Control Strategies for Soft Robot Systems

Jue Wang, Alex Chortos
2022 Advanced Intelligent Systems  
Figure 1 . Diversity of actuator mechanisms in soft robots. a) Curved unimorph piezoelectric actuator. Reproduced with permission. [218] Copyright 2019, AAAS. b) Dielectric elastomer fiber actuator. Reproduced with permission. [32] Copyright 2021, Wiley. c) Soft gripper based on electroadhension. Reproduced with permission. [57] Copyright 2016, Wiley. d) Soft wall-climbing robot based on electroadhension. Reproduced with permission. [58] opyright 2018, AAAS. e) Highly dynamic SMA actuator.
more » ... duced with permission. [64] 2018, AAAS. f ) Soft wearable device using TCP actuators. Reproduced with permission. [69] Copyright 2019, IEEE. g) Tendon-driven soft continuum robot actuated by an electromagnetic motor. Reproduced with permission. [350] Copyright 2019, SAGE. h) Tendon-driven soft continuum robot actuated by a piezoelectric motor. Reproduced with permission. [63] Copyright 2012, IEEE. i) Pneumatic soft continuum robot. Reproduced with permission. [17] Copyright 2016, SAGE. j) Gripper based on the jamming of granular. Reproduced with permission. [18] Copyright 2010, PNAS. k) Untethered micro-grippers driven by magnetic field gradient. Reproduced with permission. [87] Copyright 2014, Wiley. l) Millimeter-scale flexible robot driven by magnetic field gradient. Reproduced with permission. [214] Copyright 2019, AAAS. m) Untethered microrobot driven by magnetic coupling resonance. Reproduced with permission. [94] Copyright 2010, SAGE. n) Folding robot driven by wireless power transfer system based on magnetic coupling resonance. Reproduced with permission. [104]
doi:10.1002/aisy.202100165 fatcat:7lprttmqgvfadlrzzre255f7sq