Pub Date : 2026-01-23DOI: 10.1177/21695172261417888
Houping Wu,Chao Tang,Yulian Peng,Yufeng Wang,Xinxin Chang,Yingao Xu,Hongbo Wang
Human fingers are one of the most remarkable organs for handling complex tasks or manipulating unknown objects, not only due to its dexterous and powerful movement capabilities but also its rich kinematic sense at joints and tactile sensing at skins. Shape and tactile sensing are crucial for soft pneumatic fingers to achieve embodied intelligence. Reliable tactile sensing of soft pneumatic-driven robots is particularly challenging due to its large deformation and adaptability. Here, we propose a distributed local curvature sensing-based solution for simultaneous shape and tactile perceptions in real-time. Utilizing 4 seamlessly integrated bidirectional bending curvature sensing units, real-time shape curve, contact location, and contact force can be obtained. Experimental results indicate a maximum shape reconstruction error of 0.3 mm (when the reconstruction length is 90 mm) and a force estimation error of 0.02 N (RMSE, range 0-0.4 N). Moreover, a two-finger gripper was developed; shape and tactile sensing during grasping of diverse objects (varies in weight, size, stiffness) and force-controlled grasping are achieved. Utilizing the shape-sensing and contact-event detection capabilities, dimension of the grasped objects can be recognized in real-time. This work provides an effective, highly robust, easy-to-implement, and transformative perception solution for soft bionic fingers and beyond.
人的手指是处理复杂任务或操纵未知物体最重要的器官之一，不仅因为其灵巧而强大的运动能力，而且由于其丰富的关节运动感和皮肤触觉。形状和触觉感知对于柔软的气动手指实现具身智能至关重要。由于柔性气动机器人的大变形和适应性，使其实现可靠的触觉传感是一项特别具有挑战性的工作。在这里，我们提出了一种基于分布式局部曲率感知的解决方案，用于实时同时进行形状和触觉感知。利用4个无缝集成的双向弯曲曲率传感单元，可以实时获得形状曲线、接触位置和接触力。实验结果表明，当重构长度为90 mm时，最大形状重构误差为0.3 mm，力估计误差为0.02 N （RMSE，范围为0-0.4 N）。此外，还开发了一种双指夹持器；在抓取不同物体（不同的重量、大小、刚度）和力控制抓取过程中，实现了形状和触觉感知。利用形状感知和接触事件检测功能，可以实时识别抓取物体的尺寸。这项工作为柔软的仿生手指及其他领域提供了一种有效、高度健壮、易于实现和变革性的感知解决方案。
{"title":"Shape and Tactile Perceptions of Soft Fingers via Distributed Curvature Sensing for Intelligent Grippers.","authors":"Houping Wu,Chao Tang,Yulian Peng,Yufeng Wang,Xinxin Chang,Yingao Xu,Hongbo Wang","doi":"10.1177/21695172261417888","DOIUrl":"https://doi.org/10.1177/21695172261417888","url":null,"abstract":"Human fingers are one of the most remarkable organs for handling complex tasks or manipulating unknown objects, not only due to its dexterous and powerful movement capabilities but also its rich kinematic sense at joints and tactile sensing at skins. Shape and tactile sensing are crucial for soft pneumatic fingers to achieve embodied intelligence. Reliable tactile sensing of soft pneumatic-driven robots is particularly challenging due to its large deformation and adaptability. Here, we propose a distributed local curvature sensing-based solution for simultaneous shape and tactile perceptions in real-time. Utilizing 4 seamlessly integrated bidirectional bending curvature sensing units, real-time shape curve, contact location, and contact force can be obtained. Experimental results indicate a maximum shape reconstruction error of 0.3 mm (when the reconstruction length is 90 mm) and a force estimation error of 0.02 N (RMSE, range 0-0.4 N). Moreover, a two-finger gripper was developed; shape and tactile sensing during grasping of diverse objects (varies in weight, size, stiffness) and force-controlled grasping are achieved. Utilizing the shape-sensing and contact-event detection capabilities, dimension of the grasped objects can be recognized in real-time. This work provides an effective, highly robust, easy-to-implement, and transformative perception solution for soft bionic fingers and beyond.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"88 1","pages":"21695172261417888"},"PeriodicalIF":7.9,"publicationDate":"2026-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146021744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Origami structures are lightweight and reconfigurable, creating 3D shapes by folding 2D facets. However, increasing bending stiffness in a 3D shape is challenging because the structure needs to undergo transformation, and the thin facets are easily bent. This problem is especially critical in an angled arm shape, which serves as an element of various configurations. Here, we propose a method that leverages origami transformation, which typically reduces structural stiffness. We combined two layers with the opposite folding motion. This induces interlocking due to opposite movements in the cross-sectional direction during axial bending, resulting in high bending stiffness. Based on this, we developed an arm support device, furniture, and a shelter that remain flat in their normal state but can easily transform into shapes with high load-bearing capacity.
