Precurved, Fiber-Reinforced Actuators Enable Pneumatically Efficient Replication of Complex Biological Motions
Precurved, Fiber-Reinforced Actuators Enable Pneumatically Efficient Replication of Complex Biological Motions
复制标题
预弯曲纤维增强执行器可实现复杂生物运动的气动高效复制
DOI：
10.1089/soro.2020.0087
复制
发表时间：
2021
期刊：
影响因子：
7.9
通讯作者：
Roche, Ellen T.
中科院分区：
文献类型：
--
作者：
Hu, Lucy;Gau, Dominik;Nixon, James;Klein, Melissa;Fan, Yiling;Menary, Gary;Roche, Ellen T.
许多受生物启发的软体机器人研究都集中在捕捉生物形态和功能的相互作用上。然而，现有的软体机器人执行器大多采用线性或平面制造方向，不能代表复杂生物系统的静止几何形状，例如弯曲的肌肉组织。这项工作介绍了创建具有预弯曲配置的纤维增强执行器的能力。通过调整尺寸和纤维角度等变量，优化算法可以规定机械制造参数，以创建纤维增强致动器，该致动器可以根据所需的输入轨迹产生受控运动。预弯曲配置引入了一个额外的优化参数，即初始弯曲角，这使得算法更准确、更稳健，并且产生的中位数百分比误差小于1%。通过定制的软件工具，我们可以从生物系统（如医学成像）中获取现有的运动数据，并构建优化的软体机器人执行器来复制这些轨迹。我们可以对预弯曲作动器的运动进行解析和数值预测，并在实验中复制运动，三者之间具有良好的轨迹匹配。在构建更好地匹配生物系统中发现的原生形式的致动器时，我们发现预弯曲致动器比它们最初的直致动器更有效。这种气动效率允许使用功率和精度较低的控制系统，降低相关控制硬件的经济成本，同时更准确地复制生物运动。以生物学中的两个例子为例，人类呼吸时的隔膜和水母运动时的钟，我们设计并制造了纤维增强致动器来模拟这些运动。
Much of the research on bioinspired soft robotics has focused on capturing the interplay of biological form and function. However, existing soft robotic actuators are mostly made with linear or planar fabrication orientations that do not represent the resting geometry of complex biological systems, such as curved musculature. This work introduces the ability to create fiber-reinforced actuators with precurved configurations. By tuning variables such as dimensions and fiber angles, an optimization algorithm can prescribe the mechanical fabrication parameters to create a fiber-reinforced actuator that can generate controlled motion to follow a desired input trajectory. Precurved configurations introduce an additional optimization parameter, the initial bend angle, allowing for a more accurate and robust algorithm and generating a median percent error of <1%. With a customized software tool, we can take existing motion data from biological systems—such as medical imaging—and build soft robotic actuators optimized to replicate these trajectories. We can predict the motion of precurved actuators both analytically and numerically and replicate the motion experimentally, with excellent trajectory matching between the three. In constructing actuators that better match the native forms found within biological systems, we find that precurved actuators are more efficient than their initially straight counterparts. This pneumatic efficiency allows for the use of control systems with lower power and precision, lowering the economic cost of the associated control hardware, while more accurately replicating the biological motion. Taking two examples from biology, that of the human diaphragm during respiration and that of a jellyfish bell during locomotion, we design and generate fiber reinforced actuators to mimic these motions.