Biosystems & Biorobotics Cecilia Laschi Jonathan Rossiter Fumiya Iida Matteo Cianchetti Laura Margheri E ditors Soft Robotics: Trends, Applications and Challenges Proceedings of the Soft Robotics Week, April 25–30, 2016, Livorno, Italy Biosystems & Biorobotics Volume 17 Series editor Eugenio Guglielmelli, Laboratory of Biomedical Robotics, Università Campus Bio-Medico, Rome, Italy e-mail: [email protected] Editorial Board Dino Accoto, Campus Bio-Medico University of Rome, Rome, Italy Sunil Agrawal, University of Delaware, Newark, DE, USA Fabio Babiloni, Sapienza University of Rome, Rome, Italy Jose M. Carmena, University of California, Berkeley, CA, USA Maria Chiara Carrozza, Scuola Superiore Sant’Anna, Pisa, Italy Paolo Dario, Scuola Superiore Sant’Anna, Pisa, Italy Arturo Forner-Cordero, University of Sao Paolo, São Paulo, Brazil Masakatsu G. Fujie, Waseda University, Tokyo, Japan Nicolas Garcia, Miguel Hernández University of Elche, Elche, Spain Neville Hogan, Massachusetts Institute of Technology, Cambridge, MA, USA HermanoIgoKrebs,MassachusettsInstituteofTechnology,Cambridge,MA,USA Dirk Lefeber, Universiteit Brussel, Brussels, Belgium Rui Loureiro, Middlesex University, London, UK Marko Munih, University of Ljubljana, Ljubljana, Slovenia Paolo M. Rossini, University Cattolica del Sacro Cuore, Rome, Italy Atsuo Takanishi, Waseda University, Tokyo, Japan Russell H. Taylor, The Johns Hopkins University, Baltimore, MA, USA David A. Weitz, Harvard University, Cambridge, MA, USA Loredana Zollo, Campus Bio-Medico University of Rome, Rome, Italy Aims & Scope Biosystems & Biorobotics publishes the latest research developments in three main areas: 1) understandingbiologicalsystemsfromabioengineeringpointofview,i.e.thestudyofbiosystemsby exploiting engineering methods and tools to unveil their functioning principles and unrivalled performance;2)designanddevelopmentofbiologicallyinspiredmachinesandsystemstobeusedfor differentpurposesandinavarietyofapplicationcontexts.Theserieswelcomescontributionsonnovel designapproaches,methodsandtoolsaswellascasestudiesonspecificbioinspiredsystems;3)design and developments of nano-, micro-, macrodevices and systems for biomedical applications, i.e. technologiesthatcanimprovemodernhealthcareandwelfarebyenablingnovelsolutionsforprevention, diagnosis,surgery,prosthetics,rehabilitationandindependentliving. On one side, the series focuses on recent methods and technologies which allow multiscale, multi-physics,high-resolutionanalysisandmodelingofbiologicalsystems.Aspecialemphasisonthis sideisgiventotheuseofmechatronicandroboticsystemsasatoolforbasicresearchinbiology.Onthe other side, the series authoritatively reports on current theoretical and experimental challenges and developmentsrelatedtothe“biomechatronic”designofnovelbioroboticmachines.Aspecialemphasis on this side is givento human-machine interactionand interfacing, and also to the ethical and social implicationsofthisemergingresearcharea,askeychallengesfortheacceptabilityandsustainabilityof bioroboticstechnology. The main target of the series are engineers interested in biology and medicine, and specifically bioengineersandbioroboticists.Volumepublishedintheseriescomprisemonographs,editedvolumes, lecturenotes,aswellasselectedconferenceproceedingsandPhDtheses.Theseriesalsopublishesbooks purposelydevotedtosupporteducationinbioengineering,biomedicalengineering,biomechatronicsand bioroboticsatgraduateandpost-graduatelevels. About the Cover ThecoverofthebookseriesBiosystems&Bioroboticsfeaturesarobotichandprosthesis.Thislooks likeanaturalhandandisreadytobeimplantedonahumanamputeetohelpthemrecovertheirphysical capabilities. This picture was chosen to represent a variety of concepts and disciplines: from the understandingofbiologicalsystemstobiomechatronics,bioinspirationandbiomimetics;andfromthe concept of human-robot and human-machine interaction to the use of robots and, more generally, of engineeringtechniquesfor biologicalresearch andin healthcare.The picturealso points tothe social impactofbioengineeringresearchandtoitspotentialforimprovinghumanhealthandthequalityoflife