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A fabrication strategy for millimeter-scale, self-sensing soft-rigid hybrid robots

Author

Listed:
  • Hun Chan Lee

    (Boston University)

  • Nash Elder

    (Boston University)

  • Matthew Leal

    (Boston University)

  • Sarah Stantial

    (Boston University)

  • Elenis Vergara Martinez

    (Florida International University)

  • Sneha Jos

    (Boston University)

  • Hyunje Cho

    (Boston University)

  • Sheila Russo

    (Boston University)

Abstract

Soft robots typically involve manual assembly of core hardware components like actuators, sensors, and controllers. This increases fabrication time and reduces consistency, especially in small-scale soft robots. We present a scalable monolithic fabrication method for millimeter-scale soft-rigid hybrid robots, simplifying the integration of core hardware components. Actuation is provided by soft-foldable polytetrafluoroethylene film-based actuators powered by ionic fluid injection. The desired motion is encoded by integrating a mechanical controller, comprised of rigid-flexible materials. The robot’s motion can be self-sensed using an ionic resistive sensor by detecting electrical resistance changes across its body. Our approach is demonstrated by fabricating three distinct soft-rigid hybrid robotic modules, each with unique degrees of freedom: translational, bending, and roto-translational motions. These modules connect to form a soft-rigid hybrid continuum robot with real-time shape-sensing capabilities. We showcase the robot’s capabilities by performing object pick-and-place, needle steering and tissue puncturing, and optical fiber steering tasks.

Suggested Citation

  • Hun Chan Lee & Nash Elder & Matthew Leal & Sarah Stantial & Elenis Vergara Martinez & Sneha Jos & Hyunje Cho & Sheila Russo, 2024. "A fabrication strategy for millimeter-scale, self-sensing soft-rigid hybrid robots," Nature Communications, Nature, vol. 15(1), pages 1-16, December.
    • Handle: RePEc:nat:natcom:v:15:y:2024:i:1:d:10.1038_s41467-024-51137-8
    DOI: 10.1038/s41467-024-51137-8
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    References listed on IDEAS

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    1. Qiji Ze & Shuai Wu & Jize Dai & Sophie Leanza & Gentaro Ikeda & Phillip C. Yang & Gianluca Iaccarino & Ruike Renee Zhao, 2022. "Spinning-enabled wireless amphibious origami millirobot," Nature Communications, Nature, vol. 13(1), pages 1-9, December.
    2. Robert Baines & Fabio Zuliani & Neil Chennoufi & Sagar Joshi & Rebecca Kramer-Bottiglio & Jamie Paik, 2023. "Multi-modal deformation and temperature sensing for context-sensitive machines," Nature Communications, Nature, vol. 14(1), pages 1-14, December.
    3. Daniela Rus & Michael T. Tolley, 2015. "Design, fabrication and control of soft robots," Nature, Nature, vol. 521(7553), pages 467-475, May.
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