Integrated Actuation and Sensing: Toward Intelligent Soft Robots

Shuai Zhou; Yuanhang Li; Qianqian Wang; Zhiyang Lyu

doi:10.34133/cbsystems.0105

journal article Jan 01, 2024

Integrated Actuation and Sensing: Toward Intelligent Soft Robots

Shuai Zhou

Yuanhang Li Qianqian Wang

Zhiyang Lyu

Cyborg and Bionic Systems Vol. 5 · American Association for the Advancement of Science (AAAS)

View at Publisher Save 10.34133/cbsystems.0105

Abstract

Soft robotics has received substantial attention due to its remarkable deformability, making it well-suited for a wide range of applications in complex environments, such as medicine, rescue operations, and exploration. Within this domain, the interaction of actuation and sensing is of utmost importance for controlling the movements and functions of soft robots. Nonetheless, current research predominantly focuses on isolated actuation and sensing capabilities, often neglecting the critical integration of these 2 domains to achieve intelligent functionality. In this review, we present a comprehensive survey of fundamental actuation strategies and multimodal actuation while also delving into advancements in proprioceptive and haptic sensing and their fusion. We emphasize the importance of integrating actuation and sensing in soft robotics, presenting 3 integration methodologies, namely, sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. Furthermore, we highlight the challenges in the field and suggest compelling directions for future research. Through this comprehensive synthesis, we aim to stimulate further curiosity among researchers and contribute to the development of genuinely intelligent soft robots.

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Metrics

132

Citations

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References

Details

Published: Jan 01, 2024
Vol/Issue: 5

Authors

S

Shuai Zhou

Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211189, China.

Y

Yuanhang Li

Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211189, China.

Q

Qianqian Wang

Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211189, China.

Z

Zhiyang Lyu

Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211189, China.

Funding

National Natural Science Foundation of China Award: 22109021

Natural Science Foundation of Jiangsu Province Award: BK20200375

Start-Up Research Fund of Southeast University Award: RF1028623150

Shuangchuang Program of Jiangsu Province Award: JSSCBS20210100

Cite This Article

Shuai Zhou, Yuanhang Li, Qianqian Wang, et al. (2024). Integrated Actuation and Sensing: Toward Intelligent Soft Robots. Cyborg and Bionic Systems, 5. https://doi.org/10.34133/cbsystems.0105

Integrated Actuation and Sensing: Toward Intelligent Soft Robots

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