Journal
ADVANCED MATERIALS TECHNOLOGIES
Volume 6, Issue 9, Pages -Publisher
WILEY
DOI: 10.1002/admt.202100018
Keywords
actuation; continuum robots; perceptions; soft robotic manipulators; variable stiffness
Categories
Funding
- National Natural Science Foundation of China [51975587]
- Natural Science Foundation of Hunan Province, China [2020JJ4742]
- Hunan Science and Technology Innovation Talents [2020RC3005]
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Soft robotic manipulators are continuum robots made of soft materials, aiming to adapt to cluttered environments and interact safely with humans, but face challenges in practical applications. Challenges in soft robotic manipulators include materials and structure design, stiffness control, perception, and function control. Recent research advancements in soft robotic manipulators mainly focus on device architecture, actuation, stiffness variation, and sensing technologies.
Soft robotic manipulators are continuum robots made of soft materials and flexible components. The goal of soft robotic manipulators research is to enable these manipulators to adapt their shapes to cluttered environments and to have safer interactions with human. However, there is still a problem with effectively using soft robotic manipulators in practical applications. The challenges of soft robotic manipulators in terms of materials and structure design, stiffness control, perception, and function control remain to be overcome. Here, an overview of recent advances in this field is presented, covering device architectures, actuation, variable stiffness, and sensing. Actuator technologies are discussed and roughly divided into three categories: a) tendon-driven actuation, b) fluidic actuation, and c) stimuli-responsive actuation, which is based on smart materials. Considering the working principle of stiffness variation technologies, stiffness variation technologies can be divided into two categories: a) using the interactions between structural elements, b) direct material rigidity tuning strategies. A briefly review of soft sensing technologies is presented. From the functional perspective, sensor technologies are divide into two categories: proprioception and exteroception. A conception for designing soft robotic manipulators is proposed from the perspective of soft robotic manipulator applications. Finally, the challenges this field faces are discussed.
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