论文标题
混合软机器人，结合了软元件
Hybrid Soft Robots Incorporating Soft and Stiff Elements
论文作者
论文摘要
软机器人天生就合规，并且具有实现人类友好且安全的机器人的强大潜力。尽管继续进行研究强调了软机器人的潜力，但它们仍在很大程度上仅限于实验室环境。在这项工作中，受蜘蛛猴的尾巴的启发，我们提出了混合软机器人（HSR）设计。我们详细说明了设计目标和方法，以改善可控的刚度范围并实现独立的刚度和形状控制。我们将曲线参数方法扩展到实验表明，所提出的HSR比以前具有相同物理尺寸的软机器人设计的刚度范围约为100％。此外，我们从经验上绘制了HSR的弯曲形状压力 - 态度，并提供了一个应用示例 - 软机器人抓手 - 以证明刚度和形状变化的脱钩性质。实验结果表明，提出的HSR可以成功地用于需要独立的刚度和形状控制的应用中。
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this work, inspired by spider monkeys' tails, we propose a hybrid soft robot (HSR) design. We detail the design objectives and methodology to improve the controllable stiffness range and achieve independent stiffness and shape control. We extend the curve parametric approach to We experimentally demonstrate that the proposed HSR has about a 100% stiffness range increase than a previous soft robot design with identical physical dimensions. In addition, we empirically map HSR's bending shape-pressure-stiffness and present an application example - a soft robotic gripper - to demonstrate the decoupled nature of stiffness and shape variations. Experimental results show that proposed HSR can be successfully used in applications where independent stiffness and shape control is desired.
