通过温度调控，柔性手指可在5秒内切换弯曲、扭转和伸展三种运动模式。
Temperature Driven Multi-modal/Single-actuated Soft Finger
- 利用温度变化实现单一驱动下的多模态运动切换。
- 运动范围比传统弯曲执行器大50%，重复性达约1毫米。
- 适用于抓取大小、形状、软硬各异的物体，适合复杂场景应用。
软气动手指研究价值高，但多数仅能实现单一运动（如弯曲），且无法在不更换结构的情况下切换模式。本文提出一种新型多模态、单驱动柔性手指，通过改变温度实现三种不同运动模式的切换：弯曲、扭转和伸展，切换时间约为5秒。实验表明，该手指具有约1毫米的重复性，运动范围比标准弯曲执行器大50%。我们建立了纤维增强软执行器的扭转运动解析模型，将输入压力与输出扭转半径关联，并通过实验验证了模型有效性。进一步，基于三个此类执行器构建了一款具备多种抓握模式的软体机械手，可适应并抓取尺寸、形状和刚度差异较大的物体，成功抓取小浆果、大卷状物及易碎豆腐块。
原文摘要 · Abstract (English)
Soft pneumatic fingers are of great research interest. However, their significant potential is limited as most of them can generate only one motion, mostly bending. The conventional design of soft fingers does not allow them to switch to another motion mode. In this paper, we developed a novel multi-modal and single-actuated soft finger where its motion mode is switched by changing the finger's temperature. Our soft finger is capable of switching between three distinctive motion modes: bending, twisting, and extension-in approximately five seconds. We carried out a detailed experimental study of the soft finger and evaluated its repeatability and range of motion. It exhibited repeatability of around one millimeter and a fifty percent larger range of motion than a standard bending actuator. We developed an analytical model for a fiber-reinforced soft actuator for twisting motion. This helped us relate the input pressure to the output twist radius of the twisting motion. This model was validated by experimental verification. Further, a soft robotic gripper with multiple grasp modes was developed using three actuators. This gripper can adapt to and grasp objects of a large range of size, shape, and stiffness. We showcased its grasping capabilities by successfully grasping a small berry, a large roll, and a delicate tofu cube.
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