用可调弹性结构实现软机器人对不同物体的精准柔触操作
Surface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing
- 通过可调晶格结构同步调节机械柔顺性与传感性能
- 改变晶格密度可使灵敏度提升23倍、工作力范围扩大9倍
- 适合需要自适应柔触的工业抓取与医疗操作场景
柔性机器人平台在处理各类物体时亟需兼具柔性和精确感知能力。现有基于表面的操作系统缺乏足够的柔顺性与触觉反馈，难以实现精细操作。本文提出一种集成电感传感器的可调式多孔弹性软传感系统（COPESS），其核心为可调控的晶格层，能同时调节机械柔顺性与传感性能。通过调整晶格密度（7%至20%），可显著改变系统灵敏度（约23倍）和工作力范围（约9倍）。该设计实现了机械与传感特性的协同优化，为构建被动可编程的精密操作表面提供了新范式。
原文摘要 · Abstract (English)
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate handling. This work introduces the COmpliant Porous-Elastic Soft Sensing (COPESS) integrated with inductive sensors for adaptive object manipulation and localised sensing. The design features a tunable lattice layer that simultaneously modulates mechanical compliance and sensing performance. By adjusting lattice geometry, both stiffness and sensor response can be tailored to handle objects with varying mechanical properties. Experiments demonstrate that by easily adjusting one parameter, the lattice density, from 7 % to 20 %, it is possible to significantly alter the sensitivity and operational force range (about -23x and 9x, respectively). This approach establishes a blueprint for creating adaptive, sensorized surfaces where mechanical and sensory properties are co-optimized, enabling passive, yet programmable, delicate manipulation.
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