Search Results (59)

The growing demand for marine resource development and in-depth exploration of the marine environment has positioned soft biomimetic underwater vehicles (SBUVs) as a research hotspot in the fields of underwater equipment and soft robotics. SBUVs are characterized by bodies made of flexible and extensible materials, integrating the dual advantages of softness and biomimetics. They can achieve muscle-like continuous deformation to efficiently absorb collision energy, while mimicking the propulsion mechanisms of marine organisms—such as fish and jellyfish—through undulating body movements or cavity contraction and relaxation. Such biomimetic propulsion is highly compatible with the flexible actuation of soft materials, enabling excellent environmental adaptability while maintaining favorable propulsion efficiency. Compared with traditional rigid underwater vehicles, SBUVs offer higher degrees of freedom, superior environmental adaptability, enhanced impact resistance and greater motion flexibility. This review systematically summarizes typical actuation methods for SBUVs—including fluid-powered actuation, shape memory alloy actuation, and electroactive polymer actuation—elaborating on their working principles, key technological advances, and representative application cases on SBUVs. These actuation mechanisms each offer distinct advantages. Fluid-powered systems are valued for high power density and precise motion control through direct fluidic force transmission. Shape memory alloys provide high force output and accurate positional recovery via controlled thermal phase changes. Meanwhile, electroactive polymers stand out for their rapid (often millisecond-scale) dynamic response, low hysteresis, and fine, muscle-like deformation under electrical stimuli. Current challenges are also analyzed, such as limited actuation efficiency, material durability issues, and system integration difficulties. Despite these constraints, SBUVs show broad application prospects in marine resource exploration, ecological monitoring, and underwater engineering operations. Future research should prioritize the development of novel materials, coordinated optimization of actuation and control systems, and breakthroughs in core technologies to accelerate the practical implementation and industrialization of SBUVs. Full article

Biological muscles generate tension from the combined contribution of the passive elastic recoil and the actively controlled contractile mechanisms. Understanding and replicating these passive and active tensions is necessary and beneficial for designing soft robotic actuators that emulate muscle-like behavior. In the current work, the aim is to develop a mathematical framework for modeling both the passive and active tensions in a biological muscle as functions of muscle length and contraction velocity. We will describe the passive tension by a nonlinear monotonically increasing function of length with threshold behavior in order to capture the experimentally observed stiffening occurring in stretched biological muscles. We will model the active tension using the superposition of Gaussian functions that relate bell-shaped tension-length with a flat plateau over the optimal length of the sarcomere. The parameters of this Gaussian representation of the active tension-length relation are determined from formulating a least-squares optimization problem, such that a Characteristic (indicator) function is approximated globally over the optimal length range of the sarcomere by summation of some Gaussian functions. The closed-form formulations for the required integrals are derived using the integral of the product of two Gaussian functions over ${\mathbb{R}}^n$ as well as the error function which enables efficient parameter identification. We will also propose a symmetric tension–velocity relation that distinguishes three phases of concentric, eccentric and isometric contractions, and is parametrized directly by measurable quantities of isometric tension and maximum shortening velocity. The passive and active tensions are finally combined into a unified comprehensive tension model in which the exponentially modeled passive tension is added up to the active contribution, formulated as the product of the activation level, a normalized length-dependent factor and a normalized velocity-dependent factor. The resulting model reproduces canonical tension-length and tension-velocity relations and provides an analytically tractable comprehensive tension model that can be embedded in the dynamics of soft and continuum robot actuators inspired by biological muscles. Full article

Functional Electrical Stimulation (FES) can restore motor function; however, achieving precise multi-joint control remains challenging due to nonlinear muscle dynamics and fatigue. Reinforcement Learning (RL) offers a promising solution, but practical deployment is hindered by the need for patient-specific calibration. This study investigates offline RL approaches for controlling planar arm movements using heterogeneous datasets, aiming to enable zero-shot transfer to new users. We develop a biomechanical arm model in MuJoCo and evaluate four RL algorithms coupled with three offline techniques: conservative Q learning (SAC-CQL and QBR-CQL), Randomized Ensemble (QBR-REM), and distributional RL (IQNBR). Across all conditions, IQNBR demonstrates robust learning and superior control performance, achieving an average RMSE of $3.8\pm 0.6$ cm, even when trained on mixed-quality data. These results highlight the potential of distributional RL as a base learning method to build generic FES controllers that can operate without exhaustive calibration, with broader implications for controlling robots with human-like actuation systems. Full article

