In recent years, the field of soft robotics has gained much attention by virtue of its aptness to work in certain environments unsuitable for traditional rigid robotics. Along with the uprising field of soft robotics is the increased attention to sof...
Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the...
This paper focuses on the recent development of soft pneumatic actuators for soft robotics over the past few years, concentrating on the following four categories: control systems, material and construction, modeling, and sensors. This review work se...
This review will examine the rapidly growing field of soft robotics, with a special emphasis on soft robotic actuators and their applications in bioengineering. Bioengineering has increasingly utilized soft robotics due to their mechanical adaptabili...
Electromagneticsoft actuator arrays (ESAAs) combine compliance with fast, controllable actuation and scalability, providing a promising foundation for the development of interconnected soft actuator arrays inspired by the structure and function of bi...
Since climbing robots mainly rely on adhesion actuators to achieve adhesion, robust adhesion actuators have always been the challenge of climbing robot design. A novel under-actuated soft adhesion actuator (USAA) proposed in this paper for climbing r...
The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process use...
Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and...
Soft robots are being developed as implantable devices and surgical tools with increasing frequency. As this happens, new attention needs to be directed at the materials used to engineer these devices that interface with biological tissues. Biocompat...
Applying soft actuators to hand motion assist for rehabilitation has been receiving increasing interest in recent years. Pioneering research efforts have shown the feasibility of soft rehabilitation gloves (SRGs). However, one important and practical...
Soft pneumatic actuators are extensively used in soft robots, and their bending angles and kinematic rules at different pressures play a crucial role in practical applications. This investigation aims to model the bending angle and motion of a new ty...
Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achiev...
In this systematic survey, an overview of non-conventional actuators particularly used in soft-robotics is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary and potential applicat...
We examine electrically conductive fabrics as conductive heaters for heat-activated soft actuators. We have explored various fabric designs optimized for material properties, heat distribution and actuation/de-actuation characteristics of the soft ac...
Analytical modeling of soft pneumatic actuators constitutes a powerful tool for the systematic design and characterization of these key components of soft robotics. Here, we maximize the quasi-static bending angle of a soft pneumatic actuator by opti...
Soft robots and devices exploit deformable materials that are capable of changes in shape to allow conformable physical contact for controlled manipulation. While the use of embedded sensors in soft actuation systems is gaining increasing interest, t...
Soft actuators have received extensive attention in robotics and smart device applications due to their distinctive dexterity and compliance. Among them, hydraulic soft actuators play an important role in the area because they have much higher specif...
The actuation of silicone/ethanol soft composite material-actuators is based on the phase change of ethanol upon heating, followed by the expansion of the whole composite, exhibiting high actuation stress and strain. However, the low thermal conducti...
This article presents a soft pneumatic bending actuator using a magnetically assisted bilayer composite composed of silicone polymer and ferromagnetic particles. Bilayer composites were fabricated by mixing ferromagnetic particles to a prepolymer sta...
Interest in soft actuators has increased enormously in the last 10 years. Thanks to their compliance and flexibility, they are suitable to be employed to actuate devices that must safely interact with humans or delicate objects or to actuate bio-insp...
Soft robotics is a hot scientific topic in areas such as medicine and medical care, implantology, haptic technologies, and the design of various flexible structures. Integrated actuators (DEAP and MRE) are characterized by special functionality and a...
Soft robots, inspired by biological adaptability, can excel where rigid robots may falter and offer flexibility and safety for complex, unpredictable environments. In this paper, we present the Omnidirectional Bending Actuator (OBA), a soft robotic a...
Living systems have evolved to survive in a wide range of environments and safely interact with other objects and organisms. Thus, living systems have been the source of inspiration for many researchers looking to apply their mechanics and unique cha...
This paper addresses the design, fabrication and control of Fabric Inflatable Soft Actuators (FISAs) for driving Soft Wearable Devices (SWD) for rehabilitation or assistance tasks. FISAs are integrated by a set of pneumatic chambers made of 200D TPU-...
Through soft robotics, flexible structures confer an elevated degree of protection and safety in usage, as well as precision and reliability. Using theoretical models while combining different types of soft components opens a wide variety of possibil...
High-performance electroactive polymer actuators with large bending, fast response, and high durability have gained attention in the development of micromanipulators and multifunctional bionic soft robots. Herein, we developed high-performance electr...
Soft Pneumatic-Network (Pneu-Net) Actuators (SPAs) have been used extensively in making soft grippers, due to their simple driving forms and large bending deformation. However, the capabilities of the regular SPAs in complex soft gripping application...
