John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts 02138, USA.
Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, Massachusetts 02138, USA.
Nature. 2016 Aug 25;536(7617):451-5. doi: 10.1038/nature19100.
Soft robots possess many attributes that are difficult, if not impossible, to achieve with conventional robots composed of rigid materials. Yet, despite recent advances, soft robots must still be tethered to hard robotic control systems and power sources. New strategies for creating completely soft robots, including soft analogues of these crucial components, are needed to realize their full potential. Here we report the untethered operation of a robot composed solely of soft materials. The robot is controlled with microfluidic logic that autonomously regulates fluid flow and, hence, catalytic decomposition of an on-board monopropellant fuel supply. Gas generated from the fuel decomposition inflates fluidic networks downstream of the reaction sites, resulting in actuation. The body and microfluidic logic of the robot are fabricated using moulding and soft lithography, respectively, and the pneumatic actuator networks, on-board fuel reservoirs and catalytic reaction chambers needed for movement are patterned within the body via a multi-material, embedded 3D printing technique. The fluidic and elastomeric architectures required for function span several orders of magnitude from the microscale to the macroscale. Our integrated design and rapid fabrication approach enables the programmable assembly of multiple materials within this architecture, laying the foundation for completely soft, autonomous robots.
软体机器人具有许多传统刚性材料机器人难以实现（如果不是不可能实现的话）的特性。然而，尽管最近取得了进展，但软体机器人仍然必须与硬体机器人控制系统和电源连接。需要新的策略来创建完全软体机器人，包括这些关键组件的软体模拟，以充分发挥其潜力。在这里，我们报告了一种完全由软体材料组成的机器人的无绳操作。该机器人采用微流控逻辑进行控制，该逻辑可自动调节流体流动，从而催化分解板载单组元燃料供应。燃料分解产生的气体使反应部位下游的流体网络膨胀，从而实现致动。机器人的主体和微流控逻辑分别采用注塑成型和软光刻制造，而用于运动的气动致动器网络、板载燃料箱和催化反应室则通过多材料嵌入式 3D 打印技术在主体内进行图案化。功能所需的流体和弹性体结构跨越从微观到宏观的几个数量级。我们的集成设计和快速制造方法使我们能够在该架构中可编程地组装多种材料，为完全软体、自主机器人奠定了基础。