of all individuals, including those with special needs. The picture was taken during the LIFEHAND experimental trials run at Università Campus Bio-Medico of Rome (Italy) in 2008. The LIFEHAND projecttestedtheabilityofanamputeepatienttocontroltheCyberhand,aroboticprosthesisdevelopedat Scuola Superiore Sant’Anna in Pisa (Italy), using the tf-LIFE electrodes developed at the Fraunhofer InstituteforBiomedicalEngineering(IBMT,Germany),whichwereimplantedinthepatient’sarm.The implantedtf-LIFEelectrodeswereshowntoenablebidirectionalcommunication(frombraintohandand viceversa)betweenthebrainandtheCyberhand.Asaresult,thepatientwasabletocontrolcomplex movementsoftheprosthesis,whilereceivingsensoryfeedbackintheformofdirectneurostimulation. Formoreinformationpleasevisithttp://www.biorobotics.itorcontacttheSeriesEditor. More information about this series at http://www.springer.com/series/10421 Cecilia Laschi Jonathan Rossiter (cid:129) Fumiya Iida Matteo Cianchetti (cid:129) Laura Margheri Editors Soft Robotics: Trends, Applications and Challenges Proceedings of the Soft Robotics Week, – April 25 30, 2016, Livorno, Italy 123 Editors Cecilia Laschi Matteo Cianchetti TheBioRobotics Institute TheBioRobotics Institute ScuolaSuperiore Sant’Anna ScuolaSuperiore Sant’Anna Pisa Pisa Italy Italy JonathanRossiter Laura Margheri Bristol Robotics Laboratory TheBioRobotics Institute University of Bristol ScuolaSuperiore Sant’Anna Clifton Pisa UK Italy Fumiya Iida Department ofEngineering CambridgeUniversity Cambridge UK ISSN 2195-3562 ISSN 2195-3570 (electronic) Biosystems &Biorobotics ISBN978-3-319-46459-6 ISBN978-3-319-46460-2 (eBook) DOI 10.1007/978-3-319-46460-2 LibraryofCongressControlNumber:2016951711 ©SpringerInternationalPublishingAG2017 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor foranyerrorsoromissionsthatmayhavebeenmade. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Contents Introduction... .... .... .... ..... .... .... .... .... .... ..... .... 1 Cecilia Laschi, Fumiya Iida, Jonathan Rossiter, Matteo Cianchetti and Laura Margheri Soft Bionics Hands with a Sense of Touch Through an Electronic Skin.. .... .... ..... .... .... .... .... .... ..... .... 5 Mahmoud Tavakoli, Rui Pedro Rocha, João Lourenço, Tong Lu and Carmel Majidi Soft Robotics Mechanosensing..... .... .... .... .... .... ..... .... 11 Lucia Beccai, Chiara Lucarotti, Massimo Totaro and Majid Taghavi Towards Behavior Design of a 3D-Printed Soft Robotic Hand .... .... 23 Rob B.N. Scharff, Eugeni L. Doubrovski, Wim A. Poelman, Pieter P. Jonker, Charlie C.L. Wang and Jo M.P. Geraedts Soft Robotics in Underwater Legged Locomotion: From Octopus–Inspired Solutions to Running Robots... .... .... ..... .... 31 Marcello Calisti Underwater Soft Robotics, the Benefit of Body-Shape Variations in Aquatic Propulsion... .... ..... .... .... .... .... .... ..... .... 37 Francesco Giorgio-Serchi and Gabriel D. Weymouth Animal Models for Non-pneumatic Soft Robots... .... .... ..... .... 47 Barry Andrew Trimmer Plant-Inspired Growing Robots.... .... .... .... .... .... ..... .... 57 Barbara Mazzolai Bio-inspired Soft Aerial Robots: Adaptive Morphology for High-Performance Flight . ..... .... .... .... .... .... ..... .... 65 Sina Sareh, Robert Siddall, Talib Alhinai and Mirko Kovac v vi Contents Soft Robots in Surgery.. .... ..... .... .... .... .... .... ..... .... 75 Matteo Cianchetti and Arianna Menciassi Design Principles for Soft-Rigid Hybrid Manipulators.. .... ..... .... 87 Utku Culha, Josie Hughes, Andre Rosendo, Fabio Giardina and Fumiya Iida Eating, Drinking, Living, Dying and Decaying Soft Robots.. ..... .... 95 Jonathan Rossiter, Jonathan Winfield and Ioannis Ieropoulos Soft Robot Modeling, Simulation and Control in Real-Time. ..... .... 103 Christian Duriez and Thor Bieze Evolutionary Developmental Soft Robotics: Towards Adaptive and Intelligent Soft Machines Following Nature’s Approach to Design. .... 111 Francesco Corucci Morphosis—Taking Morphological Computation to the Next Level.... 