通过局部褶皱设计，实现可调软机器人弯曲关节的智能驱动。
Anisotropic Stiffness and Programmable Actuation for Soft Robots Enabled by an Inflated Rotational Joint
- 利用强制局部褶皱降低弯曲方向刚度，实现可设计的各向异性刚性。
- 实验验证模块在大负载下仍保持稳定运动约束，刚度可调范围广。
- 适合需要精准控制和高适应性的软体机器人应用，如连续体机器人。
软机器人以其分布式、非均匀刚性和驱动能力而闻名，能够灵活执行任务。弯曲是软体机器人设计中最基本的运动形式，但如何构建刚度可调、结构牢固且易于制造的软弯曲关节仍是研究难点。本文提出一种基于气动驱动的新型柔性关节模块，通过强制部分褶皱实现特定弯曲平面的控制。该设计显著降低了弯曲方向的结构刚度，最终刚度可通过褶皱与未褶皱区域的比例精确调控。我们建立了模型并进行了实验表征，验证了该模块的刚性特性及其在多种载荷条件下保持运动约束的能力。此外，该模块展示了在软体连续机器人中实现复杂驱动的潜力，并能解耦驱动力与效率对承载能力的影响。该方法为软气动机器人嵌入智能驱动提供了新途径。
原文摘要 · Abstract (English)
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and easy-to-fabricate soft bending joint with tunable properties remains an active problem of research. In this work, we demonstrate an inflatable actuation module for soft robots with a defined bending plane enabled by forced partial wrinkling. This lowers the structural stiffness in the bending direction, with the final stiffness easily designed by the ratio of wrinkled and unwrinkled regions. We present models and experimental characterization showing the stiffness properties of the actuation module, as well as its ability to maintain the kinematic constraint over a large range of loading conditions. We demonstrate the potential for complex actuation in a soft continuum robot and for decoupling actuation force and efficiency from load capacity. The module provides a novel method for embedding intelligent actuation into soft pneumatic robots.
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