Artificial muscles translate the biological principles of motion into soft, adaptive, and multifunctional actuation. This review accordingly highlights research into natural actuation strategies, such as skeletal muscles, muscular hydrostats, spider silk, and plant turgor systems, to reveal the principles underlying energy conversion and deformation control. Building on these insights, polymer-based artificial muscles based on these principles, including pneumatic muscles, dielectric elastomers, and ionic electroactive systems, are described and their capabilities for efficient contraction, bending, and twisting with tunable stiffness and responsiveness are summarized. Furthermore, the abilities of carbon nanotube composites and twisted yarns to amplify nanoscale dimensional changes through hierarchical helical architectures and achieve power and work densities comparable to those of natural muscle are discussed. Finally, the integration of these actuators into soft robotic systems is explored through biomimetic locomotion and manipulation systems ranging from jellyfish-inspired swimmers to octopus-like grippers, gecko-adhesive manipulators, and beetle-inspired flapping wings. Despite rapid progress in the development of artificial muscles, challenges remain in achieving long-term durability, energy efficiency, integrated sensing, and closed-loop control. Therefore, future research should focus on developing intelligent muscular systems that combine actuation, perception, and self-healing to advance progress toward realizing autonomous, lifelike machines that embody the organizational principles of living systems. Full article

Self-oscillating systems are capable of transforming ambient energy directly into mechanical output, and exploring novel designs is of great value for energy harvesters, actuators, and engine applications. The inspiration for this study is drawn from the four-stroke engine; we designed a new self-rotating engine formed by a turnplate, a hinge, and an LCE fiber, operating with steady illumination applied. To analyze its rotation dynamics, a nonlinear theoretical framework was formulated constructed with the dynamic LCE model as a framework. The central discovery is that the light-driven LCE engine can operate in three distinct states under steady illumination—static equilibrium, pendulum-like oscillation and sustained self-rotation—switching between them through a supercritical Hopf bifurcation. The persistence of both the pendulum and rotary motions stems from an energy balance in which the positive work produced by photo-induced contraction of the LCE fiber is exactly offset by damping dissipation, while oscillation amplitude and rotation frequency are strongly governed by light intensity, contraction coefficient, damping coefficient, spring constant and turntable radius. Compared with many previously reported self-oscillating designs, the present self-rotating engine is distinctive for its lightweight and simple configuration, tunable size, and rapid operation. These features enable compact integration and broaden its potential applications in micro-scale systems and devices. The advancement in artificial muscles, medical instruments and micro sensors is strongly promoted by this, making it possible to create devices that are both smaller in size and superior in functionality. Full article

The paper presents an innovative theoretical concept of a bio-inspired soft gripper system with two parallel jaws, a fixed and a mobile one. It is conceived for gripping fragile or soft objects with complex, irregular shapes that are easily deformable. This novel gripper is designed for handling small objects of masses up to 0.5 kg. The maximum gripping stroke of the mobile jaw is 13.5 mm. The driving motor is a pneumatic muscle, an actuator with inherently compliant, spring-like behavior. Compliance is the feature responsible for the soft character of the gripper system, ensuring its passive adaptability to the nature of the object to be gripped. The paper presents the structural, kinematic, static, and dynamic models of the novel gripper system and describes the compliant behavior of the entire assembly. The results of the dynamic simulation of the gripper have confirmed the attaining of the imposed motion-related performance. Full article

Neuromuscular robotic prostheses have emerged as a critical convergence point between biomedical engineering, machine learning, and human–machine interfaces. This work provides a narrative state-of-the-art review regarding recent developments in robotic prosthetic technology, emphasizing sensor integration, actuator architectures, signal acquisition, and algorithmic strategies for intent decoding. Special focus is given to non-invasive biosignal modalities, particularly surface electromyography (sEMG), as well as invasive approaches involving direct neural interfacing. Recent developments in AI-driven signal processing, including deep learning and hybrid models for robust classification and regression of user intent, are also examined. Furthermore, the integration of real-time adaptive control systems with surgical techniques like Targeted Muscle Reinnervation (TMR) is evaluated for its role in enhancing proprioception and functional embodiment. Finally, this review highlights the growing importance of modular, open-source frameworks and additive manufacturing in accelerating prototyping and customization. Progress in this domain will depend on continued interdisciplinary research bridging artificial intelligence, neurophysiology, materials science, and real-time embedded systems to enable the next generation of intelligent prosthetic devices. Full article

