SOFT ROBOTICS WITH COMPLIANCE AND ADAPTATION FOR BIOMEDICAL APPLICATIONS AND FORTHCOMING CHALLENGES

Hritwick Banerjee, Zion Tsz Ho Tse, and Hongliang Ren

References

  1. [1] M. Carmel, Soft robotics: A perspective—Current trends andprospects for the future, Soft Robotics, 1(1), 2014, 5–11.
  2. [2] K. Sangbae, C. Laschi, and B. Trimmer, Soft robotics: A bio-inspired evolution in robotics, Trends in Biotechnology, 31(5),2013, 287–294.
  3. [3] K. Autumn, C. Majidi, R.E. Groff, A. Dittmore, and R. Fearing,Effective elastic modulus of isolated gecko setal arrays, Journalof Experimental Biology, 209(18), 2006, 3558–3568.
  4. [4] D. Trivedi, C.D. Rahn, W.M. Kier, and I.D. Walker, Softrobotics: Biological inspiration, state of the art, and futureresearch, Applied Bionics and Biomechanics, 5, 2008, 99–117.
  5. [5] R. Deimel and O. Brock, A novel type of compliant, underactuated robotic hand for dexterous grasping, The International Journal of Robotics Research, 35(1–3), 2016,0278364915592961.
  6. [6] M.T. Tolley, R.F. Shepherd, B. Mosadegh, K.C. Galloway,M. Wehner, M. Karpelson, R.J. Wood, and G.M. Whitesides,A resilient, untethered soft robot, Soft Robotics, 1, 2014,213–223.
  7. [7] R.J. Full, Comprehensive Physiology (Wiley, 1997), 853–930.
  8. [8] R. Daniela and M.T. Tolley, Design, fabrication and controlof soft robots, Nature, 521(7553), 2015, 467–475.
  9. [9] M.H. Dickinson, C.T. Farley, R.J, Full, M.A. Koehl, R. Kram,and S. Lehmanet, How animals move: An integrative view,Science, 288(5483), 2000, 100–106.
  10. [10] S.L. Montgomery, Carnivorous caterpillars: The behavior,biogeography and conservation of Eupithecia (Lepidoptera:Geometridae) in the Hawaiian Islands, GeoJournal, 7(6), 1983,549–556.
  11. [11] S. Seok, C.D. Onal, R. Wood, D. Rus, and S. Kim, Peristalticlocomotion with antagonistic actuators in soft robotics, IEEEInternational Conf. on Robotics and Automation (ICRA),Anchorage, Alaska, 2010, 1228–1233.
  12. [12] S. Sanan, P.S. Lynn, and S.T. Griffith, Pneumatic torsionalactuators for inflatable robots, Journal of Mechanisms andRobotics, 6(3), 2014, 031003.
  13. [13] H.T. Lin, G.G. Leisk, and B. Trimmer, GoQBot: A caterpillar-inspired soft-bodied rolling robot, Bioinspiration & Biomimetics, 6(2), 2011, 026007.
  14. [14] S. Seok, C.D. Onal, K.J. Cho, R.J. Wood, D. Rus, andS. Kim, Meshworm: A peristaltic soft robot with antagonisticnickel titanium coil actuators, Mechatronics, IEEE/ASMETransactions, 18(5), 2013, 1485–1497.
  15. [15] T. Barry, A journal of soft robotics: Why now? Soft Robotics,1(1), 2014, 1–4.
  16. [16] V. Vitiello, S.L. Lee, T.P. Cundy, and G.Z. Yang, Emergingrobotic platforms for minimally invasive surgery, BiomedicalEngineering, IEEE Reviews, 6, 2013, 111–126.
  17. [17] M. Cianchetti, T. Ranzani, G. Gerboni, T. Nanayakkara,K. Althoefer, P. Dasgupta, and A. Menciassi, Soft roboticstechnologies to address shortcomings in today’s minimallyinvasive surgery: The STIFF-FLOP approach, Soft Robotics,1(2), 2014, 122–131.
  18. [18] A. Loeve, B. Paul, and D. Jenny, Scopes too flexible. . . andtoo stiff, IEEE Pulse, 1(3), 2010, 26–41.
