一种多功能、双向、无纤维、具有传感器动觉的植物启发的软夹持器
A Plant-Inspired Multifunctional, Two Way, and Fiberless Soft Gripper with Sensorized Kinaesthesia
摘要：
本文提出了一种新型的无光纤软气动执行器，它可以实现多功能和双向工作，其内置的传感器使其具有自我本体感受能力。该致动器基于采用螺旋压力通道的想法工作。将受控的输入压力施加到这两个通道中引起各种变形和致动。特别地，在单个单元致动器中，施加在通道中的单个压力、不平衡压力和平衡压力分别引起双向弯曲、相反弯曲和伸长。此外，还创建了两个U形微通道，并且通过注入基于凝胶的导电材料，致动器配备有电阻传感器，该电阻传感器响应于从小振荡到大伸长的巨大动态范围。该驱动器作为一种多功能的柔性夹持器具有许多有前途的特点，其嵌入的软传感器使其在实际问题中具有更好的可控性。该致动器的多功能性已通过多次实验测试进行了验证，并且我们也表明它在夹持各种物体方面具有出色的潜力。最后，嵌入式传感器可以区分致动器的主要功能，并且它们还可以扮演独立传感器的角色，以及拉伸，压力或弯曲传感器。
英文摘要：
This work presents a new fiberless soft pneumatic actuator that can work multifunctional and bidirectional, and its embedded sensors give it a self-proprioception ability. This actuator works based on the idea of employing helical pressure channels. Applying the controlled input pressures into these two channels causes a variety of deformations and actuation. In particular, single pressure, imbalanced pressures, and balanced pressures applied in the channels cause bidirectional coilings, opposite bendings, and elongation, respectively, in a single unit actuator. Also, two U-shaped microchannels are created, and by injecting a gel-based conductive material, the actuator is equipped with resistive sensors which are responsive to a vast dynamic range from a small oscillation to a large elongation. This actuator has so many promising features as a multifunctional soft gripper, and its embedded soft sensors enable it to have better controllability in real problems. The multifunctionality of this actuator has been validated with several experimental tests, and also we have shown it has excellent potential in gripping a variety of objects. Finally, the embedded sensors can discriminate the main functions of actuators, and also they can play the role of independent sensors as well like a stretch, pressure, or bending sensors.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