Hysteresis is a nonlinear phenomenon found in many physical systems, including soft viscoelastic actuators, where it poses significant challenges to their application and performance. Consequently, developing accurate hysteresis models is essential f...
In nature, structures such as earwig wings and mimosa leaves exhibit remarkable folding and unfolding capabilities. Inspired by these biological mechanisms, this work investigates soft foldable and torsional actuators based on Kresling crease pattern...
As an electrically driven artificial muscle, dielectric elastomer actuators (DEAs) are notable for their large deformation, fast response speed, and high energy density, showing significant potential in soft robots. The paper discusses the working pr...
Soft robotics is a specialized field of robotics that focuses on the design, manufacture, and control of robots made of soft materials, as opposed to those made of rigid links. One of the primary challenges for the future use of continuous or hyper-r...
Natural organisms use a combination of contracting muscles and inextensible fibers to transform into controllable shapes, camouflage into their surrounding environment, and catch prey. Replicating these capabilities with engineered materials is chall...
Soft actuators have been developed for a variety of applications, including soft grippers, artificial muscles, wearables, tactile devices, and medical devices. In this review, we will discuss a group of chemical materials and their robotic applicatio...
Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be used in many applications, such as exploration, inspection, and minimally invasive surgery. Multi-segment SCRaMs employ numerous actuators to perform their tasks. Th...
Soft fiber-reinforced actuators have demonstrated significant potential across various robotics applications. However, the actuation motion in these actuators is typically limited to a single type of motion behavior, such as bending, extending, and t...
In recent years, the emergence of low-dimensional carbon-based materials, such as carbon dots, carbon nanotubes, and graphene, together with the advances in materials science, have greatly enriched the variety of flexible and stretchable electronic d...
Alginate hydrogels offer distinct advantages as ionically crosslinked, biocompatible networks that can be shaped into spherical beads with high compositional flexibility. These spherical architectures provide isotropic geometry, modularity and the ca...
Unlike rigid actuators, soft actuators can easily adapt to complex environments. Understanding the relationship between the deformation of soft actuators and external factors such as pressure would enable rapid designs based on specific requirements,...
The integration of variable stiffness materials and structures into soft robots is a popular trend, allowing soft robots to switch between soft and rigid states in different situations. This concept combines the advantages of rigid mechanisms and sof...
Soft actuators are essential to soft robots and can also be used with rigid-bodied robots. This paper is focused on methods for improving the applicability of origami-inspired soft pneumatic actuators (OSPA). Our method for rapidly fabricating OSPA i...
Soft grippers, a rapidly growing subfield of soft robotics, utilize compliant and flexible materials capable of conforming to various shapes. This feature enables them to exert gentle yet, if required, strong gripping forces. In this study, we elabor...
This study developed a soft pneumatic glove actuated by elliptical cross-sectional guided bending bellows to augment finger-knuckle rehabilitation for patients with hand dysfunction. The guided bending bellows actuators (GBBAs) are made of thermoplas...
A procedure for 3D printing of silicone elastomers with a direct ink writing (DIW) process has demonstrated great potential in areas as diverse as flexible electronics, medical devices, and soft robotics. In this report, we propose a comprehensive gu...
Soft robots that incorporate elastomeric matrices and flexible materials have gained attention for their unique capabilities, surpassing those of rigid robots, with increased degrees of freedom and movement. Research has highlighted the adaptability,...
Drawing inspiration from the intricate soft structures found in nature, soft actuators possess the ability to incrementally execute complex tasks and adapt to dynamic and interactive environments. In particular, the integration of sensor data feedbac...
The following is a study of the performance of soft cable-driven polymer actuators produced by multimaterial 3D printing. We demonstrate that the mechanical response of the polymer actuator with an embedded cable can be flexibly tuned through the tar...
Template-based and additive manufacturing techniques have demonstrated some fabrication routes for creating pneumatic soft actuators. However, as the complexity and capability of the actuators continue to develop, the limitations of these approaches...
The paper proposes a novel data-driven approximation kinematic (DAK) model to estimate the shape and opening level of a PneuNets soft gripper in relation to the applied pressure signal. The model offers suitable capabilities for implementing in real-...
Dielectric elastomer actuators (DEAs) offer robust, high-energy-density solutions for soft robotics. The proposed end effector consists of three spring roll configuration DEAs, each acting as a robotic finger, using a 3M VHB-F9473PC adhesive membrane...
This study introduces a novel modular soft actuator designed for an anthropomorphic robotic finger that addresses the need for adaptive behavior and precise joint-angle control. The key innovation is its modular design, which enables independent pres...
of 20