This article presents a series of innovative systems developed through student laboratory projects, comprising two autonomous vehicles, a quadrupedal walking robot, an active ankle-foot orthosis, a ball-on-beam balancing mechanism, a ball-on-plate system, and a manipulator arm, all actuated by pneumatic artificial muscles (PAMs). Due to their flexibility, low weight, and compliance, fluidic muscles demonstrate substantial potential for integration into various mechatronic systems, robotic platforms, and manipulators. Their capacity to generate smooth and adaptive motion is particularly advantageous in applications requiring natural and human-like movements, such as rehabilitation technologies and assistive devices. Despite the inherent challenges associated with nonlinear behavior in PAM-actuated control systems, their biologically inspired design remains promising for a wide range of future applications. Potential domains include industrial automation, the automotive and aerospace sectors, as well as sports equipment, medical assistive devices, entertainment systems, and animatronics. The integration of self-constructed laboratory systems powered by PAMs into control systems education provides a comprehensive pedagogical framework that merges theoretical instruction with practical implementation. This methodology enhances the skillset of future engineers by deepening their understanding of core technical principles and equipping them to address emerging challenges in engineering practice. Full article

The creation of quick-reacting electrically conductive polymers for use as actuators driven by low electrical currents is now seen as an important issue. Enhancing the electrical conductivity of hydrogels through the incorporation of conductive fillers, like salts, can reduce the necessary actuating voltage. However, several important questions arise about how the type of salt chosen and its concentration will affect not only the activation efficiency of the actuators but also the structure of the hydrogels utilized. In this study, to enhance the electrical conductivity of the hydrogel and lower the necessary activation voltage of the hydrogel actuators, lithium chloride (LiCl) and sodium chloride (NaCl) were incorporated as conductive fillers into the polyvinyl alcohol (PVA) polymer matrix. To determine the deformation of actuators, as well as the activation and relaxation times and efficiencies during activation, linear actuators capable of being activated through extension/contraction (swelling/shrinking) cycles were developed and examined based on the LiCl/NaCl content, applied voltage, and frequency. The main finding is that the required actuating voltage was lowered by up to 20 V by adding an equal mass of salt in relation to the PVA mass content. With a load of around 20 kPa, it was observed that the extension deformation for PVA/NaCl-based actuators can achieve 75%, while in contraction deformation, can reach 17%. Additionally, for the PVA/LiCl-based actuators, the extension deformation can reach 87%, while during contraction deformation, it can reach 22%. The degree of swelling in the PVA/NaCl hydrogels was generally less than that in the PVA/LiCl hydrogels, which was associated with the finding that the actuators prepared from PVA/NaCl hydrogels delivered an output that was 10–15% lower than those made from PVA/LiCl hydrogels across different testing cycles. Furthermore, adding salt increases the degree of crosslinking, which can explain why increased crosslinking leads to reduced deformation when exposed to AC voltage. These actuators can find extensive use in soft robotics, artificial muscles, medical applications, and aerospace industries. Full article

Adaptive vehicle control systems are crucial for enhancing safety, performance, and efficiency in modern transportation, particularly as vehicles become increasingly automated and responsive to dynamic environments. This review explores the advancements in bio-inspired actuators and their potential applications in adaptive vehicle control systems. Bio-inspired actuators, which mimic natural mechanisms such as muscle movement and plant tropism, offer unique advantages, including flexibility, adaptability, and energy efficiency. This paper categorizes these actuators based on their mechanisms, focusing on shape memory alloys, dielectric elastomers, ionic polymer–metal composites, polyvinylidene fluoride-based electrostrictive actuators, and soft pneumatic actuators. The review highlights the properties, operating principles, and potential applications for each mechanism in automotive systems. Additionally, it investigates the current uses of these actuators in adaptive suspension, active steering, braking systems, and human–machine interfaces for autonomous vehicles. The review further outlines the advantages of bio-inspired actuators, including their energy efficiency and adaptability to road conditions, while addressing key challenges like material limitations, response times, and integration with existing automotive control systems. Finally, this paper discusses future directions, including the integration of bio-inspired actuators with machine learning and advancements in material science, to enable more efficient and responsive adaptive vehicle control systems. Full article

