The Science of Soft Robots: Design, Materials and Information Processing

Foreword
Preface
Contents
1 Introduction
	1.1 Science of Soft Robots
		1.1.1 What Are Soft Robots?
		1.1.2 Configuration of the Soft Robots
		1.1.3 What Can You Do?
		1.1.4 Where Do They Fit into the Bio-inspired Robotics Research?
		1.1.5 Research and Development of Soft Robots
		1.1.6 E-Kagen Robotics
	1.2 History of Soft Robots
		1.2.1 Introduction
		1.2.2 Seeds of Soft Robotics (1960–)
		1.2.3 Bioinspiration (1970–)
		1.2.4 Soft Actuation (1980–)
		1.2.5 Control of Deformation (1990–)
		1.2.6 Emergence of Soft Robotics (2000–)
		1.2.7 Soft Robotics in Growth (2010–)
		1.2.8 Future of Soft Robots (2020–)
	References
Part I Design of Soft Robots
2 Soft Mechanisms
	2.1 Deformable Mechanisms
		2.1.1 Basic Concepts
		2.1.2 Basic Function
		2.1.3 Process of Deformation
		2.1.4 Soft/Rigid Switching
		2.1.5 Examples
	2.2 Typical Soft Mechanisms
		2.2.1 Continuum, Elastic, and Bistable
		2.2.2 Examples of Continuum-Elastic Mechanism
		2.2.3 Example of Continuum-Bistable Mechanisms
		2.2.4 Exercises
	References
3 Biological Mechanisms
	3.1 Robotics-Inspired Biology
		3.1.1 Basic Concepts
		3.1.2 How Do Traditional Biologists Test Their Hypotheses?
		3.1.3 Experiments with Robots
		3.1.4 Why Use Robots Rather Than Computer Simulations?
		3.1.5 Robotics-Inspired Biology: Where to Begin
		3.1.6 Challenges
	3.2 Musculoskeletal System
		3.2.1 Basic Concepts
		3.2.2 Musculoskeletal Robot
		3.2.3 Basic Knowledge of Major Musculoskeletal Component
		3.2.4 Key Anatomical Mechanism
		3.2.5 How to Start Anatomical Research
		3.2.6 Challenges
	References
4 Soft Manipulation and Locomotion
	4.1 Soft Robot Hands
		4.1.1 Basic Concept
		4.1.2 Suction Hands
		4.1.3 Jamming Hands
		4.1.4 Bending Fingers Hands
		4.1.5 Soft Cover Hands
		4.1.6 Expanding Fingers Hands
		4.1.7 Hands-on and Challenges
	4.2 Continuum Arm
		4.2.1 Introduction
		4.2.2 Hyper-Redundant Manipulators and Flexible-Link Manipulators
		4.2.3 Continuum Arms in Living Organisms
		4.2.4 Typical Structures and Actuation Systems
		4.2.5 Posture Control
		4.2.6 Features
		4.2.7 Summary
	4.3 Peristaltic Locomotion
		4.3.1 Movement by Peristalsis Motion
		4.3.2 Why Peristaltic Movement?—Principle of Peristaltic Locomotion
		4.3.3 Peristaltic Crawling of Snails and Caterpillars
		4.3.4 Peristaltic Crawling of Earthworm
	4.4 Aerial Flight with Soft Components
		4.4.1 Basic Concepts
		4.4.2 Fluid Mechanics of Flight
		4.4.3 Basic Design of a Soft Aerial Robot
		4.4.4 Flapping Mechanism for Soft Aerial Robots
		4.4.5 Attitude Control of Soft Aerial Robots
		4.4.6 Soft Components for Conventional Drone
		4.4.7 How to Initiate Soft Aerial Robot Research
		4.4.8 Challenges
	4.5 Aquatic Swimming with Soft Fins and Body
		4.5.1 Basic Concepts
		4.5.2 Physical Property of Water
		4.5.3 Conventional Screw Propulsion of Ships
		4.5.4 Propulsion Mechanism in Animals
		4.5.5 How to Start the Soft Fins Research
		4.5.6 Challenges
	References
5 Nemertea-Inspired Soft Robotic Mechanism
	References
6 Life-Machine Fusion Devices
	6.1 Electric Ray Generator
	6.2 Plant-Based Soft Robots
	References
Part II Soft Materials
7 Basics of Polymer
	7.1 Morphology and Physical Property of Polymers
		7.1.1 Macromolecular Characteristics
		7.1.2 Crystalline Structure