  19. [19] Development of a multi-module STIFF-FLOP manipulator,Available at http://www.stiff-flop.eu (accessed June 9, 2016).
  20. [20] R. Tommaso, M. Cianchetti, G. Gerboni, I.D. Falco, andA. Menciassi, A soft modular manipulator for minimally invasive surgery: Design and characterization of a single module,IEEE Transactions on Robotics, 32(1), 2016, 187–200.
  21. [21] P. Dupont, A. Gosline, N. Vasilyev, J. Lock, E. Butler, C. Folk,A. Cohen, R. Chen, G. Schmitz, H. Ren, and P. del Nido,Concentric tube robots for minimally invasive surgery, HamlynSymposium on Medical Robotics, London, UK, 2012, 7, 8.
  22. [22] G. Joshua, Y. Ding, A. Harris, T. McKenna, P. Polygerinos,D. Holland, A. Moser, and C. Walsh, Shape deposition manufacturing of a soft, atraumatic, deployable surgical grasper,Journal of Medical Devices, 8(3), 2014, 030927.
  23. [23] K. Yeongjin, S.S. Cheng, and J.P. Desai, Towards the development of a spring-based continuum robot for neurosurgery,Proc. in SPIE Medical Imaging, Renaissance Orlando, Florida,21–26 February 2015, 94151Q–94151Q.
  24. [24] L. Xinquan, C. Lee, and H. Ren, Towards a micro pneumaticactuator with large bending deformation for medical interventions, Proc. in 7th WACBE World Congress on Bioengineering,Singapore, 2015, 76–79.
  25. [25] W.H. Chang and Y.H. Kim, Robot-assisted therapy in strokerehabilitation, Journal of Stroke, 15(3), 2013, 174–181.
  26. [26] C. Majidi, Soft robotics: A perspective—Current trends andprospects for the future, Soft Robotics, 1(1), 2014, 5–11.
  27. [27] J.A. Blaya and H. Herr, Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait, IEEETransactions on Neural Systems Rehabilitation Engineering,12(1), 2004, 24–31.
  28. [28] E.C. Goldfield, Y.L. Park, B.R. Chen, W.H. Hsu, D. Young,M. Wehner, D. Newman, and R. Nagpal, Bio-inspired design ofsoft robotic assistive devices: The interface of physics, biology,and behavior, Ecological Psychology, 24(4), 2012, 300–327.
  29. [29] D. Marculescu, R. Marculescu, N.H. Zamora, P. Stanley-Marbell, P.K. Khosla, S. Park, S. Jayaraman, S. Jung,C. Lauterbach, W. Weber, T. Kirstein, D. Cottet, J. Grzyb,G. Troster, M. Jones, T. Martin, and Z. Nakad, Electronictextiles: A platform for pervasive computing, Proceedings ofthe IEEE, 91(12), 2003, 1995–2018.
  30. [30] D. Kim, Y. Kim, J. Wu, Z. Liu, J. Song, H. Kim, Y. Huang,K. Hwang, and J. Rogers, Ultrathin silicon circuits withstrain-isolation layers and mesh layouts for high-performanceelectronics on fabric, vinyl, leather, and paper, AdvancedMaterials, 21(36), 2009, 3703–3707.
  31. [31] J.A. Rogers and Y. Huang, A curvy, stretchy future forelectronics, Proceedings of the National Academy of Sciencesof the United States of America, 106(27), 2009, 10875–10876.
  32. [32] R.K. Kramer, M. Carmel, and J.W. Robert, Wearable tactilekeypad with stretchable artificial skin, IEEE InternationalConf. on Robotics and Automation, Shanghai, China, 2011,1103–1107.
  33. [33] Y.L. Park, B.R. Chen, D. Young, L. Stirling, R.J. Wood,E.C. Goldfield, and R. Nagpal, Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation, Bioinspiration & Biomimetics, 9(1), 2014, 016007.
  34. [34] Y. Meng¨u¸c, Y.L. Park, H. Pei, D. Vogt, P.M. Aubin,E. Winchell, L. Fluke, L. Stirling, R.J. Wood, and C.J. Walsh,Wearable soft sensing suit for human gait measurement, TheInternational Journal of Robotics Research, 33(14), 2014,0278364914543793.