{"title":"Double-Layer Self-Locking Origami Based on Opposite Folding Motion.","authors":"Jae-Kyeong Kim,Se Hyeok Ahn,Sun-Pill Jung,Jemoon Kim,Deuk-Gyeom Hwang,Haseon Kim,Seung-Won Kim,Dae-Young Lee,Jinkyu Yang,Kyu-Jin Cho","doi":"10.1177/21695172251401337","DOIUrl":"https://doi.org/10.1177/21695172251401337","url":null,"abstract":"Origami structures are lightweight and reconfigurable, creating 3D shapes by folding 2D facets. However, increasing bending stiffness in a 3D shape is challenging because the structure needs to undergo transformation, and the thin facets are easily bent. This problem is especially critical in an angled arm shape, which serves as an element of various configurations. Here, we propose a method that leverages origami transformation, which typically reduces structural stiffness. We combined two layers with the opposite folding motion. This induces interlocking due to opposite movements in the cross-sectional direction during axial bending, resulting in high bending stiffness. Based on this, we developed an arm support device, furniture, and a shelter that remain flat in their normal state but can easily transform into shapes with high load-bearing capacity.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"27 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145663915","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Human joint motion monitoring is essential for disease diagnosis, rehabilitation, health management, and enhancing human-computer interaction experiences. This work presents the development and validation of a flexible segmented assemblable fiber optic sensor (FSAFOS) specifically designed for human multi-joint monitoring. The FSAFOS is composed of miniature LEDs, segmented polymethyl methacrylate optical fibers, and photoconductive chips encapsulated in a flexible cladding, allowing it to accurately sense joint bending angles while maintaining high flexibility and comfort. The modularity of the FSAFOS enables rapid customization and assembly through magnetic connectors, adapting to various joint configurations and sizes. Experimental results demonstrate that the sensor exhibits good stability, low hysteresis (<5%), and high linearity (R2 = 0.996) in measuring bending angles. In validation experiments, the FSAFOS accurately measured finger joint and spinal bending angles with errors less than 1.85° compared to ground truth. The FSAFOS represents a significant advancement in the field of biomechanical monitoring, offering potential applications in personalized posture monitoring and human-machine interfaces. The study protocol was approved by the Medical Ethics Committee from the Department of Psychology and Behavioral Sciences, Zhejiang University, China (reference number: [2022]098).
