Growing structure based on viscous actuation of constrained multistable elements

TL;DR

This paper introduces a novel single-input, multi-stable soft robotic structure that can grow and maneuver in 3D space by sequencing viscous actuation of bi-stable elements, enabling complex navigation and access to inaccessible regions.

Contribution

It presents a new design for a growing soft robot using constrained bi-stable elements and viscous actuation, with a theoretical model and experimental validation.

Findings

Successfully demonstrated 3D navigation in complex environments.

Validated the theoretical model with experimental results.

Showcased potential as a conduit for reaching inaccessible areas.

Abstract

Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a constrained straw-like structure. This class of materials are capable of maneuvering and transforming their configuration by elongation while executing multiple turns. This is achieved by sequenced actuation of bi-stable frusta with predefined constraints. Internal viscous flow and variations in the stability threshold of the individual cells enable sequencing and control of the robot's movement so as to follow a desired 3D path as the structure grows. We derive a theoretical description of the shape and dynamics resulting from a particular set of constraints. To validate the model and demonstrate the suggested concept, we present experiments of maneuvering in models of residential and biological environments. In addition to performing complex 3D maneuvers, the tubular structure of these robots may also be used as a conduit to reach inaccessible regions, which is demonstrated experimentally.