A Survey on Design,Actuation,Modeling,and Control of Continuum Robot

Inthis paper,we describethe advances inthe design,actuation,modeling,and controlfield of continuum robots.After decades ofpioneering research,many innovativeve structural designandUntethered magnetic robots are agood example;its external actuationcharteristigotten a lot of interest fromacademics.Furthermoodeling,modeling approachesbased on continuunnechals after years oof research.Geometricexactcontilodeling when combined withnumerical analytic methodschtFifecodle-b realized.In the control,closed.loop and hybrid control methodscombined with sensor feedbackinformation.On the other hand,tladeg and control of continum robotseasier.The data-driven modeling technique simplifies modeling aproves anti-interference and generalization abilities.This paper discusses the current development and challenges of continum robots in the above felds and provides prospectsfor the future.

Analysis and control for a bioinspired multi-legged soft robot

Untethered soft miniature robots are considered to have a wide range of applications in biomedical field.However,researchers today still have not reached a consensus on its configuration design and actuation method.Here,inspired by the tentacles of a certain kind of echinodermata,we propose a soft multi-legged robot with a total weight of 0.26 g capable of multiple locomotion modes.Based on the magnetic field distribution of a square permanent magnet,we qualitatively analyze the motion mechanism of the robot.Finally,we carried out relevant experimental research.The research shows that the robot can move forward,backward,steering and cross obstacles under the control of the magnetic field,and can combine these abilities to navigate the maze.

Robot-aided fN∙m torque sensing within an ultrawide dynamic range

In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale phenomena.However,as one of the fundamental approaches for material analytics,torsion tests at a small scale remain a major challenge due to the lack of an ultrahigh precise torque sensor and the delicate sample assembly strategy.Herein,we present a microelectromechanical resonant torque sensor with an ultrahigh resolution of up to 4.78 fN∙m within an ultrawide dynamic range of 123 dB.Moreover,we propose a nanorobotic system to realize the precise assembly of microscale specimens with nanoscale positioning accuracy and to conduct repeatable in situ pure torsion tests for the first time.As a demonstration,we characterized the mechanical properties of Si microbeams through torsion tests and found that these microbeams were five-fold stronger than their bulk counterparts.The proposed torsion characterization system pushes the limit of mechanical torsion tests,overcomes the deficiencies in current in situ characterization techniques,and expands our knowledge regarding the behavior of micro/nanomaterials at various loads,which is expected to have significant implications for the eventual development and implementation of materials science.