软机器人用的可自感知多稳态材料，3D打印实现
Proprioceptive multistable mechanical metamaterial via soft capacitive sensors
- 用柔性电容传感器嵌入多稳态结构，实现状态自感知
- 传感器电容变化可捕捉材料非线性变形与状态切换
- 适合软体机器人、可穿戴设备等需要形变反馈场景
从软机器向软机器人发展必须融合软电子与传感器，以在保持柔韧性的同时建立反馈控制系统。多稳态机械超材料是软机器的理想构件，因其非线性响应可通过设计调控实现多种功能。本文将软电容传感器集成于多稳态机械超材料中，实现对状态变化的本体感知。该超材料由4个双稳态单元周期排列构成，每个单元内嵌电容传感器。元结构与传感器均采用软材料（TPU）并3D打印。初步结果表明，传感器电容变化可关联到超材料的状态转换，通过捕捉非线性形变实现感知。
原文摘要 · Abstract (English)
The technological transition from soft machines to soft robots necessarily passes through the integration of soft electronics and sensors. This allows for the establishment of feedback control systems while preserving the softness of the robot embodiment. Multistable mechanical metamaterials are excellent building blocks of soft machines, as their nonlinear response can be tuned by design to accomplish several functions. In this work, we present the integration of soft capacitive sensors in a multistable mechanical metamaterial, to enable proprioceptive sensing of state changes. The metamaterial is a periodic arrangement of 4 bistable unit cells. Each unit cell has an integrated capacitive sensor. Both the metastructure and the sensors are made of soft materials (TPU) and are 3D printed. Our preliminary results show that the capacitance variation of the sensors can be linked to state transitions of the metamaterial, by capturing the nonlinear deformation.
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