  35. [35] P. Polygerinos, Z. Wang, K.C. Galloway, R.J. Wood, and C.J.Walsh, Soft robotic glove for combined assistance and at-homerehabilitation, Robotics and Autonomous Systems, 73, 2015,135–143.
  36. [36] T. Barry, H.T. Lin, A. Baryshyan, G. Leisk, and D.L. Kaplan,Towards a biomorphic soft robot: design constraints andsolutions, 4th IEEE RAS & EMBS Biomedical Robotics andBiomechatronics (BioRob), Rome, Italy, 2012, 599–605.
  37. [37] D. Hur, B.D. Matthews, A. Mammoto, M. Montoya-Zavala,and H.Y. Hsin, Reconstituting organ-level lung functions on achip, Science, 328(5986), 2010, 1662–1668.
  38. [38] J.C. Nawroth, H. Lee, A.W. Feinberg, C.M. Rippinger,M.L. McCain, A. Grosberg, J.O. Dabiri, and K.K. Parker,A tissue-engineered jellyfish with biomimetic propulsion, Nature Biotechnology, 30(8), 2012, 792–797.
  39. [39] D.H. Kim, J. Viventi, J.J. Amsden, J. Xiao, L. Vigeland, Y.S.Kim, J.A. Panilaitis, E.S. Frechette, D. Contreras, and D.L.Kaplan, Dissolvable films of silk fibroin for ultrathin conformalbio-integrated electronics, Nature Materials, 9(6), 511–517.
  40. [40] K. Numata and D.L. Kaplan, Silk-based delivery systems ofbioactive molecules, Advanced Drug Delivery Reviews, 62(15),2010, 1497–1508.
  41. [41] S. Bhumiratana, W.L. Grayson, A. Castaneda, D.N. Rockwood,E.S. Gil, D.L. Kaplan, and G. Vunjak-Novakovic, Nucleationand growth of mineralized bone matrix on silk-hydroxyapatitecomposite scaffolds, Biomaterials, 32(11), 2011, 2812–2820.
  42. [42] V. Chan, K. Park, M.B. Collens, H. Kong, T.A. Saif, andR. Bashir, Development of miniaturized walking biologicalmachines, Scientific Reports, 2, 2012, 857: 1–8.
  43. [43] X. Liang, Y. Sun, and H. Ren, A flexible fabrication approachtoward the shape engineering of microscale soft pneumaticactuators, IEEE Robotics and Automation Letters, 2(1), 2017,165–170.
  44. [44] H. Banerjee, Frequency dependent shape transitions in micro-confined biological cells, International Journal of Advanced In-formation Science and Technology (IJAIST), 5(4), 2016, 64–71.
  45. [45] S.A. Morin, R.F. Shepherd, S.W. Kwok, A.A. Strokes,A. Nemiroski, and G.M. Whitesides, Camouflage and displayfor soft machines, Science, 337(6096), 2012, 828–832.
  46. [46] R.F. Shepherd, F. Illievski, W. Chi, S.A. Morin, A.A. Strokes,A.D. Mazzeo, X. Chen, M. Wang, and G.M. Whitesides,Multigait soft robot, Proceedings of the National Academy ofSciences, 108(51), 2011, 20400–20403.
  47. [47] F. Ilievski, A.D. Mazzeo, R.F. Shepherd, X. Chen, and G.M.Whitesides, Soft robotics for chemists, Angewandte Chemie,50(8), 2011, 1890–1895.
  48. [48] R.V. Martinez, J.L. Branch, C.R. Fish, L. Jin, R.F. Shepherd,R. Nunes, Z. Suo, and G.M. Whitesides, Robotic tentacleswith three-dimensional mobility based on flexible elastomers,Advanced Materials, 25(2), 2013, 205–212.
  49. [49] K.J. Cho, J.S. Koh, S. Kim, W.S. Chu, Y. Hong, and S.H.Ahn, Review of manufacturing processes for soft biomimeticrobots, International Journal of Precision Engineering andManufacturing, 10(3), 2009, 171–181.
  50. [50] L. Hod and M. Kurman, Fabricated: The new world of 3Dprinting (John Wiley & Sons, 2013).
  51. [51] J.G. Cham, S.A. Bailey, J.E. Clark, R.J. Full, and M.R.Cutkosky, Fast and robust: Hexapedal robots via shapedeposition manufacturing, International Journal of RoboticsResearch, 21(10–11), 2002, 869–882.
