title: Soft Actuators for Small-Scale Robotics.
abstract: This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than a centimeter, they belong to an even more special subcategory of robots or devices, in that they often lack on-board power, sensing, computation, and control. Soft, active materials are particularly well suited for this task, with a wide range of stimulants and a number of impressive examples, demonstrating large deformations, high motion complexities, and varied multifunctionality. Recent research includes both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials.
authors.affiliation: Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.
authors.forename: Lindsey
authors.initials: L
authors.lastname: Hines
authors.affiliation: Cornell University, 324 Rhodes Hall, Ithaca, NY, 14853, USA.
authors.forename: Kirstin
authors.initials: K
authors.lastname: Petersen
authors.affiliation: Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.
authors.forename: Guo Zhan
authors.initials: GZ
authors.lastname: Lum
authors.affiliation: Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.|Max Planck ETH Center for Learning Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany.|Carnegie Mellon University, 5000 Forbes Ave., Pittsburgh, PA, 15213, USA.
authors.forename: Metin
authors.initials: M
authors.lastname: Sitti
keywords: micro and nanoscale devices; robotics; soft actuators