相关论文: A New 1-mg Fast Unimorph SMA-Based Actuator for Mi…

We present a new millimeter-scale bimorph actuator for microrobotic applications, driven by feedforward controlled shape-memory alloy (SMA) wires. The device weighs 10 mg, measures 14 mm in length, and occupies a volume of 4.8 mm3, which…

We introduce a new low-power 13-mg microactuator driven by shape-memory alloy (SMA) wires for underwater operation. The development of this device was motivated by the recent creation of microswimmers such as the FRISHBot, WaterStrider,…

We present a new evolution of the Very Little Eel-Inspired roBot, the VLEIBot++, a 900-mg swimmer driven by two 10-mg bare high-work density (HWD) actuators, whose functionality is based on the use of shape-memory alloy (SMA) wires. An…

Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…

Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…

This paper presents the VLEIBot^* (Very Little Eel-Inspired roBot), a 45-mg/23-mm^3 microrobotic swimmer that is propelled by a bioinspired anguilliform propulsor. The propulsor is excited by a single 6-mg high-work-density (HWD)…

Macroscale robotic systems have demonstrated great capabilities of high speed, precise, and agile functions. However, the ability of soft robots to perform complex tasks, especially in centimeter and millimeter scale, remains limited due to…

We design an insect-sized rolling microrobot driven by continuously rotating wheels. It measures 18mm$\times$8mm$\times$8mm. There are 2 versions of the robot - a 96mg laser-powered one and a 130mg supercapacitor powered one. The robot can…

Endovascular technique has many advantages but relies strongly on operator skills and experience. Robotically steerable catheters have been developed but few are clinically available. We describe here the development of an active and…

The increasing industrial demand for alternative actuators over conventional electromagnetism-based systems having limited efficiency, bulky size, complex design due to in-built gear-train mechanisms, and high production and amortization…

Thin dielectric elastomer actuator (DEA) features a unique in-plane configuration, enabling low-profile designs capable of accessing millimetre-scale narrow spaces. However, most existing DEA-powered soft robots require high voltages and…

Interlayer sliding ferroelectricity has been discovered in a variety of 2D materials with superb features such as atomic thickness, fast response, and fatigue resistance. So far, research on this phenomenon has been limited to fundamental…

Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic robots that incorporate compliant and contracting artificial…

Magnetic elastomers deform under a magnetic field, working as a soft actuator. Untethered microbot made of magnetic elastomers have great potentials in performing medical tasks inside human body as mini doctors. However, the lack of a…

Climbing soft robots are of tremendous interest in both science and engineering due to their potential applications in intelligent surveillance, inspection, maintenance, and detection under environments away from the ground. The challenge…

Dielectric elastomer actuators (DEAs), also recognized as artificial muscle, have been widely developed for the soft locomotion robot. With the complaint skeleton and miniaturized dimension, they are well suited for the narrow space…

In this work, we propose a high-voltage, high-frequency control circuit for the untethered applications of dielectric elastomer actuators (DEAs). The circuit board leverages low-voltage resistive components connected in series to control…

Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…

Mudskippers are unique amphibious fish capable of locomotion in diverse environments, including terrestrial surfaces, aquatic habitats, and highly viscous substrates such as mud. This versatile locomotion is largely enabled by their…

We present an evolved steerable version of the single-tail Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven by a new shape-memory alloy (SMA)-based bimorph actuator.…