3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium
Abstract The human muscle bundle generates versatile movements with synchronous neurosensory, enabling human to undertake complex tasks, which inspires researches into functional integration of motions and sensing in actuators for robots. Although soft actuators have developed diverse motion capabil...
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Wiley
2025-01-01
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| Series: | Advanced Science |
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| Online Access: | https://doi.org/10.1002/advs.202409060 |
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| author | Zhonggui Fang Shaowu Tang Yinyin Su Xiaohuang Liu Sicong Liu Juan Yi Zheng Wang Jian S. Dai |
| author_facet | Zhonggui Fang Shaowu Tang Yinyin Su Xiaohuang Liu Sicong Liu Juan Yi Zheng Wang Jian S. Dai |
| author_sort | Zhonggui Fang |
| collection | DOAJ |
| description | Abstract The human muscle bundle generates versatile movements with synchronous neurosensory, enabling human to undertake complex tasks, which inspires researches into functional integration of motions and sensing in actuators for robots. Although soft actuators have developed diverse motion capabilities utilizing the inherent compliance, the simultaneous‐sensing approaches typically involve adding sensing components or embedding certain‐signal‐field substrates, resulting in structural complexity and discrepant deformations between the actuation parts with high‐dimensional motions and the sensing parts with heterogeneous stiffnesses. Inspired by the muscle‐bundle multifiber mechanism, a multicavity functional integration (McFI) approach is proposed for soft pneumatic actuators to simultaneously realize multidimensional motions and sensing by separating and coordinating active and passive cavities. A bio‐inspired interweaving foldable endomysium (BIFE) is introduced to construct and reinforce the multicavity chamber with optimized purposive foldability, enabling 3D printing single‐material fabrication. Performing elongation, contraction, and bidirectional bending, the McFI actuator senses its spatial position, orientation, and axial force, based on the kinematic and sensing models built on multi‐cavity pressures. Two McFI‐actuator‐driven robots are built: a soft crawling robot with path reconstruction and a narrow‐maneuverable soft gripper with object exteroception, validating the practicality in stand‐alone use of the actuator and the potential for intelligent soft robotic innovation of the McFI approach. |
| format | Article |
| id | doaj-art-3d2f02a2f0af4c4fb6059b2c121db384 |
| institution | Kabale University |
| issn | 2198-3844 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Science |
| spelling | doaj-art-3d2f02a2f0af4c4fb6059b2c121db3842025-01-20T13:04:18ZengWileyAdvanced Science2198-38442025-01-01123n/an/a10.1002/advs.2024090603D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable EndomysiumZhonggui Fang0Shaowu Tang1Yinyin Su2Xiaohuang Liu3Sicong Liu4Juan Yi5Zheng Wang6Jian S. Dai7Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518000 ChinaDepartment of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518000 ChinaDepartment of Mechanical Engineering The University of Hong Kong Hong Kong 999077 ChinaDepartment of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518000 ChinaDepartment of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518000 ChinaDepartment of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518000 ChinaDepartment of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518000 ChinaDepartment of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518000 ChinaAbstract The human muscle bundle generates versatile movements with synchronous neurosensory, enabling human to undertake complex tasks, which inspires researches into functional integration of motions and sensing in actuators for robots. Although soft actuators have developed diverse motion capabilities utilizing the inherent compliance, the simultaneous‐sensing approaches typically involve adding sensing components or embedding certain‐signal‐field substrates, resulting in structural complexity and discrepant deformations between the actuation parts with high‐dimensional motions and the sensing parts with heterogeneous stiffnesses. Inspired by the muscle‐bundle multifiber mechanism, a multicavity functional integration (McFI) approach is proposed for soft pneumatic actuators to simultaneously realize multidimensional motions and sensing by separating and coordinating active and passive cavities. A bio‐inspired interweaving foldable endomysium (BIFE) is introduced to construct and reinforce the multicavity chamber with optimized purposive foldability, enabling 3D printing single‐material fabrication. Performing elongation, contraction, and bidirectional bending, the McFI actuator senses its spatial position, orientation, and axial force, based on the kinematic and sensing models built on multi‐cavity pressures. Two McFI‐actuator‐driven robots are built: a soft crawling robot with path reconstruction and a narrow‐maneuverable soft gripper with object exteroception, validating the practicality in stand‐alone use of the actuator and the potential for intelligent soft robotic innovation of the McFI approach.https://doi.org/10.1002/advs.202409060bio‐inspired designintegrated motion and sensingsingle‐material foldable multicavitysoft actuator |
| spellingShingle | Zhonggui Fang Shaowu Tang Yinyin Su Xiaohuang Liu Sicong Liu Juan Yi Zheng Wang Jian S. Dai 3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium Advanced Science bio‐inspired design integrated motion and sensing single‐material foldable multicavity soft actuator |
| title | 3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium |
| title_full | 3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium |
| title_fullStr | 3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium |
| title_full_unstemmed | 3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium |
| title_short | 3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium |
| title_sort | 3d printed multi cavity soft actuator with integrated motion and sensing functionalities via bio inspired interweaving foldable endomysium |
| topic | bio‐inspired design integrated motion and sensing single‐material foldable multicavity soft actuator |
| url | https://doi.org/10.1002/advs.202409060 |
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