Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics.

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace and reflect the diversity of human society to address these broad challenges effectively. In recent years, gender inclusivity has received increasing attention, but it still remains a distant goal. In addition, awareness is rising around other dimensions of diversity, including nationality, religion, and politics. Unfortunately, despite the efforts, empirical evidence shows that the field has still a long way to go before achieving a sufficient level of equality, diversity, and inclusion across these spectra. This study focuses on the soft robotics community-a growing and relatively recent subfield-and it outlines the present state of equality and diversity panorama in this discipline. The article argues that its high interdisciplinary and accessibility make it a particularly welcoming branch of robotics. We discuss the elements that make this subdiscipline an example for the broader robotic field. At the same time, we recognize that the field should still improve in several ways and become more inclusive and diverse. We propose concrete actions that we believe will contribute to achieving this goal, and provide metrics to monitor its evolution.

Design and Fabrication of a Fully-Integrated, Miniaturised Fluidic System for the Analysis of Enzyme Kinetics.

The lab-on-a-chip concept, enabled by microfluidic technology, promises the integration of multiple discrete laboratory techniques into a miniaturised system. Research into microfluidics has generally focused on the development of individual elements of the total system (often with relatively limited functionality), without full consideration for integration into a complete fully optimised and miniaturised system. Typically, the operation of many of the reported lab-on-a-chip devices is dependent on the support of a laboratory framework. In this paper, a demonstrator platform for routine laboratory analysis is designed and built, which fully integrates a number of technologies into a single device with multiple domains such as fluidics, electronics, pneumatics, hydraulics, and photonics. This facilitates the delivery of breakthroughs in research, by incorporating all physical requirements into a single device. To highlight this proposed approach, this demonstrator microsystem acts as a fully integrated biochemical assay reaction system. The resulting design determines enzyme kinetics in an automated process and combines reservoirs, three-dimensional fluidic channels, optical sensing, and electronics in a low-cost, low-power and portable package.

Perspective for soft robotics: the field's past and future.

Since its beginnings in the 1960s, soft robotics has been a steadily growing field that has enjoyed recent growth with the advent of rapid prototyping and the provision of new flexible materials. These two innovations have enabled the development of fully flexible and untethered soft robotic systems. The integration of novel sensors enabled by new manufacturing processes and materials shows promise for enabling the production of soft systems with 'embodied intelligence'. Here, four experts present their perspectives for the future of the field of soft robotics based on these past innovations. Their focus is on finding answers to the questions of: how to manufacture soft robots, and on how soft robots can sense, move, and think. We highlight industrial production techniques, which are unused to date for manufacturing soft robots. They discuss how novel tactile sensors for soft robots could be created to enable better interaction of the soft robot with the environment. In conclusion this article highlights how embodied intelligence in soft robots could be used to make soft robots think and to make systems that can compute, autonomously, from sensory inputs.

Personalised 3D printed respirators for healthcare workers during the COVID-19 pandemic.

Widespread issues in respirator availability and fit have been rendered acutely apparent by the COVID-19 pandemic. This study sought to determine whether personalized 3D printed respirators provide adequate filtration and function for healthcare workers through a Randomized Controlled Trial (RCT). Fifty healthcare workers recruited within NHS Lothian, Scotland, underwent 3D facial scanning or 3D photographic reconstruction to produce 3D printed personalized respirators. The primary outcome measure was quantitative fit-testing to FFP3 standard. Secondary measures included respirator comfort, wearing experience, and function instrument (R-COMFI) for tolerability, Modified Rhyme Test (MRT) for intelligibility, and viral decontamination on respirator material. Of the 50 participants, 44 passed the fit test with the customized respirator, not significantly different from the 38 with the control (p = 0.21). The customized respirator had significantly improved comfort over the control respirator in both simulated clinical conditions (p < 0.0001) and during longer wear (p < 0.0001). For speech intelligibility, both respirators performed equally. Standard NHS decontamination agents were able to eradicate 99.9% of viral infectivity from the 3D printed plastics tested. Personalized 3D printed respirators performed to the same level as control disposable FFP3 respirators, with clear communication and with increased comfort, wearing experience, and function. The materials used were easily decontaminated of viral infectivity and would be applicable for sustainable and reusable respirators.

A SERS-Active Electrospun Polymer Mesh for Spatially Localized pH Measurements of the Cellular Microenvironment.

