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 journalArticle

    103 Citations (Scopus)

    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)
    JournalAdvanced Engineering Materials
    DOIs
    StateAccepted/In press - 2017

    Fingerprint

    Human robot interaction
    robotics
    robots
    Robotics
    manufacturing
    Robots
    Elastomers
    Fluids
    fluids
    elastomers
    interactions
    Pressurization
    fluidics
    Fluidics
    glass transition temperature
    emerging
    modulus of elasticity
    plastics
    Elastic moduli
    Metals

    ASJC Scopus subject areas

    • Materials Science(all)
    • Condensed Matter Physics

    Cite this

    Soft Robotics : Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction. / Polygerinos, Panagiotis; Correll, Nikolaus; Morin, Stephen A.; Mosadegh, Bobak; Onal, Cagdas D.; Petersen, Kirstin; Cianchetti, Matteo; Tolley, Michael T.; Shepherd, Robert F.

    In: Advanced Engineering Materials, 2017.

    Research output: Contribution to journalArticle

    Polygerinos, Panagiotis ; Correll, Nikolaus ; Morin, Stephen A. ; Mosadegh, Bobak ; Onal, Cagdas D. ; Petersen, Kirstin ; Cianchetti, Matteo ; Tolley, Michael T. ; Shepherd, Robert F. / Soft Robotics : Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction. In: Advanced Engineering Materials. 2017.
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    AU - Onal, Cagdas D.

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    AU - Cianchetti, Matteo

    AU - Tolley, Michael T.

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