A Resilient, Untethered Soft Robot

Soft Robotics

Volumn 1, Issue 3, 2014, Pages 213-223

  Tolley, Michael T ^a,b   Shepherd, Robert F ^c,d   Mosadegh, Bobak ^b,c   Galloway, Kevin C ^a,b   Wehner, Michael ^a,b   Karpelson, Michael ^a,b   Wood, Robert J ^a,b   Whitesides, George M ^b,c  

^a HARVARD UNIVERSITY   (United States)

^b HARVARD UNIVERSITY   (United States)

^c HARVARD UNIVERSITY   (United States)

^d Department of Obstetrics Gynecology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 84991806435     PISSN: 21695172     EISSN: 21695180     Source Type: Journal    
DOI: 10.1089/soro.2014.0008     Document Type: Article

References (31)

1. Trivedi D, Rahn CD, Kier WM, Walker ID. Soft robotics: Biological inspiration, state of the art, and future research. Applied Bionics and Biomechanics 2008; 5(3):99-117.
2. Cho K-J, Koh J-S, Kim S, Chu W-S, Hong Y, Ahn S-H. Review of manufacturing processes for soft biomimetic robots. International Journal of Precision Engineering and Manufacturing 2009; 10(3):171-181.
3. Pfeifer R, Lungarella M, Iida F. The challenges ahead for bio-inspired soft robotics. Commun ACM 2012; 55(11): 76-87.
4. Kim S, Laschi C, Trimmer B. Soft robotics: a bioinspired evolution in robotics. Trends Biotechnol 2013; 31(5):287-294.
5. Lipson H. Challenges and opportunities for design, simulation, and fabrication of soft robots. Soft Robotics 2013; 1(P):21-27.
6. Majidi C. Soft robotics: A perspectivecurrent trends and prospects for the future. Soft Robotics 2013; 1(P):5-11.
7. Shepherd RF, Ilievski F, Choi W, Morin SA, Stokes AA, Mazzeo AD, Chen X, Wang M, Whitesides GM. Multigait soft robot. Proceedings of the National Academy of Sciences 2011; 108(51):20400-20403.
8. Ilievski F, Mazzeo AD, Shepherd RF, Chen X, Whitesides GM. Soft robotics for chemists. Angewandte Chemie 2011; 123(8):1930-1935.
9. Stokes AA, Shepherd RF, Morin SA, Ilievski F, Whitesides GM. A hybrid combining hard and soft robots. Soft Robotics 2013; 1(P):70-74.
10. Martinez RV, Branch JL, Fish CR, Jin L, Shepherd RF, Nunes R, Suo Z, Whitesides GM. Robotic tentacles with three-dimensional mobility based on flexible elastomers. Advanced Materials 2013; 25(2):205-212.
11. Marchese AD, Onal CD, Rus D. Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators. Soft Robotics 2014; 1(1):75-87.
12. Onal CD, Chen X,Whitesides GM, Rus D. Softmobile robots with on-board chemical pressure generation. In International Symposium on Robotics Research 2011, pp. 1-16.
13. Onal CD, Rus D. Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot. Bioinspir Biomim 2013; 8(2):026003.
14. Mosadegh B, Polygerinos P, Keplinger C, Wennstedt S, Shepherd RF, Gupta U, Shim J, Bertoldi K, Walsh CJ, Whitesides GM. Pneumatic networks for soft robotics that actuate rapidly. Advanced Functional Materials 2013; 24(15): 2163-2170.
15. Zheng P,McCarthy TJ. Rediscovering silicones:Molecularly smooth, low surface energy, unfilled, uv/vis-transparent, extremely cross-linked, thermally stable, hard, elastic pdms. Langmuir 2010; 26(24):18585-18590.
16. Chang C-L, Lee HS-J, Chen C-K. Nucleophilic cleavage of crosslinked polysiloxanes to cyclic siloxane monomers: Mild catalysis by a designed polar solvent system. Journal of Polymer Research 2005; 12(6):433-438.
17. Oldfield D, Symes T. Long term natural ageing of silicone elastomers. Polymer Testing 1996; 15(2):115-128.
18. Shepherd RF, Stokes AA, Freake J, Barber J, Snyder PW, Mazzeo AD, Cademartiri L, Morin SA, Whitesides GM. Using explosions to power a soft robot. Angewandte Chemie 2013; 125(10):2964-2968.
19. Hshieh F-Y. Shielding effects of silica-ash layer on the combustion of silicones and their possible applications on the fire retardancy of organic polymers. Fire and Materials 1998; 22(2):69-76.
20. Hamdani S, Longuet C, Perrin D, Lopez-cuesta J-M, Ganachaud F. Flame retardancy of silicone-based materials. Polymer Degradation and Stability 2009; 94(4):465-495.
21. Characteristic properties of silicone rubber compounds, Shin-Etsu Chemical Co., Tokyo, Japan, Mar 2005. Available at www.silicone.jp/e/catalog/pdf/rubber-e.pdf (accessed Aug. 18, 2014).
22. Napp N, Araki B, Tolley MT, Nagpal R, Wood RJ. Simple passive valves for addressable pneumatic actuation. In Robotics and Automation (ICRA), 2014 IEEE International Conference on 2014.
23. Suzumori K, Iikura S, Tanaka H. Development of flexible microactuator and its applications to robotic mechanisms. In Proceedings, 1991 IEEE International Conference on Robotics and Automation; 1622-1627.
24. Bishop-Moser J, Krishnan G, Kim C, Kota S. Design of soft robotic actuators using fluid-filled fiber-reinforced elastomeric enclosures in parallel combinations. In 2012 IEEE/ RSJ International Conference on Intelligent Robots and Systems (IROS); 4264-4269.
25. Galloway KC, Polygerinos P, Walsh CJ, Wood RJ. Mechanically programmable bend radius for fiber-reinforced soft actuators. In 2013 16th International Conference on Advanced Robotics (ICAR); 1-6.
26. Marchese AD, Komorowski K, Onal CD, Rus D. Design and control of a soft and continuously deformable 2d robotic manipulation system. In Proceedings of IEEE International Conference on Robotics and Automation 2014.
27. Majidi C, Shepherd RF, Kramer RK, Whitesides GM, Wood RJ. Influence of surface traction on soft robot undulation. The International Journal of Robotics Research 2013; 32(13):1577-1584.
28. Majidi C, Kramer R, Wood RJ. A non-differential elastomer curvature sensor for softer-than-skin electronics. Smart Materials and Structures 2011; 20(10):105017.
29. Park Y-L, Chen B-R, Wood RJ. Design and fabrication of soft artificial skin using embedded microchannels and liquid conductors. Sensors Journal, IEEE 2012; 12(8):2711-2718.
30. Vogt DM, Park Y-L, Wood RJ. Design and characterization of a soft multi-axis force sensor using embedded microfluidic channels. Sensors Journal, IEEE, 2013; 13(10):4056-4064.
31. Menguc Y, Park Y-L, Martinez-Villalpando E, Aubin P, Zisook M, Stirling L, Wood RJ, Walsh CJ. Soft wearable motion sensing suit for lower limb biomechanics measurements. In 2013 IEEE International Conference on Robotics and Automation (ICRA); 5309-5316.