Deformation in Soft Matter Robotics A Categorization and Quantitative Characterization07254259
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![Figure 1. Elongation and shortening in soft-matter robots: (a) a silicone-based elastomer actuated by shape-memory alloys for reaching [14], (b) a silicone-based elastomer actuated by tension cords and internal fluid for peristaltic locomotion [49], (c) pneumatic artificial muscles as body segments for peristaltic locomotion [50], and (d) thermoplastic meshes actuated by shape-memory alloys for peristaltic locomotion [15].](https://thumb-ap.123doks.com/thumbv2/123dok/3544898.1445124/3.567.292.520.53.557/elongation-peristaltic-locomotion-artificial-peristaltic-thermoplastic-peristaltic-locomotion.webp)
![Figure 2. The bending of polymeric flexures in soft-matter robots: (a) polytetrafluoroethylene flexure in a robotic finger actuated by cables and motors [16], (b) polyurethane flexure in robotic fingers actuated by cables and a motor [17], (c) polyimide flexure in the thorax of a millimeter-scale robotic fly actuated by a piezoceramic actuator [18], (d) carbon-fiber reinforced polyester flexures actuated by piezoelectric actuators in a centimeter-scale hexapedal robot [51], and (e) polyester flexures actuated by shape-memory alloys in a centimeter-scale hexapedal robot [19].](https://thumb-ap.123doks.com/thumbv2/123dok/3544898.1445124/4.567.50.519.153.671/polytetrafluoroethylene-polyurethane-millimeter-piezoceramic-reinforced-piezoelectric-centimeter-centimeter.webp)
![Figure 3. The bending of polymers for fingered gripping in soft-matter robots: (a) polyethylene terephthalate layered with prestretched dieletric elastomer actuators as a hand [52], (b) EAPs directly used as fingers [21], (c) an ethylene vinyl acetate (EVA)-based thermoplastic adhesive (TPA) finger actuated by cables and a servo motor (work by Liyu Wang and Fumiya Iida), (d) networked chambers of silicone-based elastomer powered by an air pump as a hand [20], (e) water-sensitive polyelectrolyte hydrogel with asymmetrically distributed cupric ions in ethanol used as a hand [53], (f) silicone-based elastomer actuated by shape-memory alloys for grasping [14], (g) bilayers of temperature-sensitive N-isopropylacrylamide gel and acrylamide gel as fingers [22], and (h) temperature-sensitive shape-memory polymer actuators directly used as an umbrella-shaped interventional ischemic stroke device [54].](https://thumb-ap.123doks.com/thumbv2/123dok/3544898.1445124/5.567.49.520.304.660/polyethylene-terephthalate-prestretched-thermoplastic-polyelectrolyte-asymmetrically-isopropylacrylamide-interventional.webp)
![Figure 4. The bending of polymers for legged or limbless locomotion in soft-matter robots: (a) silicone-based elastomer actuated by cables locomotion with polydimethylsiloxane actuated by cardiomyocytes [25], and (f) and (g) crawling locomotion with ionic stimuli-responsive (C and D) and a servo motor (M2) in legged locomotion [55], (b) networked chambers of silicone-based elastomer actuated by valves and an air pump in multigaited legged locomotion [23], (c) locomotion with legs made from EVA-based TPA actuated by cables and one servo motor (work by Liyu Wang), (d) bipedal locomotion with legs made from polyethylene actuated by shape-memory alloys [24], (e) crawling hydrogel [61], [62].](https://thumb-ap.123doks.com/thumbv2/123dok/3544898.1445124/6.567.49.519.58.482/locomotion-locomotion-polydimethylsiloxane-cardiomyocytes-responsive-multigaited-locomotion-polyethylene.webp)
![Figure 5. The bending of polymers for rolling locomotion in soft-matter robots: (a) wheel-shaped rolling with silicone-based elastomer actuated by shape-memory alloys [26], (b) ball-shaped rolling with networked chambers of silicone-based elastomer actuated by valves and an air pump [27], (c) ball-shaped rolling with networked bladders of silicone-based elastomer and ABS plastic actuated by valves and an air pump [56], and (d) a capsule endoscope made from polyurethane elastomer rolling and actuated by magnets and magnetic fields [28].](https://thumb-ap.123doks.com/thumbv2/123dok/3544898.1445124/7.567.291.520.213.643/locomotion-elastomer-networked-elastomer-networked-elastomer-polyurethane-elastomer.webp)
![Figure 6. The bending of polymers for aquatic locomotion in soft-matter robots: (a) fish-like swimming with a polyoxymethylene body and a silicone-based elastomer tail actuated by a pair of frog muscles [29], (b) manta-ray-like swimming with polypropylene elastomer fins [57], (c) fish-like swimming with a tail containing a hydrogel notochord actuated by a servo motor [30], (d) jellyfish-like swimming with polydimethylsiloxane actuated by cardiomyocytes [31], (e) jellyfish-like swimming with silicone-based elastomer actuated by a shape-memory alloy composite [32], (f) octopus-like swimming with silicone-based elastomer actuated by cables and servo motors [33], and (g) octopus-like swimming with ionic stimuli-responsive hydrogel [58].](https://thumb-ap.123doks.com/thumbv2/123dok/3544898.1445124/8.567.47.521.55.419/locomotion-polyoxymethylene-polypropylene-containing-polydimethylsiloxane-cardiomyocytes-elastomer-responsive.webp)
![Figure 7. The flowing of soft matter for robotic grippers: (a) passive shape conformation through the flowing of plastic granular material in a rubber bag, with phase transition by an air pump [36], (b) passive shape conformation through the flowing of coffee bean granular material in a rubber bag, with phase transition by an air pump [59], (c) passive shape confoçrmation through the flowing of encapsulated electrorheological fluid, with phase transition by electrical current [60], and (d) passive shape conformation through the flowing of encapsulated magnetorheological fluid, with phase transition by a magnetic field [37].](https://thumb-ap.123doks.com/thumbv2/123dok/3544898.1445124/9.567.51.519.391.688/conformation-conformation-confocrmation-encapsulated-electrorheological-conformation-encapsulated-magnetorheological.webp)
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