117 Helmut Hauser and Francesco Corucci Introduction Cecilia Laschi, Fumiya Iida, Jonathan Rossiter, Matteo Cianchetti and Laura Margheri Soft Robotics is now considered one of the most promising frontiers for robotics researchandtechnologicalinnovation.Theenormousgrowthofthisfieldinthelast few years has been evidenced by a large increase in the number of publications, special issues in journals, focused sessions and workshops at international con- ferences, summer schools, competitions, EU funded projects, as well as new lab- oratories, companies and faculty appointments. Being “soft” is more and more a characteristics needed in robotics systems, especially in those that have to interact with humans or within particular environ- ments. The importance of soft body parts appears clear if taking a look at many natural organisms, where softness, compliance, and embodied intelligence are usefulcharacteristicsforreducingthecomplexityofbehaviourcontrol[1].Thevast majority of natural organisms are soft-bodied indeed, and even those with stiff skeletons are predominantly made of soft materials. Caterpillars, octopuses, manta-ray,somefishesandsnakes,birds,plants,andothers,havethereforeinspired engineers for the design and development of new soft technologies and soft sys- tems, as well as for implementing new strategies for terrestrial and underwater locomotion or flying (examples can be found in [2–10]). The field of soft robotics is highly multi-disciplinary, linking know-how from materialscience,mechanical/electricalengineering,controlengineering,chemistry, physics, computer science, biology and many more. C.Laschi(cid:1)M.Cianchetti(cid:1)L.Margheri(&) ScuolaSuperioreSant’Anna,Pisa,Italy e-mail:[email protected] F.Iida UniversityofCambridge,Cambridge,England,UK J.Rossiter UniversityofBristol,Bristol,UK ©SpringerInternationalPublishingAG2017 1 C.Laschietal.(eds.),SoftRobotics:Trends,ApplicationsandChallenges, Biosystems&Biorobotics17,DOI10.1007/978-3-319-46460-2_1 2 C.Laschietal. There are several cases where soft technologies and integrated soft systems could revolutionize the use of robotic devices, especially in applications where elastic versatility and safe human-robot interaction are needed. Industrialroboticarms,agriculturerobots,surgicalrobots,robotsforsearchand rescue, wearable systems, exoskeletons and rehabilitation devices can benefit from theuseofsoftandvariable-stiffnesscomponentstoincreasetheircapacitiestointeract safely,dependablyandeffectivelywithhumansandthephysicalenvironment. Soft robotics has the potential for allowing the development of a radically new generation of machines with better performance in the real world, and greater adaptability in a variety of tasks [11]. Theinterdisciplinarycharacteristicsofsoftrobotics,thehighnumberofresearch laboratories in Europe and worldwide that are working in its various subfields (smart materials, biomimetics, embodied intelligence, etc.) and the more recent interest of industrial stakeholders, have arisen the necessity for the creation of a common forum to help researchers to combine their efforts and to maximize the opportunities and materialize the potential impact of soft robotics. Following this need, RoboSoft, the EU-funded FET-Open Coordination Action (CA) for Soft Robotics (http://www.robosoftca.eu/), started on October 1, 2013 to pose the basis for consolidating the soft robotics community and for enabling the accumulation and sharing of crucial knowledge needed for scientific and techno- logical progress in this field. RoboSofthasbeenrunningfor3 yearscoordinatedbyTheBioRoboticsInstitute of the Scuola Superiore Sant’Anna (Italy) in partnership with the ETH Zurich (Switzerland), the University of Cambridge (UK), and the University of Bristol (UK)andithasorganizedaseriesofscientificandtechnicaleventsandactivitiesto unify and extend the community of soft roboticists, to educate a young scientific community of students, to promote the visibility of soft robotics towards stake- holders and special interest research groups and to provide opportunities for better exploiting the potential