Название: Soft Robots Based on Small-Strain Mechanisms
Автор: Zheng Wang, Juan Yi, Sicong Liu
Издательство: Springer/Shanghai Jiao Tong University Press
Серия: Frontiers in Soft Robotics
Год: 2026
Страниц: 221
Язык: английский
Формат: pdf (true), epub
Размер: 102.4 MB

This book describes Soft robotics is considered as one of the most promising frontiers for robotic research and versatile applications. As an interdisciplinary field, soft robotics brings together material science, manufacture, mechatronics and control. This book focuses on actuation, perception, control and applications of soft robots, showing their new functions and behaviors based on unique small-strain mechanisms, to offer readers a wide guidance for interdisciplinary exploration on soft robotics. The book represents the small-strain foldable mechanisms in the first chapter to explain key theories. Methodology covering actuation, perception and control of soft robots based on small-strain mechanisms have been elaborated in Chapter 2-5 to provide new tools for design and modelling of actuators, sensors and controllers. Several excellent cases are following in Chapter 6-10 to review the recent developments on industrial, surgical and healthcare applications. This book aims to give references for students, researchers and engineers from the fields of mechanical engineering, robotics and biomedical engineering.

A robot system built with soft material or structure provides superior performance during unstructured interaction, where there remains a considerable design space to embed extra sensors for robot perception at the contact interface. While classical grippers are built with rigid links to transmit power through mechanical linkages, soft robots leverage their structural design with soft material to generate desirable deformation while transmitting force and form closure during grasping. Integration of such soft mechanical intelligence with sensing capability can provide novel solutions to unstructured interaction and manipulation problems in robotics.

Tactile perception with soft and flexible structural design can be traced back to the mimic of human skin during manipulation, providing rich data and contact with the environment to facilitate subsequent decision-making and manipulation. Several tactile perception methods with soft structures have been proposed, such as GelSight, GelSlim, soft force sensor, and optical sensor. Vision-based deformable perception has attracted considerable attention due to the camera’s non-contact field sensing of the soft interface’s fine-structural-deformation during physical contact, providing a convenient, mature, and rich information of tactile interaction including texture, color, force, and position.

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