AI 中文总结
研究软机器人可重复可扩展制造问题，核心方法是双组分浇注成型制造软气动致动器及嵌入薄膜柔性传感器，并进行有限元建模和多种实验验证，主要贡献是提供稳健制造程序及相关验证，推动软机器人广泛应用。
AI 中文摘要
软机器人适用于康复和手术等应用，但可重复且可扩展的制造面临挑战。本文介绍了使用双组分浇注成型稳健、可重复和可扩展地制造软气动致动器的程序，防止内腔堵塞并确保气密密封。还介绍了薄膜柔性传感器的稳健嵌入程序，可实现准确且可重复的数据采集。进行了有限元建模、气动驱动实验及自动图像处理校准等，验证了制造的致动器性能。这些方法提供了可重复且稳健的制造程序，经两名操作员和24次成功制造验证，还有基准模拟和实验测试，将促进软机器人更广泛应用。
英文摘要
Soft robots are well-suited for applications such as rehabilitation and surgery that require adaptable and safe interaction with their environment. However, the challenges of reproducible and scalable fabrication of soft robots limit their real-world deployment. Various fabrication methods have been introduced, but many are labor-intensive and prone to human error. Therefore, traditional two-part pour casting remains an attractive option. This paper presents procedures for robust, repeatable, and scalable fabrication of soft pneumatic actuators using two-part pour casting. The presented methods prevent internal cavity clogging and ensure air-tight sealing. Additionally, a robust sensor embedding procedure for thin-film flex sensors is presented, which allows for accurate and repeatable data acquisition. Finite Element Modeling (FEM) of the soft actuator is performed to analyze stress and deformation from internal pressure loadings. Pneumatic actuation experiments with PID pressure control are performed. Automated image processing is used to calibrate the embedded flex sensor to bending angle measurements. Staircase and sinusoidal profile actuation experiments validate the performance of the fabricated actuator. Angle response experiments for the staircase input show repeatable performance, and the sinusoidal input shows a small amount of hysteresis consistent with viscoelastic response to pneumatic actuation of soft actuators. Simulated and real-world bending angles show comparable response. These methods provide a repeatable and robust fabrication procedure, validated across two operators and 24 successful fabrications, along with benchmark simulations and experimental testing. These benchmarks will enable more widespread adoption of soft robotics.
Comments8 pages, 17 figures, to be published in: IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob 2026)
