Self-Healing Soft Robots: Materials, Sensors and Integrated Systems

摘要

Abstract Soft robots, made from flexible materials, offer excellent shock absorption and recovery but remain vulnerable to cuts and punctures. To address this limitation, research on self-healing materials has gained significant attention. This paper systematically classifies key components of self-healing soft robots, focusing on self-healing polymers and damage-detection sensors while analyzing recent research trends. A fully functional self-healing soft robot requires an integrated system where self-healing materials, damage detection, and autonomous recovery mechanisms work seamlessly together. This paper categorizes self-healing polymers into intrinsic and extrinsic mechanisms and classifies self-healing sensors based on their damage detection methods—conductive, capacitive, optical, and pneumatic. These sensors are crucial in assessing damage and optimizing the healing process. Enhancing reliability, stability, adaptability, durability, healing speed, and autonomy is essential for practical implementation. Achieving these require advanced sensor characterization, nonlinear modeling, autonomous control, and the integration of self-heating and energy-harvesting technologies. This paper advances self-healing soft robot development toward real-world applications by emphasizing an integrated design approach.