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Soft Fiber Pumps for Soft Robots

Lymphatic-Inspired and TENG-Powered Soft Fiber Pumps for Soft Robots


Soft robotic systems leverage their inherent flexibility and environmental adaptability, demonstrating significant potential across diverse fields. Fluid-driven actuation has emerged as a mainstream approach because of its capacity to enable large deformations and high output forces. However, the reliance on conventional rigid pumping components limits application scopes. Soft electrohydrodynamic (EHD) pumps, including soft fiber pumps (SFPs), address these challenges by offering intelligent controllability, silent operation, and a compact structure.

This study tackles critical limitations of existing SFPs, such as electrode-channel detachment, complex fabrication processes, insufficient theoretical frameworks, and dependence on external power sources. Inspired by the multi-stage drainage structure of biological lymphatic systems, we propose a novel spatially parallel electrode fiber pump configuration, enhancing stability during dynamic deformations. To simplify manufacturing, we develop a low-cost 3D-printed lost-wax strategy, streamlining the fabrication of soft fiber pumps.

We propose the concept of customizable profiled fiber pumps, which are well-suited for 3D-printed lost-wax manufacturing methods and broaden the application scope of fiber pumps. By integrating fluid dynamics and electric field coupling analysis, we establish a two-dimensional simplified model for wire-electrode-based pumping mechanisms, experimentally validating its rationality. Furthermore, we integrate a triboelectric nanogenerator (TENG) system to achieve TENG-powered operation of the fiber pump.

Verification in scenarios such as microfluidics, artificial muscles, and wearable temperature-controlled gloves demonstrates the significant potential of the proposed fiber pump in constructing a new generation of pump sources for fluid-driven soft robotic applications.

network security, computer networks, data communication, wireless networking, LAN, WAN, VPN, network topology, routing protocols, cybersecurity, firewall protection, cloud networking, IoT connectivity, network infrastructure, bandwidth management, network monitoring, server configuration, IP addressing, network performance, digital communication

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