Extracellular pH (pHe) is an important chemical factor in many cellular processes and disease pathologies. The routine sampling of pHe in vitro could lead to innovative advances in therapeutics. To this end, we have fabricated a novel gold-coated polymer mesh, which facilitates the real-time measurement of pHe via surface-enhanced Raman scattering (SERS). In this proof of concept study, we apply our SERS sensor to measure metabolically induced changes in the pHe of carcinoma-derived cell line HepG2/C3A. We demonstrate that gold-coated polyurethane electrospun nanofibers (AuNF) have strong and reproducible SERS spectra of surface-adsorbed analytes. By functionalizing AuNF with pH-responsive reporter 4-mercaptobenzoic acid (MBA), we have developed an accurate pH SERS sensor for the extracellular microenvironment. We cultured HepG2/C3A on the surface of MBA-AuNF and measured an acidic shift in pHe at the cell-fiber interface. Following exposure to staurosporine, an apoptosis-inducing drug, we observed changes in the HepG2/C3A cellular morphology indicative of controlled cell death, and detected an increase in the pHe of HepG2/C3A. These results demonstrate how subtle changes in pHe, induced by the metabolic activity of cells, can be measured with our novel SERS sensor MBA-AuNF. The excellent pH measurement performance of MBA-AuNF provides a unique platform to study extracellular pH on the microscale and will help to deepen our understanding of pHe in disease pathology.

Soft Robots for Ocean Exploration and Offshore Operations: A Perspective.

The ocean and human activities related to the sea are under increasing pressure due to climate change, widespread pollution, and growth of the offshore energy sector. Data, in under-sampled regions of the ocean and in the offshore patches where the industrial expansion is taking place, are fundamental to manage successfully a sustainable development and to mitigate climate change. Existing technology cannot cope with the vast and harsh environments that need monitoring and sampling the most. The limiting factors are, among others, the spatial scales of the physical domain, the high pressure, and the strong hydrodynamic perturbations, which require vehicles with a combination of persistent autonomy, augmented efficiency, extreme robustness, and advanced control. In light of the most recent developments in soft robotics technologies, we propose that the use of soft robots may aid in addressing the challenges posed by abyssal and wave-dominated environments. Nevertheless, soft robots also allow for fast and low-cost manufacturing, presenting a new potential problem: marine pollution from ubiquitous soft sampling devices. In this study, the technological and scientific gaps are widely discussed, as they represent the driving factors for the development of soft robotics. Offshore industry supports increasing energy demand and the employment of robots on marine assets is growing. Such expansion needs to be sustained by the knowledge of the oceanic environment, where large remote areas are yet to be explored and adequately sampled. We offer our perspective on the development of sustainable soft systems, indicating the characteristics of the existing soft robots that promote underwater maneuverability, locomotion, and sampling. This perspective encourages an interdisciplinary approach to the design of aquatic soft robots and invites a discussion about the industrial and oceanographic needs that call for their application.

Limpet II: A Modular, Untethered Soft Robot.

The ability to navigate complex unstructured environments and carry out inspection tasks requires robots to be capable of climbing inclined surfaces and to be equipped with a sensor payload. These features are desirable for robots that are used to inspect and monitor offshore energy platforms. Existing climbing robots mostly use rigid actuators, and robots that use soft actuators are not fully untethered yet. Another major problem with current climbing robots is that they are not built in a modular fashion, which makes it harder to adapt the system to new tasks, to repair the system, and to replace and reconfigure modules. This work presents a 450 g and a 250 × 250 × 140 mm modular, untethered hybrid hard/soft robot-Limpet II. The Limpet II uses a hybrid electromagnetic module as its core module to allow adhesion and locomotion capabilities. The adhesion capability is based on negative pressure adhesion utilizing suction cups. The locomotion capability is based on slip-stick locomotion. The Limpet II also has a sensor payload with nine different sensing modalities, which can be used to inspect and monitor offshore structures and the conditions surrounding them. Since the Limpet II is designed as a modular system, the modules can be reconfigured to achieve multiple tasks. To demonstrate its potential for inspection of offshore platforms, we show that the Limpet II is capable of responding to different sensory inputs, repositioning itself within its environment, adhering to structures made of different materials, and climbing inclined surfaces.

Shaping and transporting diamagnetic sessile drops.

Electromagnetic fields are commonly used to control small quantities of fluids in microfluidics and digital microfluidics. Magnetic control techniques are less well studied than their electric counterparts, with only a few investigations into liquid diamagnetism. The ratio of magnetic to surface energy (magnetic Bond number B m ) is an order of magnitude smaller for diamagnetic drops ( B m ≈ - 0.3 at 1.2 T applied field) than for paramagnetic drops ( B m ≈ 9.0 at 1.2 T applied field). This weaker interaction between the magnetic field and the diamagnetic drop has led to the phenomenon being overlooked in digital microfluidics. Here, we investigate shaping and transport of diamagnetic drops using magnetostatic fields. Our findings highlight how diamagnetic fluids can be used as a novel tool in the toolbox of microfluidics and digital microfluidics.

