Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications

Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified

Biohybrid robotics: From the nanoscale to the macroscale

Biohybrid robotics is a field in which biological entities are combined with artificial materials in order to obtain improved performance or features that are difficult to mimic with hand-made materials. Three main level of integration can be envisioned depending on the complexity of the biological entity, ranging from the nanoscale to the macroscale. At the nanoscale, enzymes that catalyze biocompatible reactions can be used as power sources for self-propelled nanoparticles of different geometries and compositions, obtaining rather interesting active matter systems that acquire importance in the biomedical field as drug delivery systems. At the microscale, single enzymes are substituted by complete cells, such as bacteria or spermatozoa, whose self-propelling capabilities can be used to transport cargo and can also be used as drug delivery systems, for in vitro fertilization practices or for biofilm removal. Finally, at the macroscale, the combinations of millions of cells forming tissues can be used to power biorobotic devices or bioactuators by using muscle cells. Both cardiac and skeletal muscle tissue have been part of remarkable examples of untethered biorobots that can crawl or swim due to the contractions of the tissue and current developments aim at the integration of several types of tissue to obtain more realistic biomimetic devices, which could lead to the next generation of hybrid robotics. Tethered bioactuators, however, result in excellent candidates for tissue models for drug screening purposes or the study of muscle myopathies due to their three-dimensional architecture

Towards tactile sensing active capsule endoscopy

Examination of the gastrointestinal(GI) tract has traditionally been performed using tethered endoscopy tools with limited reach and more recently with passive untethered capsule endoscopy with limited capability. Inspection of small intestines is only possible using the latter capsule endoscopy with on board camera system. Limited to visual means it cannot detect features beneath the lumen wall if they have not affected the lumen structure or colour. This work presents an improved capsule endoscopy system with locomotion for active exploration of the small intestines and tactile sensing to detect deformation of the capsule outer surface when it follows the intestinal wall. In laboratory conditions this system is capable of identifying sub-lumen features such as submucosal tumours.Through an extensive literary review the current state of GI tract inspection in particular using remote operated miniature robotics, was investigated, concluding no solution currently exists that utilises tactile sensing with a capsule endoscopy. In order to achieve such a platform, further investigation was made in to tactile sensing technologies, methods of locomotion through the gut, and methods to support an increased power requirement for additional electronics and actuation. A set of detailed criteria were compiled for a soft formed sensor and flexible bodied locomotion system. The sensing system is built on the biomimetic tactile sensing device, Tactip, \cite{Chorley2008, Chorley2010, Winstone2012, Winstone2013} which has been redesigned to fit the form of a capsule endoscopy. These modifications have required a $360^{o}$ cylindrical sensing surface with $360^{o}$ panoramic optical system. Multi-material 3D printing has been used to build an almost complete sensor assembly with a combination of hard and soft materials, presenting a soft compliant tactile sensing system that mimics the tactile sensing methods of the human finger. The cylindrical Tactip has been validated using artificial submucosal tumours in laboratory conditions. The first experiment has explored the new form factor and measured the device's ability to detect surface deformation when travelling through a pipe like structure with varying lump obstructions. Sensor data was analysed and used to reconstruct the test environment as a 3D rendered structure. A second tactile sensing experiment has explored the use of classifier algorithms to successfully discriminate between three tumour characteristics; shape, size and material hardness. Locomotion of the capsule endoscopy has explored further bio-inspiration from earthworm's peristaltic locomotion, which share operating environment similarities. A soft bodied peristaltic worm robot has been developed that uses a tuned planetary gearbox mechanism to displace tendons that contract each worm segment. Methods have been identified to optimise the gearbox parameter to a pipe like structure of a given diameter. The locomotion system has been tested within a laboratory constructed pipe environment, showing that using only one actuator, three independent worm segments can be controlled. This configuration achieves comparable locomotion capabilities to that of an identical robot with an actuator dedicated to each individual worm segment. This system can be miniaturised more easily due to reduced parts and number of actuators, and so is more suitable for capsule endoscopy. Finally, these two developments have been integrated to demonstrate successful simultaneous locomotion and sensing to detect an artificial submucosal tumour embedded within the test environment. The addition of both tactile sensing and locomotion have created a need for additional power beyond what is available from current battery technology. Early stage work has reviewed wireless power transfer (WPT) as a potential solution to this problem. Methods for optimisation and miniaturisation to implement WPT on a capsule endoscopy have been identified with a laboratory built system that validates the methods found. Future work would see this combined with a miniaturised development of the robot presented. This thesis has developed a novel method for sub-lumen examination. With further efforts to miniaturise the robot it could provide a comfortable and non-invasive procedure to GI tract inspection reducing the need for surgical procedures and accessibility for earlier stage of examination. Furthermore, these developments have applicability in other domains such as veterinary medicine, industrial pipe inspection and exploration of hazardous environments