		7.1.3 Amorphous Structure
		7.1.4 Molecular Orientation
		7.1.5 Mechanical Properties
		7.1.6 How to Start Polymer Property Research
		7.1.7 Challenges
	7.2 Structure and Classification of Polymers and Functional Polymers
		7.2.1 Classifications
		7.2.2 Chemical Structures
		7.2.3 Functional Polymers
		7.2.4 Electro-active Polymers
		7.2.5 Challenges
	7.3 Soft Materials (Elastomer, Hydrogels, etc.)
		7.3.1 Basic Concept of Soft Materials
		7.3.2 Structure of Polymeric Soft Materials (De Gennes and De Gennes 1979)
		7.3.3 Functional Gels
		7.3.4 How to Gain Knowledge on Soft Materials
		7.3.5 Challenges for Soft Materials
	7.4 Fabrication of Soft Robot Parts Using Three-Dimensional Printers
		7.4.1 Designing 3D Models
		7.4.2 Bonding
		7.4.3 Conclusion
	References
8 Biological Material
	8.1 Soft Materials Affected by Biological Processes
		8.1.1 Introduction
		8.1.2 Biohybrid Robots Attracting International Attention
		8.1.3 Mechanical Stimulation as an Interface Between Cells and Control
		8.1.4 Toward a Growing Biosoft Robot
		8.1.5 Conclusion
	8.2 Biological Cells
		8.2.1 Basic Concepts
		8.2.2 Actuation of Biological Cells for Soft Robotics
		8.2.3 Sensing of Biological Cells for Soft Robotics
		8.2.4 How to Start Using Biological Cells
		8.2.5 Challenges
	8.3 Biodegradable Soft Material
		8.3.1 Approach to Incorporating Biodegradability
		8.3.2 Materials
		8.3.3 Biodegradable Soft Robotic Devices
		8.3.4 Future Outlook
	References
9 Flexible and Stretchable Electronics and Photonics
	9.1 Principles and Strategies
		9.1.1 Strain Applied to the Device
		9.1.2 Improvement in Mechanical Robustness
		9.1.3 Flexural Rigidity
		9.1.4 Stretchability
	9.2 Flexible Sensors
		9.2.1 Tactile Pressure Sensor
		9.2.2 Temperature Sensor (Thermistor)
		9.2.3 Summary
	9.3 Flexible and Stretchable Electronics and Photonics
		9.3.1 Stretchable Wires
		9.3.2 Photovoltaics
		9.3.3 Photodiodes
		9.3.4 Thin-Film Transistors and Circuits
	References
10 Soft Actuators
	10.1 Overview
		10.1.1 Introduction
		10.1.2 Mathematical Framework
		10.1.3 Energy and Work
		10.1.4 “Softness” of the Actuator
		10.1.5 Types and Classification of Actuators
		10.1.6 Challenges
	10.2 Fluidic Actuators
		10.2.1 Introduction
		10.2.2 Fundamentals, Design, and Modeling
		10.2.3 Fabrication Techniques
		10.2.4 Fluidic Pressure Sources
		10.2.5 Challenges
	10.3 Electroactive Polymer Actuators
		10.3.1 DEAs
		10.3.2 IPMCs
		10.3.3 Future Outlook
	10.4 Thermomechanical Actuators
		10.4.1 Shape-Memory Alloy Actuators
		10.4.2 Physical Properties of SMAs
		10.4.3 Filiform SMAs for Micro-vibration Actuators
		10.4.4 Application to Tactile Displays
		10.4.5 Application to Fish Robots Having Flexible Bodies
		10.4.6 Challenges
	10.5 Bioactuators
		10.5.1 Biohybrid Frog-Like Robot
		10.5.2 Biohybrid Robot Actuated by Skeletal Muscle Tissues
		10.5.3 How to Start
		10.5.4 Challenges
	References
11 Tissue-Interfaced Electronics
	References
12 Paper Mechatronics
	References
Part III Autonomous Soft Robots
13 Modeling and Control of Continuum Body
	13.1 The Physics of Soft Bodies
		13.1.1 A Basic Concept: The Dimension of Soft Body Models
		13.1.2 Describing Motion and Deformation
		13.1.3 Computing Static Deformations
		13.1.4 Computing Dynamic Deformations
		13.1.5 Practicalities and Challenges
