Introduction to Advanced Soft Robotics is an introductory textbook on soft body robotics. The content is designed to enable readers to better understand soft body robotics. Starting with an introduction to the subject, contents explain fundamental concepts such as perception and sensing, fabrication techniques and material design. These introductory chapters demonstrate the design concept and related design structures of soft robots from multiple perspectives, which can provide considerable design references for robotics learners and enthusiasts. Next, the book explains modeling and control for soft robotics and the applications. Key features of this book include easy-to-understand language and format, simple illustrations and a balanced overview of the subject (including a section on challenges and future prospects for soft robotics), and scientific references.
Readership
Electronics, automation and robotics students, engineers and enthusiasts; novice robot designers.Table of Contents
- CONTENTS
- PREFACE
CHAPTER 1 INTRODUCTION
- WHAT IS SOFT ROBOTICS?
- Introduction to Soft Robot
- Opening Words
- Definition
- WHAT MAKES A SOFT ROBOT?
- Soft Robotics
- Actuation
- Fabrication
- Sensing
- Modeling
- ORIGIN OF SOFT ROBOTICS
- Inventions of Pneumatic Artificial Muscle
- Birth of Soft Robots
- Advantages of Soft Robots
- DEVELOPMENT OF SOFT ROBOTICS
- Early Robot Development
- Further Development
- Intelligent Soft Robot Development
- CONCLUSION
- ACKNOWLEDGEMENT
- REFERENCES
CHAPTER 2 ACTUATION TECHNIQUES FOR SOFT ROBOTS
- INTRODUCTION
- Definition of Soft Actuation
- Classification of Soft Actuators
- Overview of Diverse Soft Actuators
- Performance Comparisons
- Principles and Techniques for Diverse Soft Actuators
- Fluid-driven Actuators
- Magnetic-driven Actuators
- Cable-driven Actuators
- Shape Memory Material Driven Actuators
- Electro-Active Polymer Driven Actuators
- Other Soft Actuators
- Challenges
- CONCLUSION
- REFERENCES
CHAPTER 3 SOFT ROBOT SENSING AND PERCEPTION
- OVERVIEW OF SOFT ROBOT SENSORS
- Background
- Classification of Sensors Soft Robots
- THE STATE OF THE SOFT ROBOT SENSING AND PERCEPTION MODE
- Passive Mode
- Semi-active Mode
- Active Mode
- Interactive Perception Mode
- SENSING TECHNOLOGY FOR SOFT ROBOTICS
- Tactile Sensing Technology
- Visual Sensing Technology
- Multisensor Sensing
- SOFT ROBOT PERCEPTION
- Visual Perception
- Tactile Perception
- Biological Tactile Perception Systems
- Tactile Perception Applications
- Visual-Tactile Fusion Perception
- SUMMARY OF THIS SECTION
- CHALLENGES
- Causes
- Multimodal Sensors
- Stretchable Conductive Materials and Structures
- Data Interpretation
- SUMMARY OF THIS SECTION
- CONCLUSION
- ACKNOWLEDGEMENT
- REFERENCES
CHAPTER 4 MATERIAL, DESIGN AND FABRICATION OF SOFT ROBOTS
- INTRODUCTION
- Soft Robot Materials
- Elastomer
- Hydrogel
- Shape Memory Polymer
- Electro-active Polymers
- Liquid Metal
- Structural Design of Soft Robot
- Bionic Structure
- Variable Stiffness Structure
- Special Structure
- Fabrication Methods
- Casting Manufacturing
- Shape Deposition Manufacturing
- 3D Printing Technology
- CONCLUSION
- REFERENCES
CHAPTER 5 SOFT ROBOTS MODELING AND CONTROL
- MODELING
- Mechanics Models
- Geometrical Models
- Discrete Models
- Lumped-mass Models
- Pseudo-rigid Models
- Discrete Rods
- Surrogate Models
- CONTROL STRATEGIES FOR SOFT ROBOTIC
- Model-Based Controllers
- Model-Based Static Controllers
- Model-Based Dynamic Controllers
- Model-Free Controllers
- Model-Free Static Controllers
- Model-Free Dynamic Controllers
- DISCUSSION
- SUMMARIES AND CHALLENGES
- CONCLUSION
- ACKNOWLEDGEMENT
- REFERENCES
CHAPTER 6 APPLICATIONS OF SOFT ROBOTS
- UNDERWATER SOFT ROBOTS
- Introduction
- Underwater Exploration
- Underwater Sampling
- Underwater Grabbing
- Summary of this Section
- AGRICULTURAL SOFT ROBOTS
- Introduction
- Crop Harvesting
- Crop Planting Monitoring
- Summary of this Section
- MEDICAL SOFT ROBOTS
- Introduction
- Cardiac Treatment Equipment
- Minimally Invasive Surgical Robot
- Soft Rehabilitation Assistance Equipment
- Summary of this Section
- INDUSTRIAL SOFT ROBOTS
- Introduction
- In the Food Industry
- In other Industries
- Summary of this Section
- SPACE SOFT ROBOTS
- Introduction
- Space Exploration
- On-orbit Missions
- Summary of this Section
- SUMMARY AND PROSPECT
- CONCLUSION
- ACKNOWLEDGEMENT
- REFERENCES
CHAPTER 7 CHALLENGES AND PERSPECTIVES OF SOFT ROBOTICS
- ACTUATION AND SENSING TECHNIQUES
- Actuation
- Pneumatic-driven Soft Robot
- Hydraulically Driven Soft Robot
- Electrically Responsive Drive for Soft Robots
- Chemically Driven Soft Robot
- Light-driven Soft Robots
- Thermal Response Driven Soft Robot
- Magnetically Responsive Soft Robot
- Sensing Techniques
- MATERIAL, DESIGN, AND FABRICATION
- Soft Materials
- Design and Manufacturing Techniques
- MODELLING AND CONTROL
- Modelling
- Control
- CONCLUSION
- ACKNOWLEDGEMENT
- SUBJECT INDEX
