用光控软体机器人实现自我调节，无需复杂电子系统。
Feedback Regulated Opto-Mechanical Soft Robotic Actuators
- 通过调节挡板位置构建光机械反馈回路，实现正负反馈控制。
- 光照强度决定能量壁垒，实现多稳态形状变化。
- 适用于自适应软体机器人设计，如爬行与游泳机器人。
自然界生物能将环境刺激转化为感官反馈以调节自身，实现主动适应。但在合成材料系统中实现此类反馈调节机制仍面临重大挑战。研究表明，在响应性材料中实现复杂反馈机制，有望推动无需复杂电子系统的自主智能结构与驱动发展。受生命系统启发，我们提出一种通用原理，用于在光响应材料中设计和构建反馈回路。具体而言，通过设计挡板-执行器机制，将程序化反馈嵌入光机械响应中。仅通过调整挡板相对于入射光束的位置，即可实现正反馈和负反馈。我们展示了将光弯曲条带转变为开关器，其中光照强度决定正反馈下的能量壁垒，实现了多稳态形变。利用负反馈及其相关的稳态特性，我们演示了两种软体机器人：一种可移动的步行者和一种游泳者。此外，我们揭示了光响应材料中反馈机制的普遍性，为自调节机器人材料提供了新视角。
原文摘要 · Abstract (English)
Natural organisms can convert environmental stimuli into sensory feedback to regulate their body and realize active adaptivity. However, realizing such a feedback-regulation mechanism in synthetic material systems remains a grand challenge. It is believed that achieving complex feedback mechanisms in responsive materials will pave the way toward autonomous, intelligent structure and actuation without complex electronics. Inspired by living systems, we report a general principle to design and construct such feedback loops in light-responsive materials. Specifically, we design a baffle-actuator mechanism to incorporate programmed feedback into the opto-mechanical responsiveness. By simply addressing the baffle position with respect to the incident light beam, positive and negative feedback are programmed. We demonstrate the transformation of a light-bending strip into a switcher, where the intensity of light determines the energy barrier under positive feedback, realizing multi-stable shape-morphing. By leveraging the negative feedback and associated homeostasis, we demonstrate two soft robots, i.e., a locomotor and a swimmer. Furthermore, we unveil the ubiquity of feedback in light-responsive materials, which provides new insight into self-regulated robotic matters.
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