Bubble Dislodgment in a Capillary Network with Microscopic Multichannels and Multibifurcation Features.

Bubble lodgment in a complex capillary network is a common issue in many industrial and biological processes. Research work reported in the literature only investigated bubble dislodgment in single channels and did not consider the effect of network complexity on the dislodgment. This paper focuses on the pressure required to dislodge single bubbles from a microscopic capillary network and investigates the factors affecting the dislodging pressure to facilitate the precise control of bubble flows in porous media. A capillary network with multibifurcation and a smoothly changed diameter is designed to closely mimic the structure of the physiological vascular networks. Over 600 bubble dislodgment experiments have been conducted to understand the effect of the network structure, channel dimensions, and bubble length on the dislodging pressure. The results indicate that the network structure is a dominant factor affecting the dislodging pressure that increases with the increase in network complexity. The effect of bubble length on the dislodging pressure depends on the bubble length. When the bubble length is less than a certain value, which is around 2 mm in this study, the dislodging pressure increases significantly with the decrease of bubble length. When the bubble length is larger than 2 mm, the dislodging pressure is independent of the bubble length. A model has been proposed to explain the bubble dislodgment in complex capillary networks. The impact of the network structure on the bubble dislodging pressure is characterized by a parameter c j. The model indicates that the dislodging pressure is the function of bubble length, channel dimension, and network structure. The analysis of model parameters NB j and MA j shows that parameter c j, rather than the channel size, dominates the dislodging pressure for bubbles with a length greater than 2 mm, and the increase rate of the dislodging pressure is significantly affected by both channel size and parameter c j.

Soft Radio-Frequency Identification Sensors: Wireless Long-Range Strain Sensors Using Radio-Frequency Identification.

Increasing amounts of attention are being paid to the study of Soft Sensors and Soft Systems. Soft Robotic Systems require input from advances in the field of Soft Sensors. Soft sensors can help a soft robot to perceive and to act upon its immediate environment. The concept of integrating sensing capabilities into soft robotic systems is becoming increasingly important. One challenge is that most of the existing soft sensors have a requirement to be hardwired to power supplies or external data processing equipment. This requirement hinders the ability of a system designer to integrate soft sensors into soft robotic systems. In this article, we design, fabricate, and characterize a new soft sensor, which benefits from a combination of radio-frequency identification (RFID) tag design and microfluidic sensor fabrication technologies. We designed this sensor using the working principle of an RFID transporter antenna, but one whose resonant frequency changes in response to an applied strain. This new microfluidic sensor is intrinsically stretchable and can be reversibly strained. This sensor is a passive and wireless device, and as such, it does not require a power supply and is capable of transporting data without a wired connection. This strain sensor is best understood as an RFID tag antenna; it shows a resonant frequency change from approximately 860 to 800 MHz upon an applied strain change from 0% to 50%. Within the operating frequency, the sensor shows a standoff reading range of >7.5 m (at the resonant frequency). We characterize, experimentally, the electrical performance and the reliability of the fabrication process. We demonstrate a pneumatic soft robot that has four microfluidic sensors embedded in four of its legs, and we describe the implementation circuit to show that we can obtain movement information from the soft robot using our wireless soft sensors.

Linbots: Soft Modular Robots Utilizing Voice Coils.

Robots performing automated tasks in uncontrolled environments need to adapt to environmental changes. Through building large collectives of robots, this robust and adaptive behavior can emerge from simple individual rules. These collectives can also be reconfigured, allowing for adaption to new tasks. Larger collectives are more robust and more capable, but the size of existing collectives is limited by the cost of individual units. In this article, we present a soft, modular robot that we have explicitly designed for manufacturability: Linbots. Linbots use multifunctional voice coils to actuate linearly, to produce audio output, and to sense touch. When used in collectives, the Linbots can communicate with neighboring Linbots allowing for isolated behavior as well as the propagation of information throughout a collective. We demonstrate that these collectives of Linbots can perform complex tasks in a scalable distributed manner, and we show transport of objects by collective peristalsis and sorting of objects by a two-dimensional array of Linbots.

The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub.

