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Area of Science:

  • Robotics
  • Materials Science
  • Electrical Engineering

Background:

  • Soft-bodied continuum robots offer unique advantages but are limited by rigid components for power delivery.
  • Traditional wireless power transfer (WPT) systems often use inflexible receiver coils that impede robot deformation and locomotion.
  • Extending operational time and reducing weight are critical challenges for continuum robots.

Purpose of the Study:

  • To develop a wireless power transfer solution for soft-bodied continuum robots that preserves their inherent flexibility and locomotion capabilities.
  • To integrate thin film receiver coils into a soft robotic system for seamless power delivery.
  • To demonstrate a functional soft robotic caterpillar powered wirelessly without compromising its continuum nature.

Main Methods:

  • Designed and implemented a wireless power transfer system utilizing thin film receiver coils.
  • Developed an inductively coupled powering solution tailored for soft robotic applications.
  • Integrated the power system into a soft robotic caterpillar, comprising its continuum structure, actuators, and flexible coils.

Main Results:

  • Successfully demonstrated wireless power transfer to a soft-bodied continuum robot using thin film coils.
  • The integrated system allowed the soft robotic caterpillar to maintain its continuum deformation and locomotion abilities.
  • Operational time was potentially extended due to the continuous wireless power supply.

Conclusions:

  • Thin film receiver coils are a viable solution for wireless power transfer in soft-bodied continuum robots.
  • This approach overcomes the limitations of rigid coils, enabling functional continuum deformation and locomotion.
  • The developed system offers a pathway to untethered, long-duration operation for soft robots.