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以章鱼为灵感的感应软臂用于环境交互

Zhexin Xie^1,2, Feiyang Yuan¹, Jiaqi Liu¹

¹School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.

Science robotics

|November 29, 2023

概括

研究人员开发了一种电子集成的软章鱼手臂 (E-SOAM),模仿章鱼运动,用于先进的机器人抓取. 这种生物灵感系统为自主任务提供了增强的传感和遥控功能.

科学领域:

机器人技术机器人技术机器人技术
生物启发工程生物启发工程
软物质物理学软物质物理学

背景情况:

章鱼的手臂利用曲传播来捕捉猎物,为机器人操纵提供了一个模型.
软机器人需要具有综合传感的可变形结构来完成复杂的任务.

研究的目的:

实施电子集成软章鱼手臂 (E-SOAM),灵感来自章鱼运动.
开发一种生物灵感的机器人手臂,能够自主地伸手,感知,抓取和交互.

主要方法:

开发了一个使用曲延伸传播模型进行运动的E-SOAM.
集成的可伸缩,基于液体金属的电子产品用于感应 (曲,吸入,温度) 在手臂的远端.
通过可穿戴的指甲手套与吸收反启用远程控制.

主要成果:

E-SOAM展示了高效的伸手,抓住和撤回动作,长度高达手臂长度的1.5倍.
集成的电子器件承受了相当大的拉伸 (710%单轴,270%双轴).
人类操作员可以远程控制手臂的运动,并在空中和水下进行交互式抓取动作.

结论:

电子SOAM提供了关于章鱼手臂功能和生物灵感自主系统的见解.
这项研究为能够与环境相互作用的可变形机器人推进了可拉伸电子.
该系统为在狭窄或复杂的环境中的人机交互提供了一种新的方法.

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