X-Hinges：用于连续和多自由度运动感知的3D打印自传感柔顺机构
X-Hinges: 3D Printing Self-Sensing Compliant Mechanisms for Continuous and Multi-DOF Motion Sensing
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- MIT CSAIL（麻省理工学院计算机科学与人工智能实验室）
- Tianjin University（天津大学）
- Zhejiang University（浙江大学）
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中文总结 AI 辅助
提出X-Hinges方法，利用多材料FDM 3D打印在柔顺机构中嵌入传感元件，实现单次打印下的连续多自由度运动感知，并配套设计工具与应用示例。
中文摘要 AI 辅助
我们提出了X-Hinges，一种基于多材料FDM 3D打印的自传感柔顺机构的设计与制造方法。通过在柔顺体内共打印两种不同电导率的导电细丝，我们在制造过程中直接嵌入电阻式传感元件，无需后期组装，从而在单次打印中实现跨多个自由度的连续运动感知。该结构支持三个自由度，每个自由度配备专用的传感元件配置，用于多自由度运动估计。我们开发了一套精密数据采集系统和数据驱动的回归模型，实现连续、实时的运动感知。我们还引入了一个交互式设计工具，用于定制X-Hinges的几何形状、机械性能、自由度和传感配置。该工具还支持将自传感结构增强到现有3D模型中，赋予普通物体连续的多自由度感知能力。最后，我们展示了一系列应用示例，证明X-Hinges在制造个性化交互界面方面的能力。
英文摘要
We present X-Hinges, a design and fabrication method for self-sensing compliant mechanisms based on multi-material FDM 3D printing. By co-printing two conductive filaments of different conductivities within a compliant body, we embed resistive sensing elements directly during fabrication without post-assembly, enabling continuous motion sensing across multiple degrees of freedom in a single print. The structure supports three degrees of freedom, each equipped with a dedicated sensing element configuration for multi-DOF motion estimation. We develop a precision data acquisition system and data-driven regression models that enable continuous, real-time motion sensing. We also introduce an interactive design tool for customizing the geometry, mechanical properties, degrees of freedom, and sensing configurations of X-Hinges. The tool also supports augmenting existing 3D models with self-sensing structures, endowing ordinary objects with continuous multi-DOF sensing capabilities. Finally, we present a set of application examples demonstrating the capability of X-Hinges for fabricating personalized interactive interfaces.
