通过调控Q值实现多机器人无线供能独立控制，突破了系统可扩展性瓶颈。
Performance Characterization of Frequency-Selective Wireless Power Transfer Toward Scalable Untethered Magnetic Actuation
- 基于Q因子与频带分配关系，设计可独立激活的谐振网络
- 实测3个厘米级执行器在734–855kHz间无串扰精准触发
- 为高密度无线磁驱动提供可量化的工程设计指南
频率选择性无线供电为在同一工作空间内独立操控多个无缆机器人提供了可行路径；然而其可扩展性尚未量化，尤其缺乏在给定频带内可可靠区分的谐振器最大数量。为此，我们建立了谐振器品质因数（Q因子）与固定射频（RF）频谱中可独立地址的电感-电容（LC）谐振能量收集器数量之间的关系，并将选择性激发的能量转化为机械运动。理论证明并实验验证了可扩展性主要取决于Q因子。本概念验证研究中，定义有效串联电阻作为频率分配带宽的函数以分配给离散执行器。给出了基于Q因子优化的无缆磁驱动扩展设计方程。分析了覆盖100kHz至1MHz带宽的谐振器网络，量化了增加谐振器数量对独立可寻址性的影响。实验上制备了三个厘米级无缆执行器，在734kHz、785kHz和855kHz分别触发机械梁运动。还表征了各执行器产生的机械力及激活带宽，确认无非预期串扰发生。
原文摘要 · Abstract (English)
Frequency-selective wireless power transfer provides a feasible route to enable independent actuation and control of multiple untethered robots in a common workspace; however, the scalability remains unquantified, particularly the maximum number of resonators that can be reliably addressed within a given frequency bandwidth. To address this, we formulate the relationship between resonator quality factor (Q-factor) and the number of individually addressable inductor-capacitor (LC) resonant energy harvesters within a fixed radio-frequency (RF) spectrum, and we convert selectively activated harvested energy into mechanical motion. We theoretically proved and experimentally demonstrated that scalability depends primarily on the Q-factor. For this proof-of-concept study, we define effective series resistance as a function of frequency allocating bandwidths to discrete actuators. We provide design equations for scaling untethered magnetic actuation with Q-factor optimization. Resonator networks spanning bandwidths from 100kHz to 1MHz were analyzed to quantify how increasing the number of resonators affects independent addressability. We validated the approach experimentally by fabricating three centimeter-scale untethered actuators that selectively trigger the motion of mechanical beams at 734kHz, 785kHz, and 855kHz. We also characterized the generated mechanical force and the activation bandwidth of each actuator, confirming that no unintended cross-triggering occurred.
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