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Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design

Author

Listed:
  • Dong Wang

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University)

  • Baowen Zhao

    (Shanghai Jiao Tong University)

  • Xinlei Li

    (Shanghai Jiao Tong University)

  • Le Dong

    (Shanghai Jiao Tong University)

  • Mengjie Zhang

    (Shanghai Jiao Tong University)

  • Jiang Zou

    (Shanghai Jiao Tong University)

  • Guoying Gu

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University)

Abstract

Dexterous locomotion, such as immediate direction change during fast movement or shape reconfiguration to perform diverse tasks, are essential animal survival strategies which have not been achieved in existing soft robots. Here, we present a kind of small-scale dexterous soft robot, consisting of an active dielectric elastomer artificial muscle and reconfigurable chiral-lattice foot, that enables immediate and reversible forward, backward and circular direction changes during fast movement under single voltage input. Our electric-driven soft robot with the structural design can be combined with smart materials to realize multimodal functions via shape reconfigurations under the external stimulus. We experimentally demonstrate that our dexterous soft robots can reach arbitrary points in a plane, form complex trajectories, or lower the height to pass through a narrow tunnel. The proposed structural design and shape reconfigurability may pave the way for next-generation autonomous soft robots with dexterous locomotion.

Suggested Citation

  • Dong Wang & Baowen Zhao & Xinlei Li & Le Dong & Mengjie Zhang & Jiang Zou & Guoying Gu, 2023. "Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design," Nature Communications, Nature, vol. 14(1), pages 1-10, December.
    • Handle: RePEc:nat:natcom:v:14:y:2023:i:1:d:10.1038_s41467-023-40626-x
    DOI: 10.1038/s41467-023-40626-x
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    References listed on IDEAS

    as
    1. Daniela Rus & Michael T. Tolley, 2015. "Design, fabrication and control of soft robots," Nature, Nature, vol. 521(7553), pages 467-475, May.
    2. Michael Wehner & Ryan L. Truby & Daniel J. Fitzgerald & Bobak Mosadegh & George M. Whitesides & Jennifer A. Lewis & Robert J. Wood, 2016. "An integrated design and fabrication strategy for entirely soft, autonomous robots," Nature, Nature, vol. 536(7617), pages 451-455, August.
    3. Yoonho Kim & Hyunwoo Yuk & Ruike Zhao & Shawn A. Chester & Xuanhe Zhao, 2018. "Printing ferromagnetic domains for untethered fast-transforming soft materials," Nature, Nature, vol. 558(7709), pages 274-279, June.
    4. Wenqi Hu & Guo Zhan Lum & Massimo Mastrangeli & Metin Sitti, 2018. "Small-scale soft-bodied robot with multimodal locomotion," Nature, Nature, vol. 554(7690), pages 81-85, February.
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