Mobility, Navigation and Localization Towards Robotic Endoscopy

With significant progress being made towards improving endoscope technology such as capsule endoscopy and robotic endoscopy, the development of advanced strategies for manipulating, controlling and more generally, easing the accessibility of these devices for physicians is an important next step. This work presents the development of several robotic platforms for experimentally testing navigation and localization strategies in robotic endoscopy followed by the development and testing of navigation strategies using these devices. Finally, visual and visual inertial localization and mapping is explored on two of these robotic systems. We first present a detailed description on the state-of-the-art with regard to minimally invasive robotic surgery and then follow this with in-depth description of our design and validation of two important systems, the Robotic Endoscope Platform (REP) and the Modular Endoscopy Simulation Apparatus (MESA), for exploring some of the challenges in robotic endoscopy. Following these descriptions we present a technique for autonomous navigation of the REP within the MESA as well as an attempt at applying Simultaneous Localization and Mapping (SLAM) to allow for the real-time localization of this system. Finally, we transition these techniques to the Endoculus, a complete robotic endoscope suitable for in vivo testing, and demonstrate both autonomous navigation for this device, and the implementation of three different SLAM systems for localization and mapping of the Endoculus system in real-time. Throughout these experiments we demonstrate the potential for advanced methods in computer vision along with other sensory techniques to substantially benefit endoscopy, enabling greater and greater autonomy of these systems and furthering the case for robotic endoscopy as a whole.</p

Agricultural Structures and Mechanization

In our globalized world, the need to produce quality and safe food has increased exponentially in recent decades to meet the growing demands of the world population. This expectation is being met by acting at multiple levels, but mainly through the introduction of new technologies in the agricultural and agri-food sectors. In this context, agricultural, livestock, agro-industrial buildings, and agrarian infrastructure are being built on the basis of a sophisticated design that integrates environmental, landscape, and occupational safety, new construction materials, new facilities, and mechanization with state-of-the-art automatic systems, using calculation models and computer programs. It is necessary to promote research and dissemination of results in the field of mechanization and agricultural structures, specifically with regard to farm building and rural landscape, land and water use and environment, power and machinery, information systems and precision farming, processing and post-harvest technology and logistics, energy and non-food production technology, systems engineering and management, and fruit and vegetable cultivation systems. This Special Issue focuses on the role that mechanization and agricultural structures play in the production of high-quality food and continuously over time. For this reason, it publishes highly interdisciplinary quality studies from disparate research fields including agriculture, engineering design, calculation and modeling, landscaping, environmentalism, and even ergonomics and occupational risk prevention

