A framework for soft mechanism driven robots
Abstract Soft robots excel in safety and adaptability, yet their lack of structural integrity and dependency on open-curve movement paths restrict their dexterity. Conventional robots, albeit faster due to sturdy locomotion mechanisms, are typically less robust to physical impact. We introduce a mul...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-02-01
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| Series: | Nature Communications |
| Online Access: | https://doi.org/10.1038/s41467-025-56025-3 |
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| _version_ | 1823861846847782912 |
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| author | Cem Aygül Can Güven Sara A. Frunzi Brian J. Katz Markus P. Nemitz |
| author_facet | Cem Aygül Can Güven Sara A. Frunzi Brian J. Katz Markus P. Nemitz |
| author_sort | Cem Aygül |
| collection | DOAJ |
| description | Abstract Soft robots excel in safety and adaptability, yet their lack of structural integrity and dependency on open-curve movement paths restrict their dexterity. Conventional robots, albeit faster due to sturdy locomotion mechanisms, are typically less robust to physical impact. We introduce a multi-material design and printing framework that extends classical mechanism design to soft robotics, synergizing the strengths of soft and rigid materials while mitigating their respective limitations. Using a tool-changer equipped with multiple extruders, we blend thermoplastics of varying Shore hardness into monolithic systems. Our strategy emulates joint-like structures through biomimicry to achieve terrestrial trajectory control while inheriting the resilience of soft robots. We demonstrate the framework by 3D printing a legged soft robotic system, comparing different mechanism syntheses and material combinations, along with their resulting movement patterns and speeds. The integration of electronics and encoders provides reliable closed-loop control for the robot, enabling its operation across various terrains including sand, soil, and rock environments. This cost-effective framework offers an approach for creating 3D-printed soft robots employable in real-world environments. |
| format | Article |
| id | doaj-art-d6fa1d13fc4440e982b6a7bc9609adfc |
| institution | Kabale University |
| issn | 2041-1723 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Nature Communications |
| spelling | doaj-art-d6fa1d13fc4440e982b6a7bc9609adfc2025-02-09T12:45:34ZengNature PortfolioNature Communications2041-17232025-02-0116111110.1038/s41467-025-56025-3A framework for soft mechanism driven robotsCem Aygül0Can Güven1Sara A. Frunzi2Brian J. Katz3Markus P. Nemitz4Department of Mechanical Engineering, Tufts UniversityDepartment of Robotics Engineering, Worcester Polytechnic InstituteDepartment of Robotics Engineering, Worcester Polytechnic InstituteDepartment of Robotics Engineering, Worcester Polytechnic InstituteDepartment of Mechanical Engineering, Tufts UniversityAbstract Soft robots excel in safety and adaptability, yet their lack of structural integrity and dependency on open-curve movement paths restrict their dexterity. Conventional robots, albeit faster due to sturdy locomotion mechanisms, are typically less robust to physical impact. We introduce a multi-material design and printing framework that extends classical mechanism design to soft robotics, synergizing the strengths of soft and rigid materials while mitigating their respective limitations. Using a tool-changer equipped with multiple extruders, we blend thermoplastics of varying Shore hardness into monolithic systems. Our strategy emulates joint-like structures through biomimicry to achieve terrestrial trajectory control while inheriting the resilience of soft robots. We demonstrate the framework by 3D printing a legged soft robotic system, comparing different mechanism syntheses and material combinations, along with their resulting movement patterns and speeds. The integration of electronics and encoders provides reliable closed-loop control for the robot, enabling its operation across various terrains including sand, soil, and rock environments. This cost-effective framework offers an approach for creating 3D-printed soft robots employable in real-world environments.https://doi.org/10.1038/s41467-025-56025-3 |
| spellingShingle | Cem Aygül Can Güven Sara A. Frunzi Brian J. Katz Markus P. Nemitz A framework for soft mechanism driven robots Nature Communications |
| title | A framework for soft mechanism driven robots |
| title_full | A framework for soft mechanism driven robots |
| title_fullStr | A framework for soft mechanism driven robots |
| title_full_unstemmed | A framework for soft mechanism driven robots |
| title_short | A framework for soft mechanism driven robots |
| title_sort | framework for soft mechanism driven robots |
| url | https://doi.org/10.1038/s41467-025-56025-3 |
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