REVIEW OF MATERIALS AND STRUCTURES IN SOFT ROBOTICS

Soft robot is a novel category of robotics. Possessing the characteristics of high flexibility, high environmental adaptability, high compatibility and multi-functionality, soft robots are quite promising in research and practical applications. The performances of soft robots are largely enhanced by the unique properties of smart materials, which play a crucial role in the design and application of soft robots. This paper summarizes existing soft robots by their actuating mechanisms and functions into typical categories as worm-like peristaltic moving, caterpillar-like bending actuation, fish-swimming soft robotics. Furthermore, by their actuating mechanisms, soft robots are summarized as air pressure powered, shape memory alloy (SMA), ionic polymer metal composite (IPMC), dielectric elastomer (DE), responsive hydrogel, chemical combustion powered robotics. This paper reviews and discusses the fabricating method, the current challenges and future prospects of soft robots.