Study of Bio- Inspired Robots: Bionic Actuators, Bionic Sensors, and

Bionic Robot Structure

Name 11, Name 22, and Name33…….Name 55

School Name, VIT Bhopal University, Kothrikalan, Sehore Madhya Pradesh – 4661141-5

Mail ID1, Mail ID2, Mail ID3,.. Mail ID5

Abstract

Now days, research in the area of bionic robot is swiftly emerging in robotics field. It’s all
due to several advantages of bionic robot over conventional rigid robot such as safe
human- machine interaction, adaptability to wearable devices, simple gripping system,
excellent flexibility, and multi-functionality. Bionic robots have the property of continuum
deformation this results in high DOF. Mainly bionic robot actuators are of three types:
pneumatic artificial muscles (PAM), electronic electro active polymers (Electric EAP), and
ionic electro active polymers (Ionic EAP). In the field of soft robotics, development of soft
muscle actuator is still one of the toughest tasks in the creation of bionic robot manipulator
that can deform their body, move, and modulate body stiffness. To provide solution for these
above discussed problems, we intended to do comprehensive review of bio- inspired robots:
bionic actuators, bionic sensors, and bionic robot structure. Additionally, sensors used in the
soft robot is also discussed which have the properties of durability, flexibility, impact-
resistant, and optimum material cost relative to conventional rigid sensors. At last, the
selection of material and fabrication technique is discussed which is also the future research
scope in the field of soft robotics.

Keywords: Bionic robot, bionic actuator, bionic structure, bionic sensors, soft robot
fabrication
1. Introduction

The conventional robot consists of a rigid kinematic chain made up of several rigid links this
results in low payload, low precision, and less position accuracy. To improve these
parameters, a bio-inspired manipulator is introduced known as bionic manipulator [1]. Bionic
robots also consist of rigid links (bone) and each joint are usually driven by various
redundant and highly elastic actuators [2]. Relatively bionic manipulator have unmatched
ratio of load weight to dead weight and results in high quality movement using intelligent
control. Figure 1 shows a conventional robot and bionic robot under deformable load with
optimum stress applied to the joints of a manipulator. It is concluded that bionic robot has
higher DOF, flexibility, and optimum multi- functionality. In conventional rigid robot,
unfavourable stress occurs at the joints of manipulator which decreases the efficiency of
robot.

(a) (b)

Fig. 1. a) Left: To minimize the deformation caused by load, conventional robots are built with heavy solid arm
constructions. Through the double-sided linkages construction of the bionic robot arm deformations arise only in
the elastic part of the drive where it can be measured and corrected. b) Right: In addition because of the
linkages, a constant optimal stress distribution in the bionic arm is obtained in different positions [2].

Table 1 shows the comparison of various load weight and dead weight condition. It is found
that ratio of max load weight to deadweight load is 0.24 for bionic robotic arm.
Table 1. Comparison of different load weight and dead weight condition.

S/ Robot Max Load Wt. Dead Wt. Ratio

N

1 Kuka KR3 3Kg 53Kg 0.06

2 Mitsubishi PA-10 10Kg 38Kg 0.26

3 DLR arm II (2000) 7Kg 18Kg 0.39

4 Bionic Robot arm 4Kg 17Kg 0.24

5 Human arm >5Kg <5Kg >1

(very variable)

Bionic robots have unique features over the conventional robot. Bionic actuators have the
character of elasticity this results in fast and accurate ballistic motion. Bionic fish is
developed as an underwater vehicle having high swimming speed and high propulsive
efficiency. Wang et al. [3] proposed a central pattern generator (CPG) model and particle
swarm optimization (PSO) algorithm to estimate the performance of the bionic fish [3]. On
the other hand, the conventional robot uses an electrical motor, hydraulic pump or pneumatic
compressor as an actuator which results in softness has various utilization in the field of soft
robotics: soft texture, deformable and soft material, soft movement, elastic property, variable
compliance actuators, and human-machine interaction [4]. The main body and moving part of
soft robots are made up of hyper-elastic material: polymer, silicon, rubber, and other flexible
materials. On the other hand, conventional robot uses high stiffness material such as
aluminium, steel, titanium, stainless steel etc. Conventional robots are manufactured by
mechanical machining process while soft robot uses 3D printer or 3D mold [5]. Soft robots
materials stiffness is observed in the order of 10 4 - 109 Pa corresponding to the biological skin
or muscle tissues. Soft robots are actuated by electrically activated material. Hence, results in
inability to produce large force. However, conventional robots are able to produce a wide
range of force since they are actuated by electric motor, hydraulic pump or pneumatic
compressor [6]. While, talking about safe human-machine interaction, bionic robot is the best
option because it fulfils most of the requirements of safe human machine-interaction by its
function, construction, and control principle . On the basis of manufactured materials, robots
can be classified into two major categories: hard and soft robots [7] (Fig. 2).