{"title":"Flexible Segmented Assemblable Fiber Optic Sensor for Human Multi-Joint Monitoring.","authors":"Yuxin Peng,Liang Zhong,Xi Zhu,Xian Song,Keshuai Yang,Jianfeng Li,Zhihao Zhou,Zhichuan Tang","doi":"10.1177/21695172251400478","DOIUrl":"https://doi.org/10.1177/21695172251400478","url":null,"abstract":"Human joint motion monitoring is essential for disease diagnosis, rehabilitation, health management, and enhancing human-computer interaction experiences. This work presents the development and validation of a flexible segmented assemblable fiber optic sensor (FSAFOS) specifically designed for human multi-joint monitoring. The FSAFOS is composed of miniature LEDs, segmented polymethyl methacrylate optical fibers, and photoconductive chips encapsulated in a flexible cladding, allowing it to accurately sense joint bending angles while maintaining high flexibility and comfort. The modularity of the FSAFOS enables rapid customization and assembly through magnetic connectors, adapting to various joint configurations and sizes. Experimental results demonstrate that the sensor exhibits good stability, low hysteresis (<5%), and high linearity (R2 = 0.996) in measuring bending angles. In validation experiments, the FSAFOS accurately measured finger joint and spinal bending angles with errors less than 1.85° compared to ground truth. The FSAFOS represents a significant advancement in the field of biomechanical monitoring, offering potential applications in personalized posture monitoring and human-machine interfaces. The study protocol was approved by the Medical Ethics Committee from the Department of Psychology and Behavioral Sciences, Zhejiang University, China (reference number: [2022]098).","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"34 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145664269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-01DOI: 10.1177/21695172251401339
Wenbiao Wang,Yan Lin,Jinyuan Xu,Pinxi Chen,Guanjun Bao
Soft robot hands perform adaptive grasping stability by flexibly conforming to target geometries without damaging the target. While most improvements focus on macro-scale structural optimization, surface microstructures will also play a crucial role in grasp performance. Inspired by the filiform papillae (FP) on feline tongues, which are barbed structures characterized by high density and moderate deformability that facilitate secure contacting, a feline tongue-inspired filiform microstructure (FTFM) is proposed and integrated into soft robotic fingertips to achieve high grasping ability. By analyzing the morphology and spatial arrangement of FPs, we designed two layout strategies: arc-shaped and cross-shaped arrays. Finite element simulations in Abaqus revealed that the arc arrangement stores 20-25% more elastic strain energy and exhibits more uniform stress distribution, indicating superior elastic adaptability. Grasping experiments under dry contact conditions further validated the effectiveness of FTFM. Compared to conventional smooth-surfaced soft robotic hand (SRH), the developed FTFM-enhanced fingertips improved grasping force by 20-35% as the surface roughness of the object decreased. These results demonstrate that FTFM significantly improves contact friction and adaptive conformity by increasing the number of effective contact points and local deformation. This study provides a novel and scalable strategy for enhancing the performance of soft robotic grippers through bioinspired microstructure design.
{"title":"Feline Tongue-Inspired Filiform Microstructure Improving Grasp Performance of Soft Robotic Hands.","authors":"Wenbiao Wang,Yan Lin,Jinyuan Xu,Pinxi Chen,Guanjun Bao","doi":"10.1177/21695172251401339","DOIUrl":"https://doi.org/10.1177/21695172251401339","url":null,"abstract":"Soft robot hands perform adaptive grasping stability by flexibly conforming to target geometries without damaging the target. While most improvements focus on macro-scale structural optimization, surface microstructures will also play a crucial role in grasp performance. Inspired by the filiform papillae (FP) on feline tongues, which are barbed structures characterized by high density and moderate deformability that facilitate secure contacting, a feline tongue-inspired filiform microstructure (FTFM) is proposed and integrated into soft robotic fingertips to achieve high grasping ability. By analyzing the morphology and spatial arrangement of FPs, we designed two layout strategies: arc-shaped and cross-shaped arrays. Finite element simulations in Abaqus revealed that the arc arrangement stores 20-25% more elastic strain energy and exhibits more uniform stress distribution, indicating superior elastic adaptability. Grasping experiments under dry contact conditions further validated the effectiveness of FTFM. Compared to conventional smooth-surfaced soft robotic hand (SRH), the developed FTFM-enhanced fingertips improved grasping force by 20-35% as the surface roughness of the object decreased. These results demonstrate that FTFM significantly improves contact friction and adaptive conformity by increasing the number of effective contact points and local deformation. This study provides a novel and scalable strategy for enhancing the performance of soft robotic grippers through bioinspired microstructure design.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"11 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145663914","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-24DOI: 10.1177/21695172251395478
