仿生软驱动器提升上肢外骨骼性能，响应快、力大、易制造。
Novel bio-inspired soft actuators for upper-limb exoskeletons: design, fabrication and feasibility study
- 仿龙虾与扇贝结构设计双驱动器，优化力学性能。
- 实测显示高输出力矩与线性响应，可调弯角范围。
- 适合康复机器人研发者，尤其关注穿戴式驱动器设计。
软体机器人在神经运动功能障碍患者康复中应用日益广泛，但现有技术普遍存在响应慢、活动范围小、输出力弱等问题，且缺乏对可穿戴软驱动器位置与力控的精确研究。本文提出一种上肢外骨骼软驱动器设计新范式，包含两种新型气动驱动器：用于肘部的龙虾仿生硅胶气动机器人（LISPER）和用于肩部的扇贝形气动机器人（SCASPER）。LISPER具备更高带宽、更大输出力/力矩及良好线性特性；SCASPER则具有高输出力矩与简化制造工艺。文中建立了涵盖压力-弯曲角度-输出力关系的解析模型，可依据几何参数调节运动范围与输出性能。初步在假臂上测试验证了其可行性。
原文摘要 · Abstract (English)
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft robotics for rehabilitation applications are characterized by limitations such as slow response times, restricted range of motion, and low output force. There are also limited studies on the precise position and force control of wearable soft actuators. Furthermore, not many studies articulate how bellow-structured actuator designs quantitatively contribute to the robots' capability. This study introduces a paradigm of upper limb soft actuator design. This paradigm comprises two actuators: the Lobster-Inspired Silicone Pneumatic Robot (LISPER) for the elbow and the Scallop-Shaped Pneumatic Robot (SCASPER) for the shoulder. LISPER is characterized by higher bandwidth, increased output force/torque, and high linearity. SCASPER is characterized by high output force/torque and simplified fabrication processes. Comprehensive analytical models that describe the relationship between pressure, bending angles, and output force for both actuators were presented so the geometric configuration of the actuators can be set to modify the range of motion and output forces. The preliminary test on a dummy arm is conducted to test the capability of the actuators.
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