[1] 倪受东, 袁祖强, 文巨峰. 冗余度机器人机构学研究现状[J]. 南京工业大学学报(自然科学版), 2002, 24(4):107-110. Ni Shoudong, Yuan Zuqiang, Wen Jufeng. Research actuality of redun-dant robot mechanism[J]. Journal of Nanjing University of Technology (Natural Science Edition), 2002, 24(4):107-110.
[2] 王洁. 连续型机器人研究综述[J]. 环球市场信息导报, 2012(3):37. Wang Jie. A review on continuum robot[J]. Global Market Information Gulde, 2012(3):37.
[3] Gravagne I A, Walker I D. On the kinematics of remotely-actuated con-tinuum robots[C/OL].[2017-05-01]. http://web.ecs.baylor.edu/faculty/gravagnei/archived/ICRA_2000a.pdf.
[4] Kim S, Laschi C, Trimmer B. Soft robotics:A bioinspired evolution in robotics[J]. Trends in Biotechnology, 2013, 31(5):287-294.
[5] 尤小丹, 宋小波, 陈峰. 软体机器人的分类与加工制造研究[J]. 自动化仪表, 2014, 35(8):5-9. You Xiaodan, Song Xiaobo, Chen Feng. Research on the classification and processing manufacturing of soft robots[J]. Process Automation In-strumentation, 2014, 35(8):5-9.
[6] Suzumori K. Flexible microactuator:1st report, static characteristics of 3 DOF actuator[J]. Transactions of the Japan Society of Mechanical En-gineers C, 1989, 55(518):2547-2552.
[7] Suzumori K. Flexible microactuator:2nd report, dynamic characteristics of 3 DOF actuator[J]. Transactions of the Japan Society of Mechanical Engineers C, 1990, 56(527):1887-1893.
[8] Wakimoto S, Suzumori K. Fabrication and basic experiments of pneu-matic multi-chamber rubber tube actuator for assisting colonoscope in-sertion[C]. Robotics and Automation (ICRA), 2010 IEEE International Conference on, Anchorage, AK, May 3-7, 2010.
[9] Suzumori K, Endo S, Kanda T, et al. A bending pneumatic rubber actu-ator realizing soft-bodied manta swimming robot[C/OL].[2017-05-01]. http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_ICRA_2010/data/papers/0232.pdf.
[10] 曹玉君, 尚建忠, 梁科山, 等. 软体机器人研究现状综述[J]. 机械工程学报, 2012, 48(3):25-33. Cao Yujun, Shang Jianzhong, Liang Keshan, et al. Review of soft-bod-ied robots[J]. Journal of Mechanical Engineering, 2012, 48(3):25-33.
[11] Tolley M T, Shepherd R F, Mosadegh B, et al. A resilient, untethered soft robot[J]. Soft Robotics, 2014, 1(3):213-223.
[12] Cianchetti M, Calisti M, Margheri L, et al. Bioinspired locomotion and grasping in water:The soft eight-arm OCTOPUS robot[J]. Bioinspira-tion & Biomimetics, 2015, 10(3):035003.
[13] Wehner M, Truby R L, Fitzgerald D J, et al. An integrated design and fabrication strategy for entirely soft, autonomous robots[J]. Nature, 2016, 536(7617):451.
[14] 王宁扬, 孙昊, 姜皓, 等. 一种基于蜂巢气动网络的软体夹持器抓取策略研究[J]. 机器人, 2016, 38(3):371-377. Wang Ningyang, Sun Hao, Jiang Hao, et al. On grasp strategy of hon-eycomb pneunets soft gripper[J]. Robot, 2016, 38(3):371-377.
[15] Shepherd R F, Ilievski F, Choi W, et al. Multigait soft robot[J]. PA-NA, 2011, 108(51):20400.
[16] 徐云霞. 离子聚合物金属复合材料的电极修饰和硅橡胶粘附性能的改性研究[D]. 南京:南京航空航天大学, 2013. Xu Yunxia. The electrode modification of ionic polymer metal compos-ite and improvement of PDMS adhesion performance[D]. Nanjing:Nan-jing University of Aeronautics and Astronautics, 2013.
[17] Cheng N G, Lobovsky M B, Keating S J, et al. Design and analysis of a robust, kow-cost, highly articulated manipulator enabled by jam-ming of granular media[C]//IEEE International Conference on Robot-ics and Automation. New York:IEEE, 2012:4328-4333.
[18] 王超. 线驱动硅胶软体机械臂建模与控制[D]. 上海:上海交通大学, 2015. Wang Chao. Dynamics and control of gable-driven silicone soft manip-ulator[D]. Shanghai:Shanghai Jiao Tong Universit. 2015.
[19] 梅海霞. 基于压敏硅橡胶的柔性压力传感器及其阵列的研究[D]. 长春:吉林大学, 2016. Mei Haixia. Study on a flexible pressure sensor and the array based on sensitive silicon rubber[D]. Changchun:Jilin University, 2016.
[20] Kim S, Laschi C, Trimmer B. Soft robotics:A bioinspired evolution in robotics[J]. Trends in Biotechnology, 2013, 31(5):287.
[21] Kim J S, Lee J Y, Lee K T, et al. Fabrication of 3D soft morphing structure using shape memory alloy (SMA) wire/polymer skeleton com-posite[J]. Journal of Mechanical Science and Technology, 2013, 27(10):3123-3129.
[22] Jin H, Dong E, Mao S, et al. Locomotion modeling of an actinomor-phic soft robot actuated by SMA springs[C]//IEEE International Confer-ence on Robotics and Biomimetics. New York:IEEE, 2015:21-26.
[23] Nakabo Y, Mukai T, Asaka K. Biomimetic soft robots using IPMC[M]//Electroactive Polymers for Robotic Applications. London:Springer, 2007:165-198.
