Soft robots built for extreme environments

摘要

Soft material robots are uniquely suited to address engineering challenges in extreme environments in new ways that traditional rigid robot embodiments cannot. Soft robot material flexibility, resistance to brittle fracture, low thermal conductivity, biostability, and self-healing capabilities present new solutions advantageous to specific environmental conditions. In this review, we examine the requirements for building and operating soft robots in various extreme environments, including within the human body, underwater, outer space, search and rescue sites, and confined spaces. We analyze the implementations of soft robotic devices, including actuators and sensors, which meet these requirements. Besides the structure of these devices, we explore ways to expand the use of soft robots in extreme environments with design optimization, control systems, and their future applications in educational and commercial products. We further discuss the current limitations of soft robots recognizing challenges to compliance, strength, and control. With this in mind, we present arguments for the future of robotics in which hybrid (rigid and soft) structures meet complex environmental needs.