Biomedical soft robots: current status and perspective

다국어 초록 (Multilingual Abstract)

This paper reviews the current status of soft robots in biomedical fi eld. Soft robots are made of materials that have comparablemodulus of elasticity to that of biological systems. Several advantages of soft robots over rigid robots are safe human interaction,ease of adaptation with wearable electronics and simpler gripping. We review design factors of soft robots includingmodeling, controls, actuation, fabrication and application, as well as their limitations and future work. For modeling, wesurvey kinematic, multibody and numerical fi nite element methods. Finite element methods are better suited for the analysisof soft robots, since they can accurately model nonlinearities in geometry and materials. However, their real-time integrationwith controls is challenging. We categorize the controls of soft robots as model-based and model-free. Model-free controllersdo not rely on an explicit analytical or numerical model of the soft robot to perform actuation. Actuation is the abilityto exert a force using actuators such as shape memory alloys, fl uid gels, elastomers and piezoelectrics. Nonlinear geometryand materials of soft robots restrict using conventional rigid body controls. The fabrication techniques used for soft robotsdiff er signifi cantly from that of rigid robots. We survey a wide range of techniques used for fabrication of soft robots fromsimple molding to more advanced additive manufacturing methods such as 3D printing. We discuss the applications andlimitations of biomedical soft robots covering aspects such as functionality, ease of use and cost. The paper concludes withthe future discoveries in the emerging fi eld of soft robots.

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