Arthrobots.

Journal: Soft robotics
PMID: 29182080

Abstract

This article describes a class of robots-"arthrobots"-inspired, in part, by the musculoskeletal system of arthropods (spiders and insects, inter alia). Arthrobots combine mechanical compliance, lightweight and simple construction, and inexpensive yet scalable design. An exoskeleton, constructed from thin organic polymeric tubes, provides lightweight structural support. Pneumatic joints modeled after the hydrostatic joints of spiders provide actuation and inherent mechanical compliance to external forces. An inflatable elastomeric tube (a "balloon") enables active extension of a limb; an opposing elastic tendon enables passive retraction. A variety of robots constructed from these structural elements demonstrate (i) crawling with one or two limbs, (ii) walking with four or six limbs (including an insect-like triangular gait), (iii) walking with eight limbs, or (iv) floating and rowing on the surface of water. Arthrobots are simple to fabricate and are able to operate safely in contact with humans.

Authors

  • Alex Nemiroski
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • Yanina Y Shevchenko
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • Adam A Stokes
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • Baris Unal
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • Alar Ainla
    Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA, 02138, USA.
  • Sahradha Albert
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • Gabrielle Compton
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • Emily MacDonald
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • Yosyp Schwab
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • Caroline Zellhofer
    1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.
  • George M Whitesides
    Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA 02138, USA. Department of Chemistry and Chemical Biology, Harvard University, Cambridge, MA 02138, USA.

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