Miniature Reconfigurable Modular Soft Robots Using Liquid Crystal Elastomer Actuation

摘要

Soft robotics is rapidly evolving, fueled by advancements in controllable materials. Liquid crystal elastomers (LCEs) stand out with their exceptional actuation capabilities, ease of processing, and built-in programmability. However, current LCE robots struggle with limited dexterity and adaptability, hindering their real-world potential. We address this limitation by introducing a novel modular design approach that unlocks the full potential of LCEs. Our miniature, highly deformable soft robot utilizes reconfigurable LCE modules for bending and twisting, enabling enhanced manipulability through serial combinations. Demonstrating its dexterity, the modular robot performs intricate fingertip manipulation, allowing a miniature gripper to rotate a small object. This achievement highlights the reconfigurability and utility of our system, paving the way for more dexterous and versatile LCE-based robots.