可重构负泊松比结构让机器人表面自适应抓握，变形更灵活。
Reconfigurable Auxetic Devices (RADs) for Robotic Surface Manipulation
- 用可调锁止或伺服电机控制负泊松比晶格，实现局部伸缩变化。
- 通过单元间间隙实现局部膨胀，实验验证表面贴合度提升。
- 适合需要自适应接触的机器人操作场景，如柔性抓取。
传统机器人表面使用正泊松比材料进行推拉操作。负泊松比的辅助材料在拉伸时会多向扩展，可形成贴合界面。本文展示了一种用于机器人表面操作的可重构负泊松比晶格。通过可重构锁止机制或嵌入式伺服电机，对负泊松比晶格结构进行欠驱动控制。单元间存在间隙，使局部晶格区域可实现可变膨胀。通过量化指标展示了可变表面贴合性的实现。实验结果与简化模型一致，该模型采用激活函数模拟单元间耦合及间隙效应。可重构负泊松比结构实现了表面的可变收缩与扩张，相较于以往研究，在保持间隙弹性的同时提升了顺应性，为表面操作任务开辟了自适应机器人结构的新路径。
原文摘要 · Abstract (English)
Robotic surfaces traditionally use materials with a positive Poisson's ratio to push and pull on a manipulation interface. Auxetic materials with a negative Poisson's ratio may expand in multiple directions when stretched and enable conformable interfaces. Here we demonstrate reconfigurable auxetic lattices for robotic surface manipulation. Our approach enables shape control through reconfigurable locking or embedded servos that underactuate an auxetic lattice structure. Variable expansion of local lattice areas is enabled by backlash between unit cells. Demonstrations of variable surface conformity are presented with characterization metrics. Experimental results are validated against a simplified model of the system, which uses an activation function to model intercell coupling with backlash. Reconfigurable auxetic structures are shown to achieve manipulation via variable surface contraction and expansion. This structure maintains compliance with backlash in contrast with previous work on auxetics, opening new opportunities in adaptive robotic structures for surface manipulation tasks.
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