通过柔性条带控制软体机器人截面形状，实现薄而宽的可伸展吊带。
Mechanically Programming the Cross-Sectional Shape of Soft Growing Robotic Structures for Patient Transfer
- 用柔性条带约束外膜径向膨胀，机械编程截面形状。
- 实现薄而宽的结构，生长速度与设计参数可预测。
- 适合单人协助卧床到椅位转移，保持全轴灵活性。
气动软体外翻机器人结构因能无滑动摩擦地在人体下方生长，且放气后可作为柔性吊带，具有辅助患者转移的潜力。管状结构充气时自然形成圆形截面，但机器人吊带需既薄以在人体与床面间生长，又宽以承载人体。现有方法通过加入刚性部件实现扁平截面，但降低了贴合性。本文提出一种利用柔性条带约束外膜径向扩张的方法，实现宽而薄的截面，同时保持传统吊带的多轴灵活性。我们建立了几何设计参数与制造参数之间的模型，并实验验证其对生长速率的影响。最后，原型化了一套软体生长式吊带系统，演示了单护理人员完成床到椅转移的应用。
原文摘要 · Abstract (English)
Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures naturally yield circular cross-sections when inflated, whereas a robotic sling must be both thin enough to grow between them and their resting surface and wide enough to cradle the human. Recent works have achieved flattened cross-sections by including rigid components into the structure, but this reduces conformability to the human. We present a method of mechanically programming the cross-section of soft everting robotic structures using flexible strips that constrain radial expansion between points along the outer membrane. Our method enables simultaneously wide and thin profiles while maintaining the full multi-axis flexibility of traditional slings. We develop and validate a model relating the geometric design specifications to the fabrication parameters, and experimentally characterize their effects on growth rate. Finally, we prototype a soft growing robotic sling system and demonstrate its use for assisting a single caregiver in bed-to-chair patient transfer.
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