发表机构
Osaka University（大阪大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出带纽扣固定约束模块的可重构织物气动执行器，可快速切换四种驱动模式，搭配可附着电容式触觉传感器，构建的软机械臂可原位重构运动以实现抓取，提升了软机器人功能适应性。
AI 中文摘要
软气动执行器广泛应用于软机器人领域，但它们的驱动模式通常由内部腔室设计或加强结构固定，导致制造后难以重新配置。本文提出一种基于可重构织物的气动执行器，通过将约束织物模块附着于带纽扣的纺织套筒，实现多驱动模式间的快速、无需工具且可重复切换。通过在单个执行器主体上重新布置低拉伸约束部件，该系统无需重新设计或拆卸即可实现各向同性膨胀、收缩、弯曲和扭转四种驱动模式。我们进一步引入可附着的基于织物的电容式触觉传感器模块，该模块可安装在执行器表面的任意位置，以实现任务相关的接触感知。实验表明，在24 kPa压力下，执行器的伸长率为1.2，最大弯曲角度约为60度，扭转角度约为90度，且所有模式下的阻塞力均超过10 N。触觉传感器表现出单调的、与力相关的电容增加，滞后低（约12%），且在预载荷下具有稳定的循环响应。最后，我们构建了由多个执行器组成的软机械臂，并通过改变附着的约束模式展示了用于抓取的原位运动重构。这些结果表明，所提出的模块化约束与感知框架在保持简单、坚固的执行器结构的同时，提高了基于织物的软机器人的功能适应性。
英文摘要
Soft pneumatic actuators are widely used in soft robotics. However, their actuation modes are typically fixed by internal chamber designs or reinforcements, making post fabrication reconfiguration difficult. This paper presents a reconfigurable fabric-based pneumatic actuator that enables rapid, tool free, and reusable switching among multiple actuation modes by attaching constraint fabric modules to a buttoned textile sleeve. By rearranging low-stretch constraint parts on a single actuator body, the proposed system realizes four actuation modes isotropic expansion, contraction, bending, and twisting without redesigning or disassembling the actuator.We further introduce an attachable capacitive fabric-based tactile sensor module that can be mounted at arbitrary locations on the actuator surface for task dependent contact sensing. Experiments demonstrated an elongation ratio of 1.2, a maximum bending angle of approximately 60 degrees, and a twisting angle of approximately 90 degrees at 24 kPa, while achieving blocking forces exceeding 10 N across all modes. The tactile sensor exhibited a monotonic, force-dependent increase in capacitance with low hysteresis (approximately 12%) and stable cyclic responses under preload. Finally, we constructed soft robotic arms composed of multiple actuators and demonstrated in situ motion reconfiguration for grasping by changing the attached constraint patterns. These results indicate that the proposed modular constraint and sensing framework improves the functional adaptability of fabric-based soft robots while preserving a simple, robust actuator structure.
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