  52. [52] Y. Xia and G.M. Whitesides, Soft lithography, Annual Reviewof Materials Science, 28(1), 1998, 153–184.
  53. [53] S.P. Lacour, S. Wagner, Z. Huang, and Z. Suo, Stretchablegold conductors on elastomeric substrates, Applied PhysicsLetter, 82(15), 2003, 2404–2406.
  54. [54] J.A. Rogers, T. Someya, and Y. Huang, Materials and mechanics for stretchable electronics, Science, 327(5973), 2010,1603–1607.
  55. [55] S. Cheng, Z. Wu, Microfluidic electronics, Lab on a Chip,12(16), 2012, 2782–2791.
  56. [56] M.R. Cutkosky and S. Kim, Design and fabrication ofmulti-material structures for bioinspired robots, PhilosophicalTransactions of the Royal Society, 367(1894), 2009, 1799–1813.
  57. [57] E. Malone, M. Berry, and H. Lipson, Freeform fabricationand characterization of Zn-air batteries, Rapid PrototypingJournal, 14(3), 2008, 128–140.
  58. [58] R.J. Wood, The first biologically inspired at-scale roboticinsect, IEEE Transactions on Robotics, 24(2), 2008, 341–347.
  59. [59] M. Cianchetti, V. Mattoli, B. Mazzolai, C. Laschi, andP. Dario, A new design methodology of electrostrictive actuators for bioinspired robotics, Sensors and Actuators B:Chemical, 142(1), 2009, 288–297.
  60. [60] C. Laschi, B. Mazzolai, V. Mattoli, M. Cianchetti, and P. Dario,Design of a biomimetic robotic octopus arm, Bioinspiration& Biomimetics, 4(1), 2009, 015006.
  61. [61] S. Kim, E. Hawkes, K. Cho, M. Jolda, J. Foley, and R. Wood,Micro artificial muscle fiber using NiTi spring for soft robotics,Intelligent Robots and Systems, IROS, IEEE/RSJ International Conf., October 11–15, 2009, St. Louis, USA, 2009,2228–2234.
  62. [62] E.T. Roche, R. Wohlfarth, J.T. Overvelde, N.V. Vasilyev,F.A. Pigula, D.J. Mooney, K. Bertoldi, and C.J. Walsh,A bioinspired soft actuated material, Advanced Materials,26(8), 2014, 1200–1206.
  63. [63] F. Daerden and L. Dirk, The concept and design of pleatedpneumatic artificial muscles, International Journal of FluidPower, 2(3), 2001, 41–50.
  64. [64] K. Suzumori, I. Shoichi, and T. Hiroshisa, Applying a flexiblemicroactuator to robotic mechanisms, Control Systems, IEEE,12(1), 1992, 21–27.
  65. [65] L. Hod, Challenges and opportunities for design, simulation,and fabrication of soft robots, Soft Robotics, 1(1), 2014, 21–27.
  66. [66] I. Fumiya and C. Laschi, Soft robotics: Challenges andperspectives, Procedia Computer Science, 7, 2011, 99–102.
  67. [67] R.J. Webster and B.A. Jones, Design and kinematic modelingof constant curvature continuum robots: A review, The Inter-national Journal of Robotics Research, 29, 2010, 1661–1683.
  68. [68] I.A. Gravagne, C.D. Rahn, and I.D. Walker, Large deflection dynamics and control for planar continuum robots,IEEE/ASME Transactions on Mechatronics, 8(2), 2003,299–307.
  69. [69] R. Federico, M. Giorelli, M. Calisti, M. Cianchetti, andC. Laschi, Dynamic model of a multibending soft robot armdriven by cables, IEEE Transactions on Robotics, 30(5), 2014,1109–1122.
  70. [70] K.C. Galloway, K.P. Becker, B. Phillips, J. Kirby, S. Licht,D. Tchernov, R.J. Wood, and D.F. Gruber, Soft roboticgrippers for biological sampling on deep reefs, Soft Robotics,3(1), 2016, 23–33.