The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective and safe method for inspection, repair, and maintenance of topside and marine offshore infrastructure. In this work, we introduce a new multi-sensing platform, the Limpet, which is designed to be low-cost and highly manufacturable, and thus can be deployed in huge collectives for monitoring offshore platforms. The Limpet can be considered an instrument, where in abstract terms, an instrument is a device that transforms a physical variable of interest (measurand) into a form that is suitable for recording (measurement). The Limpet is designed to be part of the ORCA (Offshore Robotics for Certification of Assets) Hub System, which consists of the offshore assets and all the robots (Underwater Autonomous Vehicles, drones, mobile legged robots etc.) interacting with them. The Limpet comprises the sensing aspect of the ORCA Hub System. We integrated the Limpet with Robot Operating System (ROS), which allows it to interact with other robots in the ORCA Hub System. In this work, we demonstrate how the Limpet can be used to achieve real-time condition monitoring for offshore structures, by combining remote sensing with signal-processing techniques. We show an example of this approach for monitoring offshore wind turbines, by designing an experimental setup to mimic a wind turbine using a stepper motor and custom-designed acrylic fan blades. We use the distance sensor, which is a Time-of-Flight sensor, to achieve the monitoring process. We use two different approaches for the condition monitoring process: offline and online classification. We tested the offline classification approach using two different communication techniques: serial and Wi-Fi. We performed the online classification approach using two different communication techniques: LoRa and optical. We train our classifier offline and transfer its parameters to the Limpet for online classification. We simulated and classified four different faults in the operation of wind turbines. We tailored a data processing procedure for the gathered data and trained the Limpet to distinguish among each of the functioning states. The results show successful classification using the online approach, where the processing and analysis of the data is done on-board by the microcontroller. By using online classification, we reduce the information density of our transmissions, which allows us to substitute short-range high-bandwidth communication systems with low-bandwidth long-range communication systems. This work shines light on how robots can perform on-board signal processing and analysis to gain multi-functional sensing capabilities, improve their communication requirements, and monitor the structural health of equipment.

Multi-Functional Sensing for Swarm Robots Using Time Sequence Classification: HoverBot, an Example.

Scaling up robot swarms to collectives of hundreds or even thousands without sacrificing sensing, processing, and locomotion capabilities is a challenging problem. Low-cost robots are potentially scalable, but the majority of existing systems have limited capabilities, and these limitations substantially constrain the type of experiments that could be performed by robotics researchers. Instead of adding functionality by adding more components and therefore increasing the cost, we demonstrate how low-cost hardware can be used beyond its standard functionality. We systematically review 15 swarm robotic systems and analyse their sensing capabilities by applying a general sensor model from the sensing and measurement community. This work is based on the HoverBot system. A HoverBot is a levitating circuit board that manoeuvres by pulling itself towards magnetic anchors that are embedded into the robot arena. We show that HoverBot's magnetic field readouts from its Hall-effect sensor can be associated to successful movement, robot rotation and collision measurands. We build a time series classifier based on these magnetic field readouts. We modify and apply signal processing techniques to enable the online classification of the time-variant magnetic field measurements on HoverBot's low-cost microcontroller. We enabled HoverBot with successful movement, rotation, and collision sensing capabilities by utilising its single Hall-effect sensor. We discuss how our classification method could be applied to other sensors to increase a robot's functionality while retaining its cost.

Capability by Stacking: The Current Design Heuristic for Soft Robots.

Soft robots are a new class of systems being developed and studied by robotics scientists. These systems have a diverse range of applications including sub-sea manipulation and rehabilitative robotics. In their current state of development, the prevalent paradigm for the control architecture in these systems is a one-to-one mapping of controller outputs to actuators. In this work, we define functional blocks as the physical implementation of some discrete behaviors, which are presented as a decomposition of the behavior of the soft robot. We also use the term 'stacking' as the ability to combine functional blocks to create a system that is more complex and has greater capability than the sum of its parts. By stacking functional blocks a system designer can increase the range of behaviors and the overall capability of the system. As the community continues to increase the capabilities of soft systems-by stacking more and more functional blocks-we will encounter a practical limit with the number of parallelized control lines. In this paper, we review 20 soft systems reported in the literature and we observe this trend of one-to-one mapping of control outputs to functional blocks. We also observe that stacking functional blocks results in systems that are increasingly capable of a diverse range of complex motions and behaviors, leading ultimately to systems that are capable of performing useful tasks. The design heuristic that we observe is one of increased capability by stacking simple units-a classic engineering approach. As we move towards more capability in soft robotic systems, and begin to reach practical limits in control, we predict that we will require increased amounts of autonomy in the system. The field of soft robotics is in its infancy, and as we move towards realizing the potential of this technology, we will need to develop design tools and control paradigms that allow us to handle the complexity in these stacked, non-linear systems.

Arthrobots.