	13.2 Rod Theory
		13.2.1 Kinematics
		13.2.2 Statics
		13.2.3 Discretization
		13.2.4 Rod Integration
		13.2.5 Computation of Deformation
	13.3 Nonlinear Dynamics in a Simple Mechanical System
		13.3.1 Passive Dynamic Walker as Example
		13.3.2 Attractors and Bifurcations
		13.3.3 Basin of Attraction and Riddled Basins
	13.4 Controlling Soft Robots
		13.4.1 Concept
		13.4.2 Simultaneous Positioning of Soft Body
		13.4.3 Orientation Control Through Soft Fingertips
		13.4.4 Challenges and Perspectives
	References
14 Material Intelligence
	14.1 Chemical Information Processing
		14.1.1 What Is Chemical Information Processing?
		14.1.2 Active Gels
		14.1.3 Belousov–Zhabotinsky Reaction
		14.1.4 Belousov–Zhabotinsky Gels
		14.1.5 Mathematical Model for Belousov–Zhabotinsky Gels
		14.1.6 Deformation of Belousov–Zhabotinsky Gels
		14.1.7 Peristaltic Motion of Belousov–Zhabotinsky Gels
		14.1.8 Mathematical Model for the Peristaltic Motion of Belousov–Zhabotinsky Gels
		14.1.9 Challenges
	14.2 Biological Information Processing
		14.2.1 Technology for Autonomous Soft Robots that Process Information Using Biomaterials
		14.2.2 Information Processing Between Biomaterials
		14.2.3 Living Regulators
		14.2.4 How to Assemble Robots with Living Regulators
		14.2.5 Information Transmission Pathways Between Biomaterials
		14.2.6 Challenges: Programming Robots with Living Regulators
	14.3 Temporal and Spatial Information Processing
		14.3.1 Rhythms and Patterns: The Simplest, but Complex Behaviors in Biology
		14.3.2 Genetic Oscillator
		14.3.3 Protein Oscillator
		14.3.4 Synchronization of the Biological Rhythms
		14.3.5 Biological Pattern Formation by Reaction–Diffusion Systems
		14.3.6 Biological Pattern Formations by Active Matters
		14.3.7 Introductory Books and Articles on Biological Rhythms and Patterns
		14.3.8 Conclusions and Challenges for Artificial Biological Rhythms and Patterns
	References
15 Information Processing Using Soft Body Dynamics
	15.1 Outsourcing Control to a Soft Body: Embodiment Perspectives
		15.1.1 The Universal Gripper
		15.1.2 Intelligent Systems as Brain–Body–Environment Systems
		15.1.3 Evolutionary Robotics: Design Principle of Brain–Body–Environment Systems
	15.2 Machine Learning for Soft Robots
		15.2.1 Basic Concepts
		15.2.2 Self-organizing Map
		15.2.3 Data Classification Using Soft Tactile Sensors
		15.2.4 Autonomous Learning the Speaking Skill of a Talking Robot
		15.2.5 Challenges
	15.3 Information-Processing Capabilities of Soft Bodies
		15.3.1 Reservoir Computing: Utilizing Dynamics for Information Processing
		15.3.2 Reservoir Dynamics and Its Information-Processing Capacity
		15.3.3 Physical Reservoir Computing in Soft Robots
	References
16 Toward Understanding and Manipulation of Collective Behaviors Using Nematode Caenorhabditis elegans
	References
17 Peristaltic Mixing Pump Based on Intestinal Peristalsis Motion Using Soft Actuators
	17.1 Basic Concepts
	17.2 Topic and Principle: Intestinal Anatomy and Peristaltic Motion Patterns
		17.2.1 Structure of the Intestinal Tract
		17.2.2 Generation of the Peristaltic Motion
	17.3 Topic and Principle: Focusing on Mechanisms for Peristaltic Motion
	17.4 Topic and Principle: Focusing on the Sensor and Control System for Peristaltic Motion
	References
Index