软机器人自穿衣物系统，无需摩擦更安全高效。
Self-Wearing Adaptive Garments via Soft Robotic Unfurling
- 通过展开生长机制自适应贴合人体，避免衣物摩擦。
- 实现多种服装配置的自主穿戴，操作更高效。
- 适合行动不便者，突破传统机械臂限制。
机器人辅助穿衣有望提升行动受限人群的生活质量。现有方案多依赖刚性机械臂，难以处理可变形衣物，且在与人体安全交互方面存在挑战。以往方法耗时长、控制复杂、用户体位受限，实用性差。本文提出新型软机器人穿衣系统——自穿自适应衣物（SWAG），采用展开式部署机制，实现自主穿衣。与传统方法不同，SWAG通过展开方式贴合人体，消除皮肤与衣物间的摩擦，提升穿衣安全性与效率。论文阐述了SWAG的工作原理，介绍了其设计与制造过程，并验证了其在多种服装配置下的穿戴性能，展现出优于传统机器人穿衣方案的潜力。
原文摘要 · Abstract (English)
Robotic dressing assistance has the potential to improve the quality of life for individuals with limited mobility. Existing solutions predominantly rely on rigid robotic manipulators, which have challenges in handling deformable garments and ensuring safe physical interaction with the human body. Prior robotic dressing methods require excessive operation times, complex control strategies, and constrained user postures, limiting their practicality and adaptability. This paper proposes a novel soft robotic dressing system, the Self-Wearing Adaptive Garment (SWAG), which uses an unfurling and growth mechanism to facilitate autonomous dressing. Unlike traditional approaches,the SWAG conforms to the human body through an unfurling based deployment method, eliminating skin-garment friction and enabling a safer and more efficient dressing process. We present the working principles of the SWAG, introduce its design and fabrication, and demonstrate its performance in dressing assistance. The proposed system demonstrates effective garment application across various garment configurations, presenting a promising alternative to conventional robotic dressing assistance.
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