KnitSkin: Machine-Knitted Scaled Skin for Locomotion
KnitSkin: Machine-Knitted Scaled Skin for Locomotion
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DOI：
10.1145/3491102.3502142
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发表时间：
2022-04
期刊：
影响因子：
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通讯作者：
Jin Hee Kim;Shreyas Patil;Sarina Matson;Melissa Conroy;H. Kao
中科院分区：
文献类型：
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作者：
Jin Hee Kim;Shreyas Patil;Sarina Matson;Melissa Conroy;H. Kao
我们推出了KnitSkin，这是一种受生物启发的套筒，可以穿越各种圆柱形地形，从可穿戴规模的用户前臂，到环境规模的管道和树枝。套筒由机器编织的衬底制成，构成了呈现各向异性摩擦的针织鳞片的阶梯阵列。与套筒中的致动器延伸相结合，标尺可以在具有不同坡度、纹理和曲率的圆柱面上进行有效的定向运动。KnitSkin的衬底的特点是其几何和材料可以微调的鳞片，以及可以容纳不同执行器的通道。我们介绍了KnitSkin的设计元素，其中我们描述了一系列衬底参数及其产生的各向异性行为。在评估运动性时，我们检查与表面和致动器特性相关的变量。KnitSkin在不同的规模上获得了不同的应用，包括可穿戴接口、工业管道监控，以及农业机器人。
We present KnitSkin, a bio-inspired sleeve that can traverse diverse cylindrical terrains, ranging from a user’s forearm at a wearable scale, to pipes and tree branches at an environmental scale. Fabricated with a machine knitted substrate, the sleeve configures a stepped array of knitted scales that exhibit anisotropic friction. Coupled with the extension of actuators enclosed in the sleeve, the scales enable effective directional locomotion on cylindrical surfaces with varying slopes, textures, and curvatures. KnitSkin’s substrates are characterized by scales whose geometries and materials can be fine-tuned and channels that can accommodate diverse actuators. We introduce the design elements of KnitSkin in which we characterize a series of substrate parameters and their resulting anisotropic behaviors. In evaluating the locomotion, we examine the variables associated with the surface and actuator characteristics. KnitSkin obtains diverse applications across different scales, including wearable interfaces, industrial pipe-monitoring, to agricultural robots.