Microfluidic bubble logic

Thesis (Ph. D.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2008."September 2008."Includes bibliographical references.In this thesis, I propose a new paradigm in computing where bits can simultaneously transport and manipulate materials and information. Information representation is invariably physical. Though this insight is fundamental to understanding the physical limits of computation, it has never been exploited as a scheme for material manipulation. Bringing together notions from computer science and fluid dynamics, I present a new logic family "Bubble Logic" capable of both universal computation and programmable material manipulation in an all-fluidic two-phase system. This removes the distinction between materials and mechanisms to control them, bringing the programmability of the digital world into the physical world - with a wide range of promising applications in biotechnology, highthroughput screening, genomics and fluidic control systems for soft robotics, printing and digital fabrication.Microfluidics, the art of handling nano-to pico-liter volume fluids, is leading to a revolution in large-scale automation of biology and analytical chemistry. However, current lab-on-chip technologies are dependent on external macro-scale control elements, thus requiring a lab to run the chip. Bubble logic provides a dropletel,internal, inherently digital flow control mechanism at kHz frequencies with no moving parts or off-chip components. Nonlinearity is introduced in an otherwise linear, reversible, low Reynolds number flow via bubble-tobubble hydrodynamic interactions. I demonstrate bubble logic AND/OR/NOT gates, a toggle flip-flop, a ripple counter, a timing restoration device, a ring oscillator, a bistable valve and an on-demand bubble generator. These show the nonlinearity, gain, bistability, synchronization, cascadability, feedback and programmability required for scalable universal computation and control.(cont.) The representation used in this thesis makes possible encapsulation and manipulation of a large variety of micro-to nanocale materials including single molecules like DNA or proteins, live cells, liquid crystals, nano-particles and other biological and chemical reagents. Bubble logic provides a scheme to transport, store and operate on this new class of "digital materials" in an integrated, high-throughput fashion. Furthermore, microfluidics has also been extensively employed in biological systems. This thesis describes the discovery of two new physical fluid dynamic mechanisms motivated by a common theme of microfluidics in biology. Firstly, I describe a new superhydrophobic waterrepelling surface that has a characteristic of directional anisotropy to fluid resistance. The discovery, made while studying the integument of water-walking insects, helps rationalize the origin of thrust and hence propulsion of water-walking insects on a fluid interface. Secondly, this thesis uncovers a new physical mechanism for directed droplet transport, which I term "Capillary ratchet". Discovered in a class of surface feeding shorebirds, it is the only physical mechanism that is known to exploit contact angle hysteresis for fluid transport. Capillary ratchet is a promising candidate for implementing global clocking for integrated microfluidic devices.by Manu Prakash.Ph.D

Mechanical Characterization of the Small Intestine for In vivo Robotic Capsule Endoscope Mobility

The state-of-the-art in enteroscopic surgery and therapeutic care continues to minimize invasiveness, cost, surgery time, and patient trauma. To this end, a new class of medical device, called the robotic capsule endoscope, is being pursued by multiple research groups. These potentially swallowable devices will radically expand the capabilities of natural orifice surgery by performing non-invasive tasks within the gastrointestinal tract that are now only possible with enteroscopic, laparoscopic, or open surgery. It is necessary for a robotic capsule endoscope to possess active, controlled mobility, which involves interactions between gastrointestinal tissue and engineering materials. Design challenges stem from the nonlinear and variable mechanical and physiological response of tissue and organs to the robot and from poor understanding of interfacial properties. In this work we initiate a study of the mechanical properties of the small intestine with the goal of accelerating the development of in vivo robotic capsule endoscopes for the gastrointestinal tract. To this end, four investigative devices and testing methods are presented: 1) A novel tribometer that measures the in vivo coefficient of friction between the mucosa and the robot surface; 2) An in vitro biaxial test apparatus and method for characterizing in-plane biomechanical properties of the bowel wall; 3) An in vitro test protocol to characterize the adhesive properties of mucosa; and 4) A novel manometer and force sensor array that measure the in vivo myenteric contact force against a solid bolus. Using these devices and test methods, the tribometry, passive biomechanics, mucosal adhesivity, and contractile response of the small intestinal tissue from multiple porcine models are measured. The results of this study offer crucial yet previously unknown biomechanical properties of the small intestine and have provided a foundation for the development of a unified and comprehensive model of the interactions between a robotic capsule endoscope and the intraluminal environment