Flexible Pneumatic Bending Actuator for a Robotic Tongue
Flexible Pneumatic Bending Actuator for a Robotic Tongue
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DOI：
10.20965/jrm.2020.p0894
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发表时间：
2020-10-01
影响因子：
1.1
通讯作者：
Kamamichi, Norihiro
中科院分区：
文献类型：
--
作者：
Endo, Nobutsuna;Kizaki, Yuta;Kamamichi, Norihiro
在计算机模拟器和机械模拟器中，用于人类语音运动的口腔和喉部系统的物理模型并不多。特别是，没有完全再现人类舌头变形运动的机器人舌头机构。人类的舌头是没有骨骼的肌肉的集合体。它只有一个很小的舌骨。针对机械式语音机器人舌头机构的研制，研制了一种无刚性连杆的柔性执行器。我们提出了一种柔性气动弯曲执行器，该执行器使用薄的McKibben肌肉和由硅树脂形成的软体。对其力学特性进行了验证，给出了位移和曲率的控制方法。通过拉伸试验对构成该驱动器软体的有机硅树脂的弹性/柔韧性进行了量化。对振动参数进行了辨识，认为系统的动力学模型可用弹簧-质量-阻尼器系统来描述。在建立弧形变形模型的基础上，构建了弧长和曲率的同时控制系统，并验证了该控制系统的有效性。
There are not many physical models of oral and laryngeal systems for human speech movement in both computer simulators and mechanical simulators. In particular, there is no robot tongue mechanism that completely reproduces the deformation motion of the human tongue. The human tongue is an aggregate of muscles devoid of a skeleton. It only possesses a small hyoid. The purpose of this study is to develop a flexible actuator without a rigid link, aiming at the development of a tongue mechanism for a mechanical speech robot. We propose a flexible pneumatic bending actuator using thin McKibben muscles and a soft body formed by a silicone resin. We have verified its mechanical characteristics and described a control method for displacement and curvature. The elasticity/compliance of the silicone resin forming the soft body of this actuator was quantified by tensile tests. The oscillation parameters were identified, and it is suggested that the dynamic model can be described by a spring-mass-damper system. Assuming an arc-shaped deformation model, a simultaneous control system for the arc length and curvature was constructed and its effectiveness was confirmed.