Fig. 2. Classification of robots based on materials and degrees of freedom [7].

2. Bionic Actuators

Conventional robots are actuated by rigid electrical motors, hydraulic pump or pneumatic
compressor resulting in limited DOF. On the other hand, bionic robots are actuated by
electrically activated materials having the property of continuum deformability and flexibility
resulting in high DOF [8]. Bionic actuator shows the character of elasticity resulting fast and
accurate ballistic motion. Bionic actuators may be classified into three categories: 1.
Pneumatic Artificial Muscles (PAM), 2. Electronic Electroactive Polymers (EEP), 3. Ionic
Electroactive Polymers (IEP).

2. 1 Pneumatic Artificial Muscles (PAMs)

Chou and Hannaford [9] studied Morin muscle consisting of elastic bladder with embedded
fibers. Morin muscle consist of three different forms of elastic diaphragm as shown in Fig. 3:
1. Design at over pressure 2. Design at under pressure 3. Concentric membrane design. This
actuator works on the principal: whenever actuator is subjected to longitudinal contraction at
that time when fluid fills inside the diaphragm and expands circumferentially outward.
Polygerinos et al. [10] stated that Morin muscle is a replacement of spring (with variable
spring constant by controlling pressure) and piston [10] and concluded that for effective

End Plate Bellow Actuator

Concentric
Membrane Design
result, a diaphragm should be made up of rubber and fiber reinforcement should be made up
of thread.

Bladder

(a) (b) (c)

Fig. 3. a) Morin muscles designed for over pressure, consisting of elastic bladder with embedded fibres. b)
Morin muscle is designed for under pressure. c) Morin muscle consisting of concentric membrane design. [10]

Tondu and Lopez [11] developed McKibben actuator (also known as fluidic muscle or
actuator) based on A. H. Morin patent [11]. McKibben actuator consists of cylindrical
bladder muscle. Both tube and sleeve are attached at both ends to transfer fiber tension and
also to act as gas closure. Whenever internal pressure of the bladder increases, the bladder
expands radially outward resulting in shortening of the actuator. Fig. 4. represents McKibben
actuator in which bottom actuator is in rest while top one is subjected to internal pressure.
McKibben actuator shows linearity in motion. Bending motion can be created by series
connection of multiple actuators.
Fig. 4. McKibben actuator (also known as fluidic muscle or actuator) consisting of cylindrical bladder muscle.
Both tube and sleeve are attached at both ends to transfer fiber tension and also to act as gas closure [11]

D. C. Pridham developed bellow muscles which consist of elastomeric bladder [12].

Elastomeric bladder contains pleats (which runs perpendicular to the longitudinal axis).
According to the Pridham’s patent, for effective result bladder should be constructed from
bypolypropylene. Actuations of bellow actuator results in reduction in diameter and
increment in length. Fig. 5.a) shows a bellow actuator having circular cross section bellows.
For greater force, circular cross section is effective but have limit in elongation while square
cross section have wide range of deformation. Guy Immega developed a modified version of
bellow actuator known as star shaped bellow actuator [13]. G. Immega used star shaped
bellow instead of common circular bellow. The advantage of using star shape bellow muscle
is reduction in overall shear stress resulting in increase in elongation.

(a) (b)

Fig. 5. a) Bellow actuator having circular cross section pleated bladder. b) Star shaped belly actuator
utilized for reduction in shear stress by diminishing diameter and increment in length [13].

