. It achieves rapid bidirectional propulsion on both dry and wet surfaces, with a maximum speed of 10.36 mm/s (over 6 velocity/length ratio (min⁻¹)). Full article

The locomotion mechanisms and structural characteristics of insects in nature offer new perspectives and solutions for designing miniature actuators. Inspired by the underwater movement of aquatic beetles, this paper presents a bidirectional self-propelled linear piezoelectric micro-actuator (SLPMA), whose maximum size in three dimensions is currently recognized as the smallest known of the self-propelled piezoelectric linear micro-actuators. Through the superposition of two bending vibration modes, the proposed actuator generates an elliptical motion trajectory at its driving feet. The size was determined as 15 mm × 12.8 mm × 5 mm after finite element analysis (FEA) through modal and transient simulations. A mathematical model was established to analyze and validate the feasibility of the proposed design. Finally, a prototype was fabricated, and an experimental platform was constructed to test the driving characteristics of the SLPMA. The experimental results showed that the maximum no-load velocity and maximum carrying load of the prototype in the forward motion were 17.3 mm/s and 14.8 mN, respectively, while those in the backward motion were 20.5 mm/s and 15.9 mN, respectively. Full article

This paper proposes a design framework to create individualised finger actuators that can be expanded to a generic hand. An actuator design is evaluated to help a finger achieve tendon-gliding exercises (TGEs). We consider musculoskeletal analysis for different finger sizes to determine joint forces while considering safety. The simulated Finite Element Analysis (FEA) response of a bi-directional Pneumatic Network Actuator (PNA) is mapped to a reduced-order model, creating a robust design tool to determine the bending angle and moment generated for actuator units. A reduced-order model is considered for both the 2D plane-strain formulation of the actuator and a full 3D model, providing a means to map between the results for a more accurate 3D model and the less computationally expensive 2D model. A setup considering a cascade of reduced-order actuator units interacting with a finger model determined to be able to achieve TGE was validated, and three exercises were successfully achieved. The FEA simulations were validated using the bending response of a manufactured actuator interacting with a dummy finger. The quality of the results shows that the simulated models can be used to predict the behaviour of the physical actuator in achieving TGE. Full article

In nature, some creatures can change their body shapes and surface colors simultaneously to respond to the external environments, which greatly inspired researchers in the development of color-tunable soft actuators. In this work, we present a facile method to prepare a smart hydrogel actuator that can bend bidirectionally and change color simultaneously, just like an octopus. The actuator is fabricated by elastomer/hydrogel bilayer and the hydrogel layer was decorated with thermoresponsive microgels as the photonic crystal blocks. Compared with the previously reported poly(N-isopropylacrylamide) hydrogel-based bilayer hydrogel actuators, which are generally limited to one-directional deformation, the elastomer/hydrogel bilayer actuator prepared in our work exhibits unique bidirectional bending behavior in accordance with the change of structural color. The bending degrees can be changed from −360° to 270° in response to solution temperatures ranging from 20 °C to 60 °C. At the same time, the surface color changes from red to green, and then to blue, covering the full visible light spectrum. The bending direction and degree of the hydrogel actuator can easily be adjusted by tuning the layer thickness ratio of the elastomer/hydrogel or the composition of the hydrogel. The color-tunable hydrogel-elastomer actuator reported in this work can achieve both programmable deformations and color-changing highly resembling the natural actuating behaviors of creatures. Full article

Biologically derived hydrogels have attracted attention as promising polymers for use in biomedical applications because of their high biocompatibility, biodegradability, and low toxicity. Elastin-mimetic polypeptides (EMPs), which contain a repeated amino acid sequence derived from the hydrophobic domain of tropoelastin, exhibit reversible phase transition behavior, and thus, represent an interesting starting point for the development of biologically derived hydrogels. In this study, we succeeded in developing functional EMP-conjugated hydrogels that displayed temperature-responsive swelling/shrinking properties. The EMP-conjugated hydrogels were prepared through the polymerization of acrylated EMP with acrylamide. The EMP hydrogel swelled and shrank in response to temperature changes, and the swelling/shrinking capacity of the EMP hydrogels could be controlled by altering either the amount of EMP or the salt concentration in the buffer. The EMP hydrogels were able to select a uniform component of EMPs with a desired and specific repeat number of the EMP sequence, which could control the swelling/shrinking property of the EMP hydrogel. Moreover, we developed a smart hydrogel actuator based on EMP crosslinked hydrogels and non-crosslinked hydrogels that exhibited bidirectional curvature behavior in response to changes in temperature. These thermally responsive EMP hydrogels have potential use as bio-actuators for a number of biomedical applications. Full article

