Open AccessBioinspired Inchworm‐ and Earthworm‐like Soft Robots with Intrinsic Strain Sensing
Author(s) -
Karipoth Prakash,
Christou Adamos,
Pullanchiyodan Abhilash,
Dahiya Ravinder
Publication year - 2022
Publication title -
advanced intelligent systems
Language(s) - English
Resource type - Journals
ISSN - 2640-4567
DOI - 10.1002/aisy.202100092
Subject(s) - soft robotics , robot , soft materials , robotics , artificial intelligence , computer science , soft matter , nanotechnology , materials science , engineering , colloid , chemical engineering
Stimulus‐responsive soft structures, with biological organs like intrinsic sensing, are needed to enable controlled movements and hence bring the transformative advances in soft robotics. Herein, bioinspired inchworm‐ and earthworm‐like soft structures with intrinsic strain sensing achieved by seamless embedding of a graphite‐paste‐based sensor material are presented. The developed strain sensor exhibits a record stretchability (900%) and sensitivity (of 10 3 up to ≈200 and of the order of 10 5 at around 700% linear strain). With tiny permanent magnets incorporated at the ends of these soft structures, the sensory‐feedback‐based controlled movements of magnetically driven inchworm‐ and earthworm‐like soft robots are also demonstrated. The presented results potentially boost the prospects of self‐sensing in soft robots and advance the field toward cognitive soft robotics.