Kukoli actuator was developed by Mirko Kukolj [14] . Kukolj muscle is very similar to
Mckibben muscle only difference is Kukolj muscle uses mesh net instead of mesh sleeve.
The shape of actuator sleeve is elliptic around the bladder at static condition however; as
actuator extends the sleeve, then constant diameter shape is obtained throughout the length.
For better result, Kukolj suggested that bladder should be made up of elastomeric material
(rubber or elastomeric plastic), inextensible, and flexible fiber (plastic covered braided wire).
Also suggested that, oiling and greasing must be required to reduce friction between bladder
and sleeve oiling.
Fig. 6. Kukolj muscle made of elastomeric material and flexible fiber (plastic enclosed braided wire). Kukolj
muscles uses mesh sleeve to reduce friction between elastomer [14]

Suzomori et al. [15] developed flexible micro actuator (FMA), consisting of elastomeric
cylinder having 120 degree chamber and has seven DOF. Actuation takes place by increasing
pressure inside the chamber. Fiber reinforcement causes limited strain development that
result in prevention of damage to the elastomeric cylinder. Martinez et al. [16] proposed that
for fabrication of cylindrical actuator, silicon rubber is ideal material and for fiber
reinforcement nylon fiber is ideal material.

2. 2. Electric Electro Active Polymer (Electric EAP)

2. 2. 1. Dielectric EAP

Weiss et al. [17] studied that dielectric actuators (also known as electro statically stricted
polymer actuator) are actuated by electrostatic field and are capable to produce large
actuation strain with low elastic stiffness and high dielectric constant. The induced strain in
dielectric actuator is directly proportional to electric field, square times of dielectric constant
and inversely proportional to the elastic modulus shown in Fig. 7. Conformal skins for braille
screen, electro active fluid pump, insect like robots, and artificial muscle auto focus lens
positioner are the application areas of dielectric EAP.
Fig. 7. Actuation mechanism in DEAs: Dielectric actuators are actuated by electrostatic field, b represents the

thickness of dielectric actuator and v represents induced strain perpendicular to the plate [17].

2. 2. 2. Liquid Crystal Elastomers (LCE)

Thomsen et al. [18] stated that liquid crystals have the property of phase and orientation
change under the influence of an applied field. Actuation may take place by integrating such
mesogens into a compliant polymer backbone or as some time as side chains. A recent
operation in which 133Hz frequency at 1. 5 MV/m field amplitude is capable to produce a
4% strain [19]. Liquid crystal having low modulus and the combination of low modulus and
relatively low actuator strains results in low work density. One of the recent researcher
improved work density by using stiffer polymer (2% strains at 25 MV/m field amplitudes
with a work density of 0.02 MJ/m3). However, this performance still not fulfils that of high-
performance relax or ferroelectrics, but investigation are going on. For high frequency
minimization of dielectric loss is important in liquid crystal elastomer otherwise high losses
resulting low efficiency and leads to heating and failure.

2. 3. Ionic Electro Active Polymers (Ionic EAP)

2. 3. 1. Conductive Polymer

Inzelt [20] studied conductive polymer, which consists of conductive polymer layer and
electrolyte layer. Sometime made from electrolyte sandwiches in between two conductive
polymer electrodes (bilayer). Oxidation and reduction at the electrodes results in volume
change. Expansion of conductive polymer occurs due to oxidation while shrinkage occurs
due to reduction at electrodes. Bending take place due to oxidation in one direction and
bending in other direction due to reduction for bilayer actuator.

2. 3. 2. Ionic Polymer Gels

K. Katchalsky founded polymer gels in 1940s . Examples of polymer gels: (I) Polyacrylamide
(II) Polyacrylonitrile [21]. The actuation of these polymers are due to changing between
alkaline and acid or electrically. Swelling and shrinking of the gels are due to the changing
from either an acid or alkaline solution.

Fig. 8. Ionic polymer gel consisting of cathode and anode. After actuation swelling and shrinking of gels takes
place by changing from acid or alkaline solution.