[24] Stoimenov B L, Rossiter J, Mukai T. Soft ionic polymer metal compos-ite (IPMC) robot[J]. Spie Eapad, 2009, doi:10.1117/12.818705.
[25] Kempaiah R, Nie Z. From nature to synthetic systems:Shape transfor-mation in soft materials[J]. Journal of Materials Chemistry B, 2014, 2(17):2357-2368.
[26] Rus D, Tolley M T. Design, fabrication and control of soft robots[J]. Nature, 2015, 521(7553):467.
[27] Schulte H F. The characteristic of the McKibben artificial muscle[J]. The application of external power in prosthetics and orthotics, 1962:94-115.
[28] Chou C P, Hannaford B. Measurement and modeling of McKibben pneumatic artificial muscles[J]. Robotics & Automation IEEE Transac-tions on, 1992, 12(1):90-102.
[29] Roche E T, Horvath M A, Wamala I, et al. Soft robotic sleeve sup-ports heart function[J]. Science Translational Medicine, 2017, 9(373):eaaf3925.
[30] Onal C D, Rus D. Autonomous undulatory serpentine locomotion utiliz-ing body dynamics of a fluidic soft robot[J]. Bioinspiration & Biomi-metics, 2013, 8(2):026003.
[31] Steltz E, Mozeika A, Rodenberg N, et al. JSEL:Jamming skin enabled locomotion[C]//Proceedings of the 2009 IEEE/RSJ International Confer-ence on Intelligent Robots and Systems. Piscataway, NJ:IEEE Press, 2010:5672-5677.
[32] Wehner M, Tolley M T, Mengüç Y, et al. Pneumatic energy sources for autonomous and wearable soft robotics[J]. Soft Robotics, 2014, 1(4):263-274.
[33] Katzschmann R K, Marchese A D, Rus D. Hydraulic autonomous soft robotic fish for 3D swimming[C]//International Symposium on Experi-mental Robotics (ISER 2014).[2017-06-30]. http://groups.csail.mit.edu/drl/wiki/images/archive/a/a5/20141003204304!Hydraulic_Autono-mous_Soft_Fish-RKatzschmann_AMarchese_DRus_Final_Submission.pdf.
[34] Tolley M T, Shepherd R F, Karpelson M, et al. An untethered jump-ing soft robot[C]//Proceedings of the 20014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ:IEEE Press, 2014:561-566.
[35] De Gennes P G. Soft matter[J]. Reviews of Modern Physics, 1992, 64(3):645-648.
[36] Barcohen Y, Xue T, Joffe B, et al. Electroactive polymers (EAP) lowmass muscle actuators[J]. Proceedings of SPIE-The International Soci-ety for Optical Engineering. Bellingham, WA:SPIE, 1998, 3041:697-701.
[37] Nakabo Y, Asaka K. Biomimetic soft robots with artificial muscles[C]//Proceedings of SPIE-The International Society for Optical Engineer-ing. Bellingham, WA:SPIE, 2004, 5648:132-144.
[38] Nakabo Y, Mukai T, Asaka K. Kinematic modeling and visual sensing of multi-DOF robot manipulator with patterned artificial muscle[C]//IEEE International Conference on Robotics and Automation. Piscat-away, NJ:IEEE Press, 2006:4315-4320.
[39] Kofod G, Wirges W, Paajanen M, et al. Energy minimization for selforganized structure formation and actuation[J]. Applied Physics Let-ters, 2007, 90(8):081916-081916-3.
[40] Jung K, Koo J C, Nam J D, et al. Artificial annelid robot driven by soft actuators[J]. Bioinspiration & Biomimetics, 2007, 2(2):S42-S49.
[41] Majidi C. Soft robotics:A perspective-current trends and prospects for the future[J]. Soft Robotics, 2014, 1(1):5-11.
[42] Polygerinos P, Wang Z, Galloway K C, et al. Soft robotic glove for combined assistance and at-home rehabilitation[J]. Robotics & Auton-omous Systems, 2014, 73:135-143.
[43] Maeder-York P, Clites T, Boggs E, et al. Biologically inspired soft ro-bot for thumb rehabilitation[J]. Journal of Medical Devices, 2014, 8(2):020934.
[44] Asbeck A T, Dyer R J, Larusson A F, et al. Biologically-inspired soft exosuit[C/OL].[2017-06-30]. http://vigir.missouri.edu/~gdesouza/Re-search/Conference_CDs/IEEE_ICORR_2013/contents/papers/245.pdf.
[45] Sugiyama Y, Hirai S. Crawling and jumping by a deformable robot[J]. International Journal of Robotics Research, 2006, 25(5/6):603-620.
[46] Hawkes E W, Blumenschein L H, Greer J D, et al. A soft robot that navigates its environment through growth[J]. Science Robotics, 2017, 2(8):eaan3028.
[47] Lee C, Park W J, Kim M, et al. Pneumatic-type surgical robot end-ef-fector for laparoscopic surgical-operation-by-wire[J]. BioMedical En-gineering OnLine, 2014, 13(1):130.
[48] Jiang A, Secco E L, Würdemann H, et al. Stiffness-controllable octo-pus-like robot arm for minimally invasive surgery[C]//Joint Workshop on New Technologies for Computer/robot Assisted Surgery. 2013.
[49] Feinberg A W, Feigel A, Shevkoplyas S S, et al. Muscular thin films for building actuators and powering devices.[J]. Science, 2007, 317(5843):1366.
[50] Justus K, Saurabh S, Bruchez M, et al. Integrating synthetic cells and flexible electronics for the control of bio-opto-fluidic materials[J]. Bio-physical Journal, 2014, 106(2):617a-618a.