As one of the most important anisotropic intelligent materials, bi-layer stimuli-responsive actuating hydrogels have proven their wide potential in soft robots, artificial muscles, biosensors, and drug delivery. However, they can commonly provide a simple one-actuating process under one external stimulus, which severely limits their further application. Herein, we have developed a new anisotropic hydrogel actuator by local ionic crosslinking on the poly(acrylic acid) (PAA) hydrogel layer of the bi-layer hydrogel for sequential two-stage bending under a single stimulus. Under pH = 13, ionic-crosslinked PAA networks undergo shrinking (-COO⁻/Fe³⁺ complexation) and swelling (water absorption) processes. As a combination of Fe³⁺ crosslinked PAA hydrogel (PAA@Fe³⁺) with non-swelling poly(3-(1-(4-vinylbenzyl)-1H-imidazol-3-ium-3-yl)propane-1-sulfonate) (PZ) hydrogel, the as-prepared PZ-PAA@Fe³⁺ bi-layer hydrogel exhibits distinct fast and large-amplitude bidirectional bending behavior. Such sequential two-stage actuation, including bending orientation, angle, and velocity, can be controlled by pH, temperature, hydrogel thickness, and Fe³⁺ concentration. Furthermore, hand-patterning Fe³⁺ to crosslink with PAA enables us to achieve various complex 2D and 3D shape transformations. Our work provides a new bi-layer hydrogel system that performs sequential two-stage bending without switching external stimuli, which will inspire the design of programmable and versatile hydrogel-based actuators. Full article

The agile locomotion of adhesive animals is mainly attributed to their sophisticated hierarchical feet and reversible adhesion motility. Their structure–function relationship is an urgent issue to be solved to understand biologic adhesive systems and the design of bionic applications. In this study, the reversible adhesion/release behavior and structural properties of gecko toes were investigated, and a hierarchical adhesive bionic toe (bio-toe) consisting of an upper elastic actuator as the supporting/driving layer and lower bionic lamellae (bio-lamellae) as the adhesive layer was designed, which can adhere to and release from targets reversibly when driven by bi-directional pressure. A mathematical model of the nonlinear deformation and a finite element model of the adhesive contact of the bio-toe were developed. Meanwhile, combined with experimental tests, the effects of the structure and actuation on the adhesive behavior and mechanical properties of the bio-toe were investigated. The research found that (1) the bending curvature of the bio-toe, which is approximately linear with pressure, enables the bio-toe to adapt to a wide range of objects controllably; (2) the tabular bio-lamella could achieve a contact rate of 60% with a low squeeze contact of less than 0.5 N despite a ±10° tilt in contact posture; (3) the upward bending of the bio-toe under negative pressure provided sufficient rebounding force for a 100% success rate of release; (4) the ratio of shear adhesion force to preload of the bio-toe with tabular bio-lamellae reaches approximately 12, which is higher than that of most existing adhesion units and frictional gripping units. The bio-toe shows good adaptability, load capacity, and reversibility of adhesion when applied as the basic adhesive unit in a robot gripper and wall-climbing robot. Finally, the proposed reversible adhesive bio-toe with a hierarchical structure has great potential for application in space, defense, industry, and daily life. Full article

Soft actuators have attracted extensive attention for promising applications in drug delivery, microfluidic switches, artificial muscles and flexible sensors. However, the performance of pH-responsive hydrogel actuators, such as regarding reversible bending property and adhesive property, remains to be improved. In this study, inspired by drosera leaves, we have fabricated high-performance bilayer, pH-responsive poly(acrylamide-acrylic acid-3-acrylamidophenylboronic acid)(P(AAm-AAc-3-AAPBA)) based on the copolymers of AAm, AAc and 3-AAPBA. The pH-sensitive actuators were fabricated by ultraviolet polymerization of the P(AAm-AAc-3-AAPBA) layer as the active actuating layer and the PAAm layer as the auxiliary actuating layer. The effects of pH, glucose concentration and content of 3-AAPBA on bending behavior of P(AAm-AAc-3-AAPBA)/PAAm bilayer actuators were discussed. By tuning the pH of media, the soft actuator could achieve fast and large-amplitude bidirectional bending behaviors. The bending orientation and bending degree can be reversibly and precisely adjusted. More importantly, P(AAm-AAc-3-AAPBA) hydrogel shows good adhesive property in polyvinyl alcohol (PVA) solution; thus, complex structures have been fabricated. In addition, the bilayer hydrogel structures have been demonstrated as soft actuators, bionic flowers and bionic manipulators. The proposed pH-responsive bilayer actuator shows great potential for drug delivery and other medical systems. Full article

Electroactive polymer (EAP) is a polymer that reacts to electrical stimuli, such as voltage, and can be divided into electronic and ionic EAP by an electrical energy transfer mechanism within the polymer. The mechanism of ionic EAP is the movement of the positive ions inducing voltage change in the polymer membrane. Among the ionic EAPs, an ionic polymer–metal composite (IPMC) is composed of a metal electrode on the surface of the polymer membrane. A common material for the polymer membrane of IPMC is Nafion containing hydrogen ions, and platinum, gold, and silver are commonly used for the electrode. As a result, IPMC has advantages, such as low voltage requirements, large bending displacement, and bidirectional actuation. Manufacturing of IPMC is composed of preparing the polymer membrane and plating electrode. Preparation methods for the membrane include solution casting, hot pressing, and 3D printing. Meanwhile, electrode formation methods include electroless plating, electroplating, direct assembly process, and sputtering deposition. The manufactured IPMC is widely demonstrated in applications such as grippers, micro-pumps, biomedical, biomimetics, bending sensors, flow sensors, energy harvesters, biosensors, and humidity sensors. This paper will review the overall field of IPMC by demonstrating the categorization, principle, materials, and manufacturing method of IPMC and its applications. Full article