2. 3. 3. Carbon Nanotubes (CNT)

Munoz et al. [22] developed carbon nanotube in 1999 . Carbon nanotube actuators are
submerged in electrolyte that allows charges to affect the charge balance between electrolyte
and CNT. Single walled CNT (SWNT) and multi walled CNT (MWNT) are the types of CNT
made from the graphene layers. Fig. 9 shows CNT actuator, in which EMF is induced by ion
migration and injection of charge. It consists of 3 portions: a) ion migration takes place at
upper part of CNT tube, b) ion migration takes at centre of tube, c) ion migration takes place
at lower part of CNT tube. It is concluded that in portion b) both ion migration and charge
injection is equally distributed.
 Fig. 9. CNT actuator, in which EMF is induced by ion migration and injection of charge. It consists of 3 parts:
a) ion migration initiation takes place at upper part of CNT tube. b) ion migration initiation takes place at centre
of tube. c) ion migration takes place at lower part of CNT tube [22].

3. Bionic sensor

Patane et al. [23] proposed that bionic robot have the characteristics of deformability means it
is inefficient to use conventional sensor such as encoder, inertial measurement units or strain
gauges. To eliminate these problem bionic sensors comes into the picture. Bionic sensor have
various advantages over conventional sensor such as it have high durability, impact resistant,
composed of relatively low-cost raw materials, and remain electronically functional when
stretched and composed [24]. Low modulus (<1MPa) or contactless sensors [25] are
alternatives for this problem. This sensors cause little impedance change to bionic robot
hardware. Bionic sensors are more human friendly as compare to conventional sensor for
example bionic sensor is an artificial skin made from an elastomer having embedded micro
channels filled with conductive liquid. If pressure is subjected there is reduction in cross
section of micro channels. As skin is stretched, electrical resistance also increases due to
increase in channel length and decrease in cross-sectional area. On the basis of this principle,
properties like multi-axial strain, bending curvature and normal surface pressure can be
calculated using soft material. There are various approaches available for the fabrication of
bionic sensor but recently mask deposition of the conductor, and direct 3D printing of
conductive material, have been suggested [26]. Mohdisa et al. [27] studied that smart
composite material, ionic polymer metal composites (IPMC) is used as a bionic sensor as
well as an actuator that makes it unique. IPMC exhibits highly dynamic sensing
characteristics and has remarkable accuracy and repeatability and found to be superior to
existing micro sensor and motion sensor. Ion-exchange-membrane material as a sensor first
studied by Shahinpoor. Shahinpoor used such membrane as a pressure sensor/damper in a
small chamber which constituted an accelerometer [28]. Dynamic stimulus (impact and shock
loading) may be responded by IPMC. Bhandari et al. [29] proposed that IPMC can detect
mechanical stimulus with higher sensitivity as compare to piezoelectric sensor. IPMC may
sense any mode of deformation such as tension, bending, torsion, compression and shear. Lee
and Nicholls [30] discovered insect like tactile sensor. Tactile sensor used either bending
forces or vibration signal, to determine contact distance both (either bending forces or
vibration signal) measured at base of a flexible beam. The peak frequency of the damped
oscillations of the free end is use to determine contact distance.

Fig. 10. Simple IPMC sensor placed between two electrodes [30]

Wang et al. [31] introduced a bionic camera based polarization navigation sensor in 2014.
Single-point measurement and multi-point measurement mode are the two working modes of
this sensor. Accuracy is very high up to 0.3256 º. This sensor is also capable to measure the
polarization distribution pattern when it works in multi-point measurement mode. Shape
memory alloy (SMA) is a smart material use as a bionic sensor in bionic robot. SMA
performs relationship between length-resistivity. Later, Rodrigue et al. [32] found that robotic
ankle-foot can accurately follow the desired angle value within SMA bandwidth.
4. Bionic Robot Structure

The structure of bionic robots is different from conventional rigid robots. Bionic robots are
usually made up of bionic material (soft material) and therefore they are not capable for
exploiting rigid electric motors. Hence, researcher developed various special structure that
suited bionic robots. Go QBot is an example of bionic robotic system (consists of a flexible
silicone body and two tensile actuators) that uses structure based on SMA and silicon [33]. It
is a caterpillar- inspired soft-bodied rolling robot. Forward displacement is generated by
dividing this system into two sections one is an anterior part and other is posterior part.
Similarly mesh worm also uses this type of structure [34] . Qi et al. [35] presented “Structural
design and gait analysis of hexapod bionic robot” in 2012. This robot works on the principles
of bionic structure and performs function like bionic robot. An axial symmetry of the
octagonal design is used to design the bionic body of this robot. Instead of metal, synthetic
plastic components are used to connect the joints because it improves the overall
performance. Jiang Suhai also discussed about three legged gait of bionic beetle robot.

