软磁致动器实现可编程混沌动态，用于真随机数生成与类脑计算
Field-programmable dynamics in a soft magnetic actuator enabling true random number generation and reservoir computing
- 设计可调动态软磁致动器，支持数万次循环无疲劳运行
- 实验证明其能生成真随机数并完成麦金利-玻璃时间序列预测
- 适合软体机器人、人机交互及类脑计算场景应用
复杂甚至混沌的动力学在自然和工程系统中普遍存在，但传统机电系统因担心磨损和控制性问题而回避此类行为。本文展示，在软体机器人中，复杂动力学反而具有优势，可实现超越运动控制的新功能。我们设计并实现了具备可调动态特性的耐久型磁性软致动器，可在数十万次循环中保持稳定，无疲劳迹象。实验验证了该致动器在真随机数生成和随机计算中的应用潜力，并证实软体机器人作为物理储备池，能够完成麦金利-玻璃时间序列预测任务。这些成果表明，探索软体机器人的复杂动力学将拓展其在软计算、人机交互和协作机器人中的应用场景，如仿生眨眼与随机语音调制等。
原文摘要 · Abstract (English)
Complex and even chaotic dynamics, though prevalent in many natural and engineered systems, has been largely avoided in the design of electromechanical systems due to concerns about wear and controlability. Here, we demonstrate that complex dynamics might be particularly advantageous in soft robotics, offering new functionalities beyond motion not easily achievable with traditional actuation methods. We designed and realized resilient magnetic soft actuators capable of operating in a tunable dynamic regime for tens of thousands cycles without fatigue. We experimentally demonstrated the application of these actuators for true random number generation and stochastic computing. {W}e validate soft robots as physical reservoirs capable of performing Mackey--Glass time series prediction. These findings show that exploring the complex dynamics in soft robotics would extend the application scenarios in soft computing, human-robot interaction and collaborative robots as we demonstrate with biomimetic blinking and randomized voice modulation.
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