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Machines
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Design Methodology for Soft Mechanisms, Machines, and Robots
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Design Methodology for Soft Mechanisms, Machines, and Robots

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Machine Design and Theory".

Deadline for manuscript submissions: 30 April 2025 | Viewed by 4674

Special Issue Editor

Prof. Dr. Wenjun (Chris) Zhang

E-Mail Website
Guest Editor
Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada
Interests: mechanical design; dynamic system and control; MEMS; robotics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Soft robots or machines have gained significant attention in the field of robotics. The attention is driven by new applications in biomedicine and healthcare. Numerous prototypes of a soft robot are constructed based on learning biological systems, particularly creatures. However, the definition of a soft robot is controversial; specifically, the soft actuator is often considered as the same as the direct actuator made of polymers (see the critique in the paper “Soft robotics: Definition and research issues” (doi: 10.1109/M2VIP.2017.8267170), where first the definitions of a soft power generator, soft controller, soft actuator, soft mechanism, and soft sensor are given, and subsequently the definitions of a full soft robot and a partially soft robot are given. Robots are considered as a specialized machine in that machines are more emphasized on systems that include mechanisms and actuators. In this Special Issue, the research contributions on design theory and methodology for soft mechanisms, machines, and robots are solicited. The scope of contributions is characterized by the following keywords. 

Prof. Dr. Wenjun (Chris) Zhang
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • soft power generator (e.g., chemical power)
  • soft actuator
  • soft control
  • soft mechanism
  • compliant mechanism
  • soft body
  • soft sensor
  • hydrogel machines
  • hydrogel robots
  • soft robots in healthcare systems

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Published Papers (3 papers)

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Research

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16 pages, 6225 KiB  
Article
Optimization of Desired Multiple Resonant Modes of Compliant Parallel Mechanism Using Specific Frequency Range and Targeted Ratios
by Vin Low, Song Huat Yeo and Minh Tuan Pham
Machines 2024, 12(8), 585; https://doi.org/10.3390/machines12080585 - 22 Aug 2024
Viewed by 434
Abstract
In this paper, a dynamic optimization method capable of optimizing the dynamic responses of a compliant parallel mechanism (CPM), in terms of its multiple primary resonant modes, is presented. A novel two-term objective function is formulated based on the specific frequency range and [...] Read more.
In this paper, a dynamic optimization method capable of optimizing the dynamic responses of a compliant parallel mechanism (CPM), in terms of its multiple primary resonant modes, is presented. A novel two-term objective function is formulated based on the specific frequency range and targeted ratios. The first term of the function is used to optimize the first resonant mode of the CPM, within a specific frequency range. The obtained frequency value of the first mode is used in the second term to define the remaining resonant modes to be optimized in terms of targeted ratios. Using the proposed objective function, the resonant modes of a CPM can be customized for a specific purpose, overcoming the limitations of existing methods. A 6-degree-of-freedom (DoF) CPM with decoupled motion is synthesized, monolithically prototyped, and investigated experimentally to demonstrate the effectiveness of the proposed function. The experimental results showed that the objective function is capable of optimizing the six resonant modes within the desired frequency range and the targeted ratios. The highest deviation between the experimental results and the predictions among the six resonant modes is found to be 9.42%, while the highest deviation in the compliances is 10.77%. The ranges of motions are found to be 10.0 mm in the translations, and 10.8° in the rotations. Full article
(This article belongs to the Special Issue Design Methodology for Soft Mechanisms, Machines, and Robots)
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14 pages, 8050 KiB  
Article
Soft Robotic Bilateral Rehabilitation System for Hand and Wrist Joints
by Tanguy Ridremont, Inderjeet Singh, Baptiste Bruzek, Veysel Erel, Alexandra Jamieson, Yixin Gu, Rochdi Merzouki and Muthu B. J. Wijesundara
Machines 2024, 12(5), 288; https://doi.org/10.3390/machines12050288 - 25 Apr 2024
Cited by 1 | Viewed by 2023
Abstract
Upper limb functionality is essential to perform activities of daily living. It is critical to investigate neurorehabilitation therapies in order to improve upper limb functionality in post-stroke patients. This paper presents a soft-robotic bilateral system to provide rehabilitation therapy for hand and wrist [...] Read more.
Upper limb functionality is essential to perform activities of daily living. It is critical to investigate neurorehabilitation therapies in order to improve upper limb functionality in post-stroke patients. This paper presents a soft-robotic bilateral system to provide rehabilitation therapy for hand and wrist joints. A sensorized glove that tracks finger and wrist joint movements is worn on the healthy limb, which guides the movement of the paretic limb. The input of sensors from the healthy limb is provided to the soft robotic exoskeleton attached to the paretic limb to mimic the motion. A proportional derivative flow-based control algorithm is used to perform bilateral therapy. To test the feasibility of the developed system, two different applications are performed experimentally: (1) Wrist exercise with a dumbbell, and (2) Object pick-and-place task. The initial tests of the developed system verified its capability to perform bilateral therapy. Full article
(This article belongs to the Special Issue Design Methodology for Soft Mechanisms, Machines, and Robots)
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Review

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28 pages, 7388 KiB  
Review
Design of Soft Robots: A Review of Methods and Future Opportunities for Research
by Behzad Hasanshahi, Lin Cao, Ki-Young Song and Wenjun Zhang
Machines 2024, 12(8), 527; https://doi.org/10.3390/machines12080527 - 1 Aug 2024
Cited by 1 | Viewed by 1424
Abstract
Soft robots present resilient and adaptable systems characterized by deformable bodies inspired by biological systems. In this paper, we comprehensively review existing design methods for soft robots. One unique feature of our review is that we first formulate criteria, which enables us to [...] Read more.
Soft robots present resilient and adaptable systems characterized by deformable bodies inspired by biological systems. In this paper, we comprehensively review existing design methods for soft robots. One unique feature of our review is that we first formulate criteria, which enables us to derive knowledge gaps and suggest future research directions to close these gaps and go further. Another distinctive feature of our review is that we pivot on the general engineering design process for soft robots. As such, we consider three criteria: (1) the availability of design requirements to start with the design of soft robots, (2) the availability of the so-called concept design or architecture design for soft robots, and (3) the systematic process that leads to the final design of soft robots. The review is conducted systematically, especially when searching for and selecting relevant publications in the literature. The main contribution of this review includes (i) identifying knowledge gaps and (ii) suggesting future research directions to close these gaps and go further. Full article
(This article belongs to the Special Issue Design Methodology for Soft Mechanisms, Machines, and Robots)
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