Dimuthu D K Arachchige,Dulanjana M Perera,Umer Huzaifa,Iyad Kanj,Isuru S Godage
Snakes possess an extraordinary ability to traverse diverse terrains, thanks to their continuous bending and distributed surface contacts. While robotic snakes have replicated some of these locomotion capabilities, most existing designs rely on a rigid, articulated approach. However, the discrete nature of rigid-bodied construction poses challenges in maintaining a uniform distributed force, particularly when traversing curved surfaces. This article explores the locomotion potential of soft robotic snakes (SRSs) made primarily from soft, elastic materials, focusing on their ability to navigate curved surfaces. We introduce a novel locomotion gait specifically tailored for curved terrain, with parameterized movements to accommodate varying degrees of steepness. Recognizing the critical role of surface grip in locomotion on curved surfaces, we also present a mathematical model to adjust the gripping force exerted by distributed contacts, enhancing stability. Extensive experiments with our SRS prototype validate the effectiveness, viability, and robustness of the proposed locomotion strategies. Our findings pave the way for SRS applications in challenging environments such as cylindrical ducts, pipelines, and confined spaces, where traditional robotic systems may face limitations.
{"title":"Soft Robotic Snake Locomotion on Curved Surfaces.","authors":"Dimuthu D K Arachchige,Dulanjana M Perera,Umer Huzaifa,Iyad Kanj,Isuru S Godage","doi":"10.1177/21695172251395478","DOIUrl":"https://doi.org/10.1177/21695172251395478","url":null,"abstract":"Snakes possess an extraordinary ability to traverse diverse terrains, thanks to their continuous bending and distributed surface contacts. While robotic snakes have replicated some of these locomotion capabilities, most existing designs rely on a rigid, articulated approach. However, the discrete nature of rigid-bodied construction poses challenges in maintaining a uniform distributed force, particularly when traversing curved surfaces. This article explores the locomotion potential of soft robotic snakes (SRSs) made primarily from soft, elastic materials, focusing on their ability to navigate curved surfaces. We introduce a novel locomotion gait specifically tailored for curved terrain, with parameterized movements to accommodate varying degrees of steepness. Recognizing the critical role of surface grip in locomotion on curved surfaces, we also present a mathematical model to adjust the gripping force exerted by distributed contacts, enhancing stability. Extensive experiments with our SRS prototype validate the effectiveness, viability, and robustness of the proposed locomotion strategies. Our findings pave the way for SRS applications in challenging environments such as cylindrical ducts, pipelines, and confined spaces, where traditional robotic systems may face limitations.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"38 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145599921","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-18DOI: 10.1177/21695172251394586
Lai Cao,Guobin Lu,Zhengyuan Wang,Bei Peng,Jianing Wu,Stanislav Gorb,Yichuan Wu
Microrobots with multimodal locomotion offer distinct advantages in adapting to complex environments. However, achieving both untethered and controllable crawling and jumping within a centimeter-scale platform remains a significant challenge. Here, we report a fully untethered microrobot inspired by the jumping mechanism of click beetles. The robot measures 3.3 cm in height, weighs 2.6 g, and combines piezoelectric-driven differential actuation for directional crawling with a compact, electrically triggered catapult mechanism for high-performance jumping. The jumping mechanism, based on a heated fuse release, enables the robot to leap up to 29 times its body height (95 cm), while the isolated catapult design achieves a record-setting jump height of 230 times the body length, outperforming previously reported untethered systems. Under wireless control, the robot demonstrates smooth crawling-jumping-crawling transitions to overcome obstacles in unconstructed terrain. This research advances the design of centimeter-scale microrobots and highlights the potential of integrated multimodal locomotion in untethered microrobots.
