用弹性壳结构实现软机器的机械流体记忆，无需中央计算即可自主响应交互。
Embodying mechano-fluidic memory in soft machines to program behaviors upon interactions
- 利用弹性壳双稳态改变腔内流体特性，实现自振机器的频率切换。
- 通过可弯折软管电路实现长短时记忆，支持遇墙自动转向等行为。
- 纯几何弹性设计让无脑软体机具备类机器人自主能力，适合柔性机器人研究者。
软机器因其本征柔顺性可对外部环境进行形状适应。为在不依赖中央计算的前提下实现更灵敏的交互响应，将记忆功能直接嵌入机器结构至关重要。本文利用弹性壳的双稳态特性，调控封闭腔体内的流体特性，从而在自振移动机器中切换稳定频率状态。为实现交互式编程记忆状态，我们设计了环绕双稳态壳体的流体电路，其软管在外部触碰时发生弯曲与舒展。我们在一款能响应人类用户并检测到墙壁后自动改变方向的软机器上，实现了长期与短期记忆功能。仅通过几何形状与弹性，嵌入式记忆使无中央处理器的物理结构展现出通常需计算机控制的自主行为，拓展了非电子式智能系统的设计边界。
原文摘要 · Abstract (English)
Soft machines display shape adaptation to external circumstances due to their intrinsic compliance. To achieve increasingly more responsive behaviors upon interactions without relying on centralized computation, embodying memory directly in the machines' structure is crucial. Here, we harness the bistability of elastic shells to alter the fluidic properties of an enclosed cavity, thereby switching between stable frequency states of a locomoting self-oscillating machine. To program these memory states upon interactions, we develop fluidic circuits surrounding the bistable shell, with soft tubes that kink and unkink when externally touched. We implement circuits for both long-term and short-term memory in a soft machine that switches behaviors in response to a human user and that autonomously changes direction after detecting a wall. By harnessing only geometry and elasticity, embodying memory allows physical structures without a central brain to exhibit autonomous feats that are typically reserved for computer-based robotic systems.
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