受象鼻启发的连续柔性机械臂，实现自然抓握与环境适应。
Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk
- 基于非洲象鼻宏观特性设计连续结构，提升柔顺性与仿生性。
- 85厘米长、分层编织的3D打印机械臂，可抓握多种形状物体。
- 适合人机协作场景，为仿生机器人提供新设计思路。
象鼻是一种灵活多变的操纵器，其性能在机器人领域仍难以超越。以往研究侧重模块化，构建了相对小型的连续机器人。本文以非洲象（Loxodonta africana）的天然象鼻为原型，提出一种强调结构连续性与自然频率的设计方法，更真实地模拟自然象鼻的特性，同时具备对环境和人类的高适应性。不追求预设行为，而是通过仿生设计实现类象鼻运动与抓取能力。我们采用3D打印技术制造出一根85厘米长、柔顺、锥形且体积分块的连续机械臂，结合腱驱动执行机构，模拟自然象鼻的纵向与斜向肌肉。实验展示了该机械臂对不同形状与尺寸物体的全身抓握能力，并对比分析了生物象鼻与机器人系统在结构与功能上的异同。
原文摘要 · Abstract (English)
The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-scale continuum robots were built. We take the natural proboscis of the Loxodonta africana species as a model and propose a different design approach which favors structural continuity and natural frequency that plausibly emulate those of the natural trunk, while conferring high adaptability to the environment and humans. Instead of targeting prescribed behaviors, we show that a biomimetic design based on the macroscopic properties of the natural system enables elephant-like movements and grasping. We build by 3D printing an 85 cm long, compliant, tapered, volumetrically tessellated continuum arm, which is combined with tendon-driven actuation mimicking the longitudinal and oblique muscles of the natural model. We demonstrate whole-body grasping of objects having different shapes and dimensions and discuss a comparison to the biological trunk highlighting aspects of both biology and robotics.
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