{"title":"A 2.6-g Untethered Microrobot with Maneuverable Crawling and High Jumping Performance.","authors":"Lai Cao,Guobin Lu,Zhengyuan Wang,Bei Peng,Jianing Wu,Stanislav Gorb,Yichuan Wu","doi":"10.1177/21695172251394586","DOIUrl":"https://doi.org/10.1177/21695172251394586","url":null,"abstract":"Microrobots with multimodal locomotion offer distinct advantages in adapting to complex environments. However, achieving both untethered and controllable crawling and jumping within a centimeter-scale platform remains a significant challenge. Here, we report a fully untethered microrobot inspired by the jumping mechanism of click beetles. The robot measures 3.3 cm in height, weighs 2.6 g, and combines piezoelectric-driven differential actuation for directional crawling with a compact, electrically triggered catapult mechanism for high-performance jumping. The jumping mechanism, based on a heated fuse release, enables the robot to leap up to 29 times its body height (95 cm), while the isolated catapult design achieves a record-setting jump height of 230 times the body length, outperforming previously reported untethered systems. Under wireless control, the robot demonstrates smooth crawling-jumping-crawling transitions to overcome obstacles in unconstructed terrain. This research advances the design of centimeter-scale microrobots and highlights the potential of integrated multimodal locomotion in untethered microrobots.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"157 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145545051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-18DOI: 10.1177/21695172251394596
Mutsuki Hagiwara,Wataru Hijikata
Bioactuators consisting of cultured skeletal muscle and an artificial lattice have not only the same flexibility as soft actuators but also the same biological functions; both are glucose-driven and capable of self-growth and self-repair. These features are expected to lead to the creation of applications based on new principles and technologies, such as powered exoskeletons that self-grow in accordance with the user's muscle mass and power generation systems for implantable medical devices that can be used semi-permanently by converting glucose into electricity. For engineering applications of bioactuators, it is desirable to precisely control the contraction force. Hence, in this study, we propose a method for precise control using muscle contraction models that represent the contraction mechanism of skeletal muscles in response to electrical stimulation. First, we propose a calculation method for the stimulation voltage using an optimization algorithm that uses the sum of the squares of the differences between the reference and contraction forces derived from the muscle contraction models as the evaluation function for an arbitrary reference. In addition to the model-based control, a feedback control system was developed to reduce the error against the reference force. A bioactuator driven by extracted toad muscle was fabricated, and the performance of the proposed control method was evaluated experimentally. This method was shown to be capable of precisely controlling the muscle contraction force. In addition, feedback control can reduce errors when muscle contraction characteristics change. These results indicate that bioactuators can be controlled in the same manner as existing industrial actuators.
{"title":"Development of a Contraction Force Control Method for Bioactuators Using a Muscle Contraction Model.","authors":"Mutsuki Hagiwara,Wataru Hijikata","doi":"10.1177/21695172251394596","DOIUrl":"https://doi.org/10.1177/21695172251394596","url":null,"abstract":"Bioactuators consisting of cultured skeletal muscle and an artificial lattice have not only the same flexibility as soft actuators but also the same biological functions; both are glucose-driven and capable of self-growth and self-repair. These features are expected to lead to the creation of applications based on new principles and technologies, such as powered exoskeletons that self-grow in accordance with the user's muscle mass and power generation systems for implantable medical devices that can be used semi-permanently by converting glucose into electricity. For engineering applications of bioactuators, it is desirable to precisely control the contraction force. Hence, in this study, we propose a method for precise control using muscle contraction models that represent the contraction mechanism of skeletal muscles in response to electrical stimulation. First, we propose a calculation method for the stimulation voltage using an optimization algorithm that uses the sum of the squares of the differences between the reference and contraction forces derived from the muscle contraction models as the evaluation function for an arbitrary reference. In addition to the model-based control, a feedback control system was developed to reduce the error against the reference force. A bioactuator driven by extracted toad muscle was fabricated, and the performance of the proposed control method was evaluated experimentally. This method was shown to be capable of precisely controlling the muscle contraction force. In addition, feedback control can reduce errors when muscle contraction characteristics change. These results indicate that bioactuators can be controlled in the same manner as existing industrial actuators.