新型仿生肌肉可任意塑形，适配复杂环境与运动需求
Patterned Structure Muscle : Arbitrary Shaped Wire-driven Artificial Muscle Utilizing Anisotropic Flexible Structure for Musculoskeletal Robots
- 通过各向异性柔性结构+丝缆驱动，3D打印实现多形态人工肌肉
- 支持单/多自由度、分叉、关节包裹等复杂形状，可承重并适应接触变形
- 适合构建类人肌骨机器人，尤其适用于需灵活适应环境的场景
人体肌肉由肌球蛋白和肌动蛋白细丝构成，可在曲面或平面等多种形态下产生力，并适应环境接触与变形。而现有肌骨机器人中的肌肉难以在类似条件下工作。为此，本文提出一种模式化结构人工肌肉（Patterned Structure Muscle, PSM），采用具有各向异性特性的图案化结构，结合丝缆驱动机制，使用热塑性聚氨酯（TPU）通过熔融沉积成型（FDM）3D打印制造。该方法可实现多种形状的人工肌肉，包括单自由度（1-DOF）、多自由度广域肌肉、关节覆盖型肌肉及分叉肌肉。我们构建了上臂结构，验证其具备大范围运动能力、承载重物以及在环境接触中运动的能力。实验表明，所提PSM可在不同形状与环境中稳定工作，适用于肌骨机器人的肌肉系统。
原文摘要 · Abstract (English)
Muscles of the human body are composed of tiny actuators made up of myosin and actin filaments. They can exert force in various shapes such as curved or flat, under contact forces and deformations from the environment. On the other hand, muscles in musculoskeletal robots so far have faced challenges in generating force in such shapes and environments. To address this issue, we propose Patterned Structure Muscle (PSM), artificial muscles for musculoskeletal robots. PSM utilizes patterned structures with anisotropic characteristics, wire-driven mechanisms, and is made of flexible material Thermoplastic Polyurethane (TPU) using FDM 3D printing. This method enables the creation of various shapes of muscles, such as simple 1 degree-of-freedom (DOF) muscles, Multi-DOF wide area muscles, joint-covering muscles, and branched muscles. We created an upper arm structure using these muscles to demonstrate wide range of motion, lifting heavy objects, and movements through environmental contact. These experiments show that the proposed PSM is capable of operating in various shapes and environments, and is suitable for the muscles of musculoskeletal robots.
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