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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Hysteresis-assisted shape morphing for soft continuum robots.

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  • 1School of Electrical and Electronic Engineering, The University of Sheffield, Sheffield, UK.

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Summary
This summary is machine-generated.

This study introduces a novel hysteresis-assisted shape-morphing (HasMorph) method for soft robots. It uses friction-induced hysteresis to achieve complex shapes with minimal actuators, improving dexterity and navigation.

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Conventional soft robots require numerous actuators for dexterity, leading to complex designs and control.
  • Existing methods often avoid hysteresis, limiting shape-changing capabilities.

Purpose of the Study:

  • To introduce and validate a hysteresis-assisted shape-morphing (HasMorph) paradigm for soft continuum robots.
  • To demonstrate how exploiting friction-induced hysteresis enables complex, reversible shape changes with minimal actuation.

Main Methods:

  • Developed the HasMorph paradigm by intentionally utilizing friction-induced shape hysteresis.
  • Integrated HasMorph with tip-everting soft-growing robots using an inverted zigzag tendon-sheath mechanism.
  • Created mechanics and kinematics models to analyze shape evolution governed by friction and input sequences.

Main Results:

  • Achieved numerous reversible shape changes using only two sequentially controlled actuators.
  • Demonstrated complex, reversible morphologies and frictionless follow-the-leader navigation.
  • Validated dexterous morphing and robust navigation in unstructured environments through experiments.

Conclusions:

  • HasMorph offers a scalable approach to soft robot design by enabling fine-grained actuation of hyperredundant soft bodies with minimal components.
  • The paradigm has potential applications in minimally invasive surgery and adaptive inspection systems for confined spaces.