通过可定制气腔结构实现柔性机器人精准可控的复杂运动。
Geometry-based pneumatic actuators for soft robotics
- 用数控热封腔体设计约束层，实现可预测变形
- 最小弯曲半径接近零，支持多状态驱动
- 适合可穿戴设备、触觉反馈与软体机器人
柔性气动执行器可实现轻量化、高功率的安全人机交互。然而，在复杂驱动模式方面仍受限于最小弯曲半径、多态能力与结构稳定性。本文提出基于几何的气动执行器（GPAs），通过可配置的数控热封腔体约束层，实现可预测的形变、近乎零的弯曲半径、多态驱动及可定制重复的复杂驱动几何。数学建模验证了线性角度变换与非线性力矩-角度关系。三个应用验证其通用性：49克腕部外骨骼使肌肉活动降低最高51%；30.8克触觉接口提供8牛快速响应力反馈；208克双足机器人实现多步态行走。GPAs为下一代可穿戴机器人、触觉系统和软体运动装置提供了可配置平台。
原文摘要 · Abstract (English)
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii, multi-states capabilities and structural stability. We present geometry-based pneumatic actuators (GPAs), a design and implementation approach that introduces constraint layers with configurable CNC heat-sealed chambers. The approach achieves predictable deformation, near-zero bending radii, multi-states actuation, and enables customizable and repeatable complex actuated geometries. Mathematical modeling reveals predictable linear angle transformations and validates nonlinear torque-angle relationships across diverse configurations. We demonstrate versatility of the GPAs approach through three applications: a 49 g wrist exoskeleton reducing muscle activity by up to 51%, a 30.8 g haptic interface delivering 8 N force feedback with fast response, and a 208 g bipedal robot achieving multi-gait locomotion. GPAs establish a configurable platform for next-generation wearable robotics, haptic systems, and soft locomotion devices.
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