Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction

Panagiotis Polygerinos, Nikolaus Correll, Stephen A. Morin, Bobak Mosadegh, Cagdas D. Onal, Kirstin Petersen, Matteo Cianchetti, Michael T. Tolley, Robert F. Shepherd

    Research output: Contribution to journalReview article

    172 Scopus citations

    Abstract

    The emerging field of soft robotics makes use of many classes of materials including metals, low glass transition temperature (Tg) plastics, and high Tg elastomers. Dependent on the specific design, all of these materials may result in extrinsically soft robots. Organic elastomers, however, have elastic moduli ranging from tens of megapascals down to kilopascals; robots composed of such materials are intrinsically soft − they are always compliant independent of their shape. This class of soft machines has been used to reduce control complexity and manufacturing cost of robots, while enabling sophisticated and novel functionalities often in direct contact with humans. This review focuses on a particular type of intrinsically soft, elastomeric robot − those powered via fluidic pressurization.

    Original languageEnglish (US)
    Article number1700016
    JournalAdvanced Engineering Materials
    Volume19
    Issue number12
    DOIs
    StatePublished - Dec 2017

    ASJC Scopus subject areas

    • Materials Science(all)
    • Condensed Matter Physics

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    Polygerinos, P., Correll, N., Morin, S. A., Mosadegh, B., Onal, C. D., Petersen, K., Cianchetti, M., Tolley, M. T., & Shepherd, R. F. (2017). Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction. Advanced Engineering Materials, 19(12), [1700016]. https://doi.org/10.1002/adem.201700016