Some applications are very sensitive to the weight of the robot, such as space manipulation or any untethered mobile manipulation. In this article, we designed a five-module unilaterally bending serial manipulator with length of 32 cm and a weight of only 18 g. The manipulator is driven by dielectric elastomer actuators (DEAs). Each module consists of a spatially closed tubular structure, which has the capability of large deformation while simultaneously maintaining torsional rigidity. The design is based on the buckling of columns. To achieve global deformation continuously, each module was controlled independently by a multichannel high-voltage power supply. As a demo, the manipulator was able to enter and exit a narrow L-shaped pipe. Experiments demonstrate that the manipulator driven by spatial DEAs can be super lightweight and can realize large continuous deformation.

Soft sensing is an essential technology to soft robots, such as soft manipulators and soft locomotion robots want to perceive the morphology of its bodies. Resistance-based and capacitance-based soft sensing has been widely reported in recent years, but inductance-based soft sensing has been reported only a few times. In this paper, soft sensing with large strain is demonstrated by utilizing inductance variation. The basic idea is to fabricate inductance like a mechanical spring by the fibers, which is both very flexible and very sensitive to strain variation. The inductance-based soft strain sensing fibers can be embedded inside soft robots, or can even be incorporated into existing robotic elements, such as replacing the restriction fibers in the air channels of pneumatic actuators. The sensing technology proposed in this work demonstrates very high repeatability and ultra-low hysteresis.

Stiffness variation is useful in soft robots, especially for continuum manipulators which have a high slenderness ratio. Softness intrinsically gives robots high flexibility of movement, but stiffness gives the robots enough carrying capacity. Many types of continuum manipulators can change their stiffness; however, the both large-range and fast-response stiffness variation has not been realized. In this work, an omnidirectional steering flexible manipulator with large-range and fast-response stiffness variation was designed and fabricated. It was composed of a nested structure with a stiffness variation layer, a tendon-driven layer, and a transport channel. The stiffness variation was achieved by the phase transition of LMPA (Low-Melting Point Alloy) with a melting point of 50°C. Heating and cooling to the LMPA were performed by a tubular spring-like copper tube embedding in the LMPA. The tube not only acts as a skeleton of the manipulator, but also the material and structure of it bring the fast heat exchange. The motion of the manipulator was driven by tendons going through the holes of a threaded spring-like elastic skeleton which is flexible still can appropriately balance the self-weight of the manipulator. Continuum manipulators with one and two omnidirectional segments were fabricated to show the performance of movement and stiffness variation. Each segment is of 15 cm length and with diameter of 21 mm. The test shows that the stiffness of the manipulator has a factor of 45 variations in 15 seconds, and the stiffness variation is adequate to complete some challenging tasks like screw tightening and loosing.

Dielectric elastomer minimum energy structures (DEMES) can realize large angular deformations by small voltage-induced strains, which make them an attractive candidate for use as soft actuators. If the task only needs binary action, the bistable structure will be an efficient solution and can save energy because it requires only a very short duration of voltage to switch its state. To obtain bistable DEMES, a method to realize the two stable states of traditional DEMES is provided in this paper. Based on this, a type of symmetrical bistable DEMES is proposed, and the required actuation pulse duration is shorter than 0.1 s. When a suitable mass is attached to end of the DEMES, or two layers of dielectric elastomer are affixed to both sides of the primary frame, the DEMES can realize two stable states and can be switched by a suitable pulse duration. To calculate the required minimum pulse duration, a mathematical model is provided and validated by experiment.

Microwaves have become a promising wireless driving strategy due to the advantages of transmissivity through obstacles, fast energy targeting, and selective heating. Although there are some studies on microwave powered artificial muscles based on different structures, the lack of studies on microwave control has limited the development of microwave‐driven (MWD) robots. Here, a far‐field MWD parallel robot controlled by adjusting energy distribution via changing the polarization direction of microwaves at 2.47 GHz is first reported. The parallel robot is based on three double‐layer bending actuators composed of wave‐absorbing sheets and bimetallic sheets, and it can implement circular and triangular path at a distance of 0.4 m under 700 W transmitting power. The thermal response rate of the actuator under microwaves is studied, and it is found that the electric‐field components can provide a faster thermal response at the optimal length of actuator than magnetic‐field components. The work of the parallel robot is demonstrated in an enclosed space composed of microwave‐transparent materials. This developed method demonstrates the multi‐degree‐of‐freedom controllability for robots using microwaves and offers potential solutions for some engineering cases, such as pipeline/reactors inspection and medical applications.

The dielectric elastomer minimum energy structure (DEMES) can realize large angular deformations by a small voltage-induced strain of the dielectric elastomer (DE), so it is a suitable candidate to make a rotary joint for a soft robot. Dynamic analysis is necessary for some applications, but the dynamic response of DEMESs is difficult to model because of the complicated morphology and viscoelasticity of the DE film. In this paper, a method composed of theoretical analysis and experimental measurement is presented to model the dynamic response of a DEMES rotary joint under an alternating voltage. Based on measurements of equivalent driving force and damping of the DEMES, the model can be derived. Some experiments were carried out to validate the equivalent dynamic model. The maximum angle error between model and experiment is greater than ten degrees, but it is acceptable to predict angular velocity of the DEMES, therefore, it can be applied in feedforward–feedback compound control.