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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Published
Jan 01, 2024
Vol/Issue
5
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