This article describes a class of robots-"arthrobots"-inspired, in part, by the musculoskeletal system of arthropods (spiders and insects, inter alia). Arthrobots combine mechanical compliance, lightweight and simple construction, and inexpensive yet scalable design. An exoskeleton, constructed from thin organic polymeric tubes, provides lightweight structural support. Pneumatic joints modeled after the hydrostatic joints of spiders provide actuation and inherent mechanical compliance to external forces. An inflatable elastomeric tube (a "balloon") enables active extension of a limb; an opposing elastic tendon enables passive retraction. A variety of robots constructed from these structural elements demonstrate (i) crawling with one or two limbs, (ii) walking with four or six limbs (including an insect-like triangular gait), (iii) walking with eight limbs, or (iv) floating and rowing on the surface of water. Arthrobots are simple to fabricate and are able to operate safely in contact with humans.

Robotic devices and brain-machine interfaces for hand rehabilitation post-stroke.

OBJECTIVE: To review the state of the art of robotic-aided hand physiotherapy for post-stroke rehabilitation, including the use of brain-machine interfaces. Each patient has a unique clinical history and, in response to personalized treatment needs, research into individualized and at-home treatment options has expanded rapidly in recent years. This has resulted in the development of many devices and design strategies for use in stroke rehabilitation. METHODS: The development progression of robotic-aided hand physiotherapy devices and brain-machine interface systems is outlined, focussing on those with mechanisms and control strategies designed to improve recovery outcomes of the hand post-stroke. A total of 110 commercial and non-commercial hand and wrist devices, spanning the 2 major core designs: end-effector and exoskeleton are reviewed. RESULTS: The growing body of evidence on the efficacy and relevance of incorporating brain-machine interfaces in stroke rehabilitation is summarized. The challenges involved in integrating robotic rehabilitation into the healthcare system are discussed. CONCLUSION: This review provides novel insights into the use of robotics in physiotherapy practice, and may help system designers to develop new devices.

Screen-printed digital microfluidics combined with surface acoustic wave nebulization for hydrogen-deuterium exchange measurements.

An inexpensive digital microfluidic (DMF) chip was fabricated by screen-printing electrodes on a sheet of polyimide. This device was manually integrated with surface acoustic wave nebulization (SAWN) MS to conduct hydrogen/deuterium exchange (HDX) of peptides. The HDX experiment was performed by DMF mixing of one aqueous droplet of angiotensin II with a second containing various concentrations of D2O. Subsequently, the degree of HDX was measured immediately by SAWN-MS. As expected for a small peptide, the isotopically resolved mass spectrum for angiotensin revealed that maximum deuterium exchange was achieved using 50% D2O. Additionally, using SAWN-MS alone, the global HDX kinetics of ubiquitin were found to be similar to published NMR data and back exchange rates for the uncooled apparatus using high inlet capillary temperatures was less than 6%.

Using Voice Coils to Actuate Modular Soft Robots: Wormbot, an Example.

In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consists of three-dimensional printed voice coil actuators, which are connected by flexible silicone membranes. Each electromagnetic actuator engages with its neighbor to compress or extend the membrane of each segment, and the sequence in which they are actuated results in an earthworm-inspired peristaltic motion. We find that a minimum of three segments is required for locomotion, but due to our modular design, robots of any length can be quickly and easily assembled. In addition to actuation, voice coils provide audio input and output capabilities. We demonstrate transmission of data between segments by high-frequency carrier waves and, using a similar mechanism, we note that the passing of power between coupled coils in neighboring modules-or from an external power source-is also possible. Voice coils are a convenient multifunctional alternative to existing soft robot actuators. Their self-contained nature and ability to communicate with each other are ideal for modular robotics, and the additional functionality of sound input/output and power transfer will become increasingly useful as soft robots begin the transition from early proof-of-concept systems toward fully functional and highly integrated robotic systems.

Manufacturing of microcirculation phantoms using rapid prototyping technologies.

In this paper, we describe a method for the manufacturing of a microcirculation phantom that may be used to investigate hemodynamics using optics based methods. We made an Acrylonitrile Butadiene Styrene (ABS) negative mold, manufactured in a Fused Deposition Modelling (FDM) printer, embedded it in Polydimethysilioxane (PDMS) and dissolved it from within using acetone. We successfully made an enlarged three-dimensional (3D) network of microcirculation, and tested it using red blood cell (RBC) analogues. This phantom may be used for testing medical imaging technology.

Using "click-e-bricks" to make 3D elastomeric structures.

Soft, 3D elastomeric structures and composite structures are easy to fabricate using click-e-bricks, and the internal architecture of these structures together with the capabilities built into the bricks themselves provide mechanical, optical, electrical, and fluidic functions.