论文标题
部分可观测时空混沌系统的无模型预测
A Reconfigurable Hybrid Actuator with Rigid and Soft Components
论文作者
论文摘要
在理论发展和工业应用中，出现了经典的刚性机器人系统，最近受到了挑战，这是由于越来越多的软机器人的出现而挑战，这是由于物理人类机器人相互作用（PHRI）的需求不断增长，例如可穿戴设备，医疗机器人，个人机器人，个人机器人等。甲壳类动物可以通过刚性外部接头的选择性激活来机械地编程其弯曲半径和轴，并由软动力器内部的软动力器启动。 The hybrid actuator was experimentally measured in terms of bending and force tests to demonstrate the utility of this design.最后，提出了一个案例研究，以证明其适应特定对象的几何形状的能力，并预测其在合规性是优先级的情况下的潜在应用。
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot interactions (pHRI), such as wearable devices, medical robots, personal robots, etc. In this paper, we present the design and fabrication of a robust, hybrid bending actuator build from both rigid and soft components inspired by crustaceans, where its bending radius and axis can be mechanically programmed through the selective activation of the rigid exterior joints, actuated by the soft actuators inside. The hybrid actuator was experimentally measured in terms of bending and force tests to demonstrate the utility of this design. Finally, a case study was presented to demonstrate its capacity to adapt to specific objects geometry, anticipating its potential application in situations where compliance is the priority.