  71. [71] H. Ren, X. Gu, and K.L. Tan, Human-compliant body-attachedsoft robots towards automatic cooperative ultrasound imaging, IEEE 20th International Conf. on Computer SupportedCooperative Work in Design (CSCWD), Nanchang, China,2016, 653–658.
  72. [72] J. Morrow, H.-S. Shin, J. Torrey, R. Larkins, S. Dang, C.P.Grafflin, Y.-L. Park, and D. Berenson, Improving soft pneumatic actuator fingers through integration of soft sensors,position and force control, and rigid fingernails, IEEE Inter-national Conference on Robotics and Automation (ICRA),Stockholm, Sweden, 2016, 5024–5031.
  73. [73] S. Yi, S. Song, X. Liang, and H. Ren, A miniature softrobotic manipulator based on novel fabrication methods, IEEERobotics and Automation Letters, 1(2), 2016, 617–623.
  74. [74] J. Paek, I. Cho, and J. Kim. Microrobotic tentacles with spiralbending capability based on shape-engineered elastomericmicrotubes, Scientific Reports 5, 2015, 10768.
  75. [75] E. Rogers, P. Polygerinos, C. Walsh, and E. Goldfield, Smartand connected actuated mobile and sensing suit to encouragemotion in developmentally delayed infants, Journal of MedicalDevices, 9(3), 2015, 030914.
  76. [76] R.T. Ellen, M.A. Horvath, A. Alazmani, K.C. Galloway, N.V.Vasilyev, D.J. Mooney, F.A. Pigula, and C.J.Walsh, Designand fabrication of a soft robotic direct cardiac compressiondevice, ASME 2015 International Design Engineering Technical Conf. and Computers and Information in EngineeringConf., Massachusetts, USA, 2015, V05AT08A042-052.
  77. [77] S. Shruthi, Y. Liu, and R.C.H. Yeow, Development of a wear-able electroencephalographic device for anxiety monitoring,Journal of Medical Devices, 9(3), 2015, 030917.
  78. [78] A.D. Marchese and D. Rus, Design, kinematics, and control ofa soft spatial fluidic elastomer manipulator, The InternationalJournal of Robotics Research, 35(7), 2016, 0278364915587925.
  79. [79] S. Yi, C.M. Lim, H.H. Tan, and H. Ren, Soft oral interventionalrehabilitation robot based on low-profile soft pneumatic actuator, IEEE International Conf. on Robotics and Automation(ICRA), Seattle, Washington, 2015, 2907–2912.
  80. [80] B.C.M. Murray, X. An, S.S. Robinson, I.M. Meerbeek, K.W.O’Brien, H. Zhao, and R.F. Shepherd, Poroelastic foams forsimple fabrication of complex soft robots, Advanced Materials,27(41), 2015, 6334–6340.
  81. [81] L. Ming, W. Tao, F. Chen, T.K. Khuu, S. Ozel, and C.D. Onal,Design improvements and dynamic characterization on fluidicelastomer actuators for a soft robotic snake, IEEE International Conf. on Technologies for Practical Robot Applications(TePRA), Woburn, Massachusetts, 2014, 1–6.
  82. [82] A.D. Marchese, C.D. Onal, and D. Rus, Autonomous softrobotic fish capable of escape maneuvers using fluidic elastomeractuators, Soft Robotics, 1(1), 2014, 75–87.
  83. [83] N.G. Cheng, A. Gopinath, L. Wang, K. Iagnemma, andA.E. Hosoi, Thermally tunable, self-healing composites forsoft robotic applications, Macromolecular Materials andEngineering, 299(11), 2014, 1279–1284.
  84. [84] E. Steltz, A. Mozeika, J. Rembisz, N. Corson, and H.M. Jaeger,Jamming as an enabling technology for soft robotics, SPIESmart Structures and Materials Nondestructive Evaluationand Health Monitoring, San Diego, California, United States,2010, 764225–764225.
  85. [85] ABI Research, Consumer and personal electronics (New York:Allied Business Intelligence, Inc., 2013).
  86. [86] Bank of America Merrill Lynch Research, Thematic Investing,Robot Revolution-Global Robot & AI Primer, Equity, 3rdNovember, 2015.
  87. [87] T. Barry and G. Whitesides, An interview with GeorgeWhitesides, Soft Robotics, 1(4), 2014, 233–235.

Important Links:

Go Back