Biomedical soft robots: current status and perspective.

Area of Science:

• Biomedical Engineering
• Robotics
• Materials Science

Background:

• Soft robots utilize materials with elasticity similar to biological systems.
• Advantages include safe human interaction, integration with wearable electronics, and enhanced gripping capabilities.
• Their development is crucial for advancing biomedical applications.

Purpose of the Study:

• To provide a comprehensive review of the current state of soft robots in the biomedical field.
• To analyze design factors, including modeling, controls, actuation, and fabrication.
• To discuss current limitations and future prospects of biomedical soft robots.

Main Methods:

• Review of modeling techniques: kinematic, multibody, and finite element methods (FEM).
• Categorization of control strategies: model-based and model-free approaches.
• Survey of fabrication methods, from molding to additive manufacturing (e.g., 3D printing).

Main Results:

• Finite element methods offer accurate analysis of soft robot nonlinearities but pose real-time control challenges.
• Model-free controllers are effective when explicit models are difficult to obtain.
• Diverse actuation methods (SMAs, fluid gels, elastomers, piezoelectrics) are employed.
• Fabrication techniques vary widely, with additive manufacturing showing significant promise.

Conclusions:

• Soft robots offer significant advantages over rigid counterparts in biomedical applications.
• Addressing challenges in modeling, control, and cost-effective fabrication is key for wider adoption.
• Continued research promises novel functionalities and expanded applications in the biomedical domain.