of soft robots and technologies in future ICT. Research laboratories and institutions at European and international level working in the field of Soft Robotics have been involved and supported for taking part in the scientific initiatives of the Coordination Action as Members of the RoboSoft Community. Their representatives are experts in various scientific and technological areas related to soft robotics (smart materials, soft actuators and sensors, control archi- tectures, energy storage, harvesting soft devices, stretchable electronics, biology) and during the periodic meetings they participated in consultations aimed at dis- cussing new challenges, milestones, to redefine theories and techniques, and to provide research roadmaps within a single coherent vision for soft robotics. RoboSoft has created a large network of scientists and industries and has establishedstrongcollaborationswithotherinitiativesworldwidethatarededicated to the promotion of soft robotics, such as the IEEE Robotics and Automation Society (RAS) Technical Committee on Soft Robotics, or education-related ini- tiatives, such as the Soft Material Robotics IGERT at Tufts University and the Marie Sklodowska-Curie Initial Training Network SMART-E. Introduction 3 RoboSoft is now a pillar for the community of soft robotics because of the several events and initiatives organized for merging people, for helping the sci- entific discussion and for promoting soft robots. The main events organized by RoboSoft were the annual Plenary Meetings for Community Members, the Schools for Ph.D. students, a series of workshops, special sessions and exhibitions at major robotics conferences, a number of dedi- cated academia-industry meetings and other initiatives for cross-fertilization with other scientific communities. The flagship event dedicated to the soft robotics community was launched by RoboSoftin2015andnamedthe“SoftRoboticsWeek”,aweektotallydedicatedto Soft Robotics, featuring a unique concentration of several scientific, cultural and educational events. International experts across multiple fields in the scientific community of soft robotics,industrialleaders,youngresearchersandstudents,mettogethertopresent current research and technologies of soft robotics, discuss the challenges and expectedmilestones,provideresearchroadmapsandidentifytheneededsupporting actions for this field. This book represents the proceedings of the second edition of Soft Robotics Week, held in Livorno from April 25 to 30 2016 and presents the current state of soft robotics, collecting the major research lines and novel technologies and approachespresentedanddiscussedduringtheeventbytheRoboSoftCommunity. The main themes are related to soft robot legged locomotion, soft robot manip- ulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots,flying soft robots,soft robotics insurgery,as well as methods for their modelling andcontrol. References 1. Pfeifer, R., Bongard, J.C.: How the Body Shapes the Way We Think: A New View of Intelligence.MITPress,Cambridge(2007) 2. Trivedi,D.,Rahn,C.D.,Kier,W.M.,Walker,I.D.:Softrobotics:biologicalinspiration,state oftheart,andfutureresearch.Appl.BionicsBiomech.5,99–117(2008) 3. Kim,S.,Laschi, C.,Trimmer,B.:Softrobotics: abioinspiredevolutionin robotics.Trends Biotechnol.31,287–294(2013) 4. Majidi, C.: Soft robotics: a perspective — current trends and prospects for the future. Soft Rob.1,5–11(2014) 5. Mazzolai,B.,Margheri,L.,Cianchetti,M.,Dario,P.,Laschi,C.:Soft-roboticarminspiredby theoctopus:II.Fromartificialrequirementstoinnovativetechnologicalsolutions.Bioinspired Biomimetic7,025005(2012).doi:10.1088/1748-3182/7/2/025005 6. Laschi, C.,Cianchetti, M.: Softrobotics: newperspectives for robotbodyware andcontrol. Front.Bioeng.Biotechnol.2,3(2014) 7. Umedachi,T.,Vikas,V.,Trimmer,B.A.:Softworms:thedesignandcontrolofnon-pneumatic, 3D-printed,deformablerobots.Bioinspiration&Biomimetics11(2),025001(2016) 8. Sadeghi, A., Tonazzini, A., Popova, L., Mazzolai, B.: A novel growing device inspired by plantrootsoilpenetrationbehaviors.PLoSOne9(2),e90139(2014)