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"3 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145545050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Millimeter cable-driven continuum robots exhibit shape conforming, dexterous manipulation capabilities in constrained environments. They are increasingly used for narrow space and endoluminal intervention. For delicate manipulation, quantifying the force interaction between the robot and its surrounding environment is important for both shape adjustment and avoiding damages to luminal structures. In this work, we propose a real-time, whole-body contact estimation framework for small-scale continuum robots, based on actuation fibers and model-informed neural networks. The physical relationship among external body contact, internal actuation, and shape sensing of the continuum robot is formulated based on rod theory, and body contact estimation is treated as an inverse problem given the actuation tension profile and robot shape as inputs. The contact position and force are estimated using a neural network, and a generative adversarial network-based data augmentation strategy is proposed to reduce the need for large amounts of real data from the continuum robot under external forces. In addition, an automatic data acquisition platform is developed to efficiently collect the small amount of required data. Experiments with notched continuum robots were conducted to demonstrate the general applicability and accuracy of the proposed approach. The results show that the mean estimation errors for the three-dimensional (3D) contact position and contact force magnitude are 1.7 mm (2.3%) and 8.7 mN (5.8%), respectively, with an estimation frequency of 25 Hz. It paves the way for embodied integration using multiplexed fibers for the simultaneous actuation and sensing of millimeter-scale continuum robots, enabling their safer operation in confined spaces through machine intelligence.
{"title":"Real-Time Whole-Body Contact Estimation of Continuum Robots Using Multiplexed Fibers for Embodied Actuation and Sensing to Quantify Interactions.","authors":"Zecai Lin,Jingyuan Xia,Zheng Xu,Yun Zou,Cheng Zhou,Jiafan Chen,Lucas Tat-Long Tong,Shaoping Huang,Huanghua Liu,Weidong Chen,Guang-Zhong Yang,Anzhu Gao","doi":"10.1177/21695172251388808","DOIUrl":"https://doi.org/10.1177/21695172251388808","url":null,"abstract":"Millimeter cable-driven continuum robots exhibit shape conforming, dexterous manipulation capabilities in constrained environments. They are increasingly used for narrow space and endoluminal intervention. For delicate manipulation, quantifying the force interaction between the robot and its surrounding environment is important for both shape adjustment and avoiding damages to luminal structures. In this work, we propose a real-time, whole-body contact estimation framework for small-scale continuum robots, based on actuation fibers and model-informed neural networks. The physical relationship among external body contact, internal actuation, and shape sensing of the continuum robot is formulated based on rod theory, and body contact estimation is treated as an inverse problem given the actuation tension profile and robot shape as inputs. The contact position and force are estimated using a neural network, and a generative adversarial network-based data augmentation strategy is proposed to reduce the need for large amounts of real data from the continuum robot under external forces. In addition, an automatic data acquisition platform is developed to efficiently collect the small amount of required data. Experiments with notched continuum robots were conducted to demonstrate the general applicability and accuracy of the proposed approach. The results show that the mean estimation errors for the three-dimensional (3D) contact position and contact force magnitude are 1.7 mm (2.3%) and 8.7 mN (5.8%), respectively, with an estimation frequency of 25 Hz. It paves the way for embodied integration using multiplexed fibers for the simultaneous actuation and sensing of millimeter-scale continuum robots, enabling their safer operation in confined spaces through machine intelligence.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"39 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145462132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-10-13DOI: 10.1177/21695172251387189
Benzhu Guo,Zeang Zhao,Zhong Zhang,Hongshuai Lei
Adaptive grasping and dexterous manipulation of random objects in unstructured environments have broad practical significance. Compared with traditional rigid manipulators, flexible manipulators possess better adaptability and safety, and thus are widely used in industrial, agricultural, and medical fields. However, since flexible manipulators are typically made of soft materials, their stability and dexterity are always limited. To make up for the deficiencies of existing flexible manipulators, this research proposes a variable stiffness flexible element driven by rope and evaluates its performance by finite element simulation and experimental methods. Based on the Fin Ray Effect, the flexible element is then assembled into a novel adaptive flexible manipulator, which can selectively regulate its local stiffness by driving a set of ropes. The flexible manipulator not only has multiple contact modes but also has good self-adaptability when interacting with the external environment. We also establish an integrated experimental platform and control system for in-hand manipulation and conduct quantitative in-hand manipulation experiments to obtain the mapping relationship between the driving input and the displacement of manipulated objects. Finally, we apply the flexible manipulator to daily charging tasks where the charging head can be rotated on demand. The manipulator has a broad application potential in real-world scenarios such as smart homes. In addition, the selective stiffness regulation methods proposed in this study provide a new approach to enhancing the multi-functionality of soft robotic structures.
