用于模拟人类直肠排便过程的仿生环形软体驱动器
Bio-inspired circular soft actuators for simulating defecation process of human rectum
AI总结：
针对直肠排便模拟被忽视的问题，本文设计三种气动环形软体肌肉驱动器并配合仿真粪便开展实验，证明第三类驱动器收缩与产压性能最佳。
摘要：
软体机器人已在医疗领域获得广泛应用，尤其是在康复训练、辅助抓取和人工器官方面。尽管在模拟消化系统各组成部分方面取得了显著进展，但由于社会污名，直肠在很大程度上被忽视。本研究旨在通过开发软体环形肌肉驱动器（CMAs）和直肠模型来复现排便过程，以填补这一空白。直肠和驱动器均采用软体材料制造，以实现无缝集成和附着。我们设计、制造并测试了三种类型的CMA，并将其与仿真结果进行了比较。研究采用气动系统控制驱动器，并使用海藻酸钠和氯化钙合成了模拟粪便。实验结果表明，第三种驱动器在面积收缩和压力产生方面表现出更优的性能。排便过程的成功模拟凸显了这些软体驱动器在生物医学应用中的潜力，为软体机器人领域的进一步研发奠定了基础。
英文摘要：
Soft robots have found extensive applications in the medical field, particularly in rehabilitation exercises, assisted grasping, and artificial organs. Despite significant advancements in simulating various components of the digestive system, the rectum has been largely neglected due to societal stigma. This study seeks to address this gap by developing soft circular muscle actuators (CMAs) and rectum models to replicate the defecation process. Using soft materials, both the rectum and the actuators were fabricated to enable seamless integration and attachment. We designed, fabricated, and tested three types of CMAs and compared them to the simulated results. A pneumatic system was employed to control the actuators, and simulated stool was synthesized using sodium alginate and calcium chloride. Experimental results indicated that the third type of actuator exhibited superior performance in terms of area contraction and pressure generation. The successful simulation of the defecation process highlights the potential of these soft actuators in biomedical applications, providing a foundation for further research and development in the field of soft robotics.
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