Innovative soft robots based on electro-rheological fluids

摘要

Electro-rheological (ER) fluids are smart fluids which can transform into solid-like phase by applying an electric field. This process is reversible and can be strategically used to build fluidic components for innovative soft robots capable of soft locomotion. In this work, we show the potential applications of ER fluids to build valves that simplify design of fluidic based soft robots. We propose the design and development of a composite ER valve, aimed at controlling the flexibility of soft robots bodies by controlling the ER fluid flow. We present how an ad hoc number of such soft components can be embodied in a simple crawling soft robot (Wormbot); in a locomotion mechanism capable of forward motion through rotation; and, in a tendon driven continuum arm. All these embodiments show how simplification of the hydraulic circuits relies on the simple structure of ER valves. Finally, we address preliminary experiments to characterize the behavior of Wormbot in terms of actuation forces.