Many scientists developed bionic robotic system that uses some medium encased within the
silicon material. For example manta swimming robot made up of rubber and capable to swim
like a fish [36]. Silicon rubber with two internal chambers is used to achieve two DOF of
bending motion. Similar structure employed bionic snake robot based on fluidic system that
comprises of four bidirectional fluidic elastomer actuators [37]. The all four actuators are
composed in series to create segments that automously ripple analogous to its biological
counterpart. Similar structure is followed by multigait bionic robot [38]. This robot is
inspired by animal such as starfish, squid, and worm and has no hard internal skeletons,
totally composed of soft materials. Pneumatic valve is used as an actuator to actuate all five
parts of proposed system. Marchese et al. [39] studied that jamming skin enabled locomotion
(consists of various silicon cells and an expandable actuator and is filled with fluid) is one of
the bionic robots that also share the similar actuator. This system uses two types of silicon
cells i.e. jammed and unjammed cells as shown in Fig. 11 (a) and Fig. 11 (b), respectively.
Fig. 11. a) Side view of proposed jamming based soft robot, all cells jammed, internal actuator deflated. b) Side
view of proposed jamming based soft robot, 3 cells unjammed, internal actuator inflated partially similar
structure was used by jammable robot [39].

This robot uses granular media and consists of five serial jammable parts. This robot is
capable to control local stiffness while tension cables control the shape and position of the
robot. Comparatively, this manipulator can produce high-force and highly articulated. This
robot used ground coffee as granular media.

Fig. 12. a) First prototype of jammable manipulator. b) Second prototype of jammable manipulator: (left) in the

unjammed state and (right) jammed in a corkscrew configuration [40].

The similar case is found in a universal robotic gripper (integrated with a 6-axis robot arm as
an end-effector) [41- 42]. Combination of friction, suction, and geometrical interlocking
mechanisms is used to achieve versatility and remarkable holding strength of gripper. It
consist of a single compartment filled with granular material while it avoids many parts like
other silicon and medium based structure. Different from the above discussion, some bionic
robots are developed that only uses bionic material for their actuating part not in overall
structure. For example: bionic robotic fish having structure like mimicked fish’s body [43].

5. Fabrication Method

Shape deposition manufacturing (SDM), smart composite microstructure (SCM), and 3D

printing technology are the fabrication method used in fabrication of bionic material.
Fabrication of soft material is not an easy task that’s why fabrication technology for soft
material is highly demanded [44 - 45]. SDM manufacturing technology is a fabrication
technology used for rapid prototyping of rigid material. It was the first technology used for
developing force sensing robot finger. A rapid prototyping process, shape deposition
manufacturing, was developed to support the fabrication of hollow, plastic mesh structures
with fixed components. It is capable to print rigid as well as soft material; this is the main
advantages of this method. Due to this advantage, shape deposition manufacturing has been
widely used for developing bionic robotic system. Another option of fabrication of soft
material is direct digital printing with soft material. This technique is capable to fabricate a
variety of bionic robots.

6. Conclusion

Now days, research in the field of bio-inspired robot is rapidly growing in robotics field. It’s
all due to several drawbacks of conventional rigid robot, better human-machine interaction
and improvement in adaptability. There is demand for human friendly robot interaction in the
field of medicine, military, assistive technology. consequently, bionic robots are capable to
full fill these demands. By using soft materials and variable stiffness technology in robotics
presents an emerging way to build new category of robot known as bionic robot with new
abilities that are expected to interact more efficiently with natural environment, unstructured
environment, and with human being. Advancement in morphology, actuation, material, and
sensors for bionic robot are highlighted in this paper. To achieve desired precision, strength
and griping tendency, there are wide range of approaches and methods available. Most of the
creatures consist of both rigid structure frames along with soft material, by using this
concept; benefits of bionic robot can be maximized. In the field of soft robotics, development
of soft muscles-like actuation technology is still one of the toughest tasks in the creation of
fully soft body manipulator that can deform their body, move and modulate body stiffness.
Funding

The authors received no financial support for the research, authorship, and/or publication of
this article.

Declarations of interest None to be declared.

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