3D打印螺旋结构嵌入气道，实现软体机器人的分布式传感
Printed helicoids with embedded air channels make sensorized segments for soft continuum robots
- 通过单次打印嵌入气道与传感器，实现螺旋结构软体机器人一体化制造
- 14自由度米级软臂可开环轨迹追踪，抓取物体并检测触觉刚度
- 适用于需要高柔性和分布式感知的大尺寸软体机器人系统
软体机器人能安全适应复杂环境，但因其高度可变形结构，感知与控制仍具挑战。螺旋晶格等结构化软材料具备可调刚度与强度，但因几何稀疏难以集成传感器。本文提出一种在螺旋基软体机器人中嵌入气道的制造方法。采用视觉控制喷射的多材料打印技术，在单次打印中实现与印刷电路板（PCBs）集成，内含微型压力传感器和惯性测量单元（IMUs），用于分布式形变感知。我们表征了四种螺旋设计的力学性能，并验证了传感器对基本形变模式的响应。为证明平台可扩展性，构建并机械评估了一款1米长、14自由度的缆绳驱动软臂，实现开环轨迹跟踪与物体抓取，且通过夹持器传感器实现基于触觉的刚度检测。该方法为大规模软体机器人系统中的传感结构化材料提供了可扩展的制造策略。
原文摘要 · Abstract (English)
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and strength but are challenging to instrument because of their sparse geometry. We introduce a fabrication method for embedding air channels into helicoid-based soft continuum robots. Multi-material segments fabricated via vision-controlled jetting in a single print interface with PCBs housing miniature pressure sensors and IMUs for distributed deformation sensing. We characterize the mechanical properties of four helicoid designs and validate the sensor response to fundamental deformation modes. To demonstrate the platform's scalability, we construct and mechanically evaluate a meter-scale, 14-DoF cable-driven soft arm capable of open-loop trajectory tracking and object grasping, with tactile-based stiffness detection demonstrated using the gripper sensors. This approach establishes a scalable fabrication strategy for sensorized architected materials in large-scale soft robotic systems.
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