As a soft actuator for fish robots, an oblique cone dielectric elastomer actuator (DEA) module inspired by the structure of white muscles in fish was proposed in the authors’ previous study. However, a mathematical model of an oblique cone DEA was not established, and designing a drive module that took into account its driving characteristics and passivity for integration into a fish robot remained a challenge. The purpose of this paper is to develop a vertebrate fish robot using multiple oblique cone DEA modules to achieve fish-like bending capability. First, an oblique cone DEA module was modeled for the design of a fish robot. The relationships among bending angle, blocking torque, driving voltage, and design parameters were established and confirmed by comparing the calculated and experimental results. Based on the modeling results, we designed an oblique cone DEA module-connected vertebrate fish robot. Finally, the experimental results of the fabricated fish robot demonstrated that the model-based design enabled flexible body swinging and swimming through a multiple-module-connected vertebrate structure. Full article

This study presents a novel, bioinspired perching mechanism designed to enhance the landing and takeoff capabilities of flapping wing micro aerial vehicles (FWMAVs). Drawing inspiration from the human hand, the lightweight gripper integrates a compliant claw structure actuated by shape memory alloys (SMAs) that mimic muscle movement. These SMA springs act as compact, lightweight substitutes for traditional actuators like motors or solenoids. The mechanism operates via short electrical impulses that trigger both opening and closing motions. A detailed design process was undertaken to optimize phalange lengths for cylindrical grasping and to select appropriate SMAs for reliable performance. Weighing only 50 g, the gripper leverages the high power-to-weight ratio and flexibility of SMAs, with the springs directly embedded within the phalanges to reduce size and mass while preserving high-force output. Experimental results demonstrate fast actuation and a grasping force of approximately 16 N, enabling the gripper to hold objects of varying shapes and sizes and perform perching, grasping, and carrying tasks. Compared to existing solutions, this mechanism offers a simpler, highly integrated structure with enhanced miniaturization and adaptability, making it especially suitable for low-payload MAV platforms like FWMAVs. Full article

Soft robots, constructed from deformable materials, offer significant advantages over rigid robots by mimicking biological tissues and providing enhanced adaptability, safety, and functionality across various applications. Central to these robots are electroactive polymer (EAP) actuators, which allow large deformations in response to external stimuli. This review examines various EAP actuators, including dielectric elastomers, liquid crystal elastomers (LCEs), and ionic polymers, focusing on their potential as artificial muscles. EAPs, particularly ionic and electronic varieties, are noted for their high actuation strain, flexibility, lightweight nature, and energy efficiency, making them ideal for applications in mechatronics, robotics, and biomedical engineering. This review also highlights piezoelectric polymers like polyvinylidene fluoride (PVDF), known for their flexibility, biocompatibility, and ease of fabrication, contributing to tactile and pressure sensing in robotic systems. Additionally, conducting polymers, with their fast actuation speeds and high strain capabilities, are explored, alongside magnetic polymer composites (MPCs) with applications in biomedicine and electronics. The integration of machine learning (ML) and the Internet of Things (IoT) is transforming soft robotics, enhancing actuation, control, and design. Finally, the paper discusses future directions in soft robotics, focusing on self-healing composites, bio-inspired designs, sustainability, and the continued integration of IoT and ML for intelligent, adaptive, and responsive robotic systems. Full article

The muscle-like movement and speed of the electrohydraulic actuator have granted it much attention in soft robotics. Our aim is to review the advancements in electrohydraulic actuators inspired by the Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator. With this paper, we focus on the performance of 21 electrohydraulic actuator designs developed across five Universities, ranging from the earliest HASEL designs to the latest electrohydraulic designs. These actuators reported up to 60 N forces and contracting strains of up to 99%. The actuators with the best overall performance so far have been the Quadrant HASEL actuator and the HEXEL actuator, developed at the University of Colorado Boulder. However, notable is also the HALVE actuator (produced by ETH Zürich, Switzerland), which, by using a 5 µm PVDF-TrFE-CTFE film with a relative permittivity of 40, produced 100 times the electrostatic force of any of the electrohydraulic actuators under review. The latter shows that there is room for improvement as low force and displacement still limit the viability of the soft actuators in real-life applications. Full article

Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechanics and movement mechanisms of human limbs is expected to enhance the overall performance of bionic robotic hands. This study presents the design of a tendon-driven bionic spherical robot wrist, utilizing two pairs of cables that mimic antagonist muscle pairs. The cables are actuated by pulleys driven by servo motors, allowing for two primary wrist motions: flexion–extension and ulnar–radial deviation. The performance Please confirm if the “1583 Iiyama” is necessary. Same as belowof the proposed robot wrist is validated through manipulation experiments using a prototype, demonstrating its capability to achieve a full range of motion for both ulnar and radial deviation. This wrist mechanism is expected to be integrated into robotic systems, enabling greater flexibility and more human-like movement capabilities. Full article