{"title":"Selective Variable Stiffness Flexible Manipulator for Dexterous In-Hand Manipulation.","authors":"Benzhu Guo,Zeang Zhao,Zhong Zhang,Hongshuai Lei","doi":"10.1177/21695172251387189","DOIUrl":"https://doi.org/10.1177/21695172251387189","url":null,"abstract":"Adaptive grasping and dexterous manipulation of random objects in unstructured environments have broad practical significance. Compared with traditional rigid manipulators, flexible manipulators possess better adaptability and safety, and thus are widely used in industrial, agricultural, and medical fields. However, since flexible manipulators are typically made of soft materials, their stability and dexterity are always limited. To make up for the deficiencies of existing flexible manipulators, this research proposes a variable stiffness flexible element driven by rope and evaluates its performance by finite element simulation and experimental methods. Based on the Fin Ray Effect, the flexible element is then assembled into a novel adaptive flexible manipulator, which can selectively regulate its local stiffness by driving a set of ropes. The flexible manipulator not only has multiple contact modes but also has good self-adaptability when interacting with the external environment. We also establish an integrated experimental platform and control system for in-hand manipulation and conduct quantitative in-hand manipulation experiments to obtain the mapping relationship between the driving input and the displacement of manipulated objects. Finally, we apply the flexible manipulator to daily charging tasks where the charging head can be rotated on demand. The manipulator has a broad application potential in real-world scenarios such as smart homes. In addition, the selective stiffness regulation methods proposed in this study provide a new approach to enhancing the multi-functionality of soft robotic structures.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"1 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145284001","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-10-07DOI: 10.1177/21695172251379615
Juan Yi,Jiahao Xu,Yuxuan Deng,Yifan Xuan,Chaoyi Huang,Zhonggui Fang,Benkang Lou,Kehan Zou,Yinyin Su,Qinlin Tan,Rongwei Wen,Sicong Liu,Zheng Wang
Soft robots exhibit exceptional flexibility and adaptability, enabling them to dynamically adjust their body shapes in unstructured environments for a wide range of applications. This motivates an extensive investigation of soft sensing techniques to accommodate such versatility. Magnetic sensing mechanisms present promising adaptability for soft robots due to their ease of integration and extensive detection range features. In this study, we explore the potential of utilizing far-field magnetic sensing in combination with a soft actuator model-based approach for multimodal perception. We introduce a Soft Farfield Magnetic Origami design, which incorporates a concise Hall sensory array into soft pneumatic origami actuators. The Hall sensory array is utilized to track the unique distal position of the soft actuator. This facilitates the further retrieval of spatial multidimensional movements, including linear and omnidirectional bending motions, as well as interactive forces. This multimodal sensing capability is supported by the modeled relationships between the desired sensing modalities and the measurable set of soft origami actuators, in terms of distal position and pressure. Our proposed approach showcases accurate spatial kinematic perception with a root-mean-square deviation of 0.36 mm in length, 0.02 rad in angle, and an interactive force variation detection with a root-mean-square deviation of 0.89 N. This comprehensive methodology from concept, modeling, design, and fabrication, to validation, facilitates position feedback control and interactive force tuning in soft robotic systems.
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