基于表面的可调合规 porous-弹性柔软感知操作
Surface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing
AI总结：
本文提出了一种可调合规 porous-弹性柔软感知系统，通过调整晶格密度实现对操作力和灵敏度的自适应调节，用于精细物体操作。
摘要：
对于能够温和、精确地处理各种物体的软机器人平台，存在日益增长的需求。然而，现有的基于表面的操作系统缺乏所需的合规性和触觉反馈，以进行精细的操作。本文介绍了一种集成了感应器的 COmpliant Porous-Elastic Soft Sensing (COPESS)，用于自适应物体操作和局部感知。设计特征是一个可调的晶格层，同时调节机械合规性和感知性能。通过调整晶格几何，可以同时调节刚度和传感器响应，以处理具有不同机械特性的物体。实验表明，通过轻松调整一个参数，即晶格密度，从7%到20%，可以显著改变灵敏度和操作力范围（分别约为-23倍和9倍）。这种方法为创建自适应、传感化的表面提供了蓝图，其中机械和感知属性被共同优化，使被动但可编程的精细操作成为可能。
英文摘要：
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate handling. This work introduces the COmpliant Porous-Elastic Soft Sensing (COPESS) integrated with inductive sensors for adaptive object manipulation and localised sensing. The design features a tunable lattice layer that simultaneously modulates mechanical compliance and sensing performance. By adjusting lattice geometry, both stiffness and sensor response can be tailored to handle objects with varying mechanical properties. Experiments demonstrate that by easily adjusting one parameter, the lattice density, from 7 % to 20 %, it is possible to significantly alter the sensitivity and operational force range (about -23x and 9x, respectively). This approach establishes a blueprint for creating adaptive, sensorized surfaces where mechanical and sensory properties are co-optimized, enabling passive, yet programmable, delicate manipulation.
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。
