Xuchun He

Soft arms, characterized by their compliance and adaptability, have gained significant attention in applications ranging from industrial automation to biomedical fields. Modeling these systems presents unique challenges due to their high degrees of freedom, nonlinear behavior, and complex material properties. This review provides a comprehensive overview of three primary modeling approaches: numerical methods, analytical techniques, and data-driven models. Numerical methods, including finite element analysis and multi-body dynamics, offer precise but computationally expensive solutions for simulating soft arm behaviors. Analytical models, rooted in continuum mechanics and simplified assumptions, provide insights into the fundamental principles while balancing computational efficiency. Data-driven approaches, leveraging machine learning and artificial intelligence, open new avenues for adaptive and real-time modeling by bypassing explicit physical formulations. The strengths, limitations, and application scenarios of each approach are systematically analyzed, and future directions for integrating these methodologies are discussed. This review aims to guide researchers in selecting and developing effective modeling strategies for advancing the field of soft robotic arm design and control.

A taste sensor with global selectivity can be used to discriminate taste of foods and provide evaluations. Interfaces that could interact with broad food ingredients are beneficial for data collection. Here, we prepared electrochemically reduced graphene oxide (ERGO)-modified interdigital electrodes. The interfaces of modified electrodes showed good sensitivity towards cooking condiments in mixed multi-ingredients solutions under electrochemical impedance spectroscopy (EIS). A database of EIS of cooking condiments was established. Based on the principal component analysis (PCA), subsets of three taste dimensions were classified, which could distinguish an unknown dish from a standard dish. Further, we demonstrated the effectiveness of the electrodes on a typical dish of scrambled eggs with tomato. Our kind of electronic tongue did not measure the quantitation of each ingredient, instead relying on the database and classification algorithm. This method is facile and offers a universal approach to simultaneously identifying multiple ingredients.