Control of soft machines using actuators operated by a Braille display.
Control of soft machines using actuators operated by a Braille display.
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DOI：
10.1039/c3lc51083b
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发表时间：
2014-01-07
期刊：
影响因子：
6.1
通讯作者：
Whitesides GM
中科院分区：
文献类型：
--
作者：
Mosadegh B;Mazzeo AD;Shepherd RF;Morin SA;Gupta U;Sani IZ;Lai D;Takayama S;Whitesides GM
一种用于驱动软机器(例如，触手、夹持器和简单步行器)的策略使用弹性材料中的小通道网络的气动充气。尽管控制加压气体的几个气动输入和阀门的管理很简单，但包含许多(>；50)独立阀门的歧管的制造和操作是一个尚未解决的问题。复杂的气动歧管-通常是为单一目的而建造的-不容易重新配置以适应气动系统所需的特定输入(即，多种流体的多路复用、压力范围和流量变化)。本文描述了一种由计算机控制的盲文显示器和微气动装置组成的气动歧管。盲文显示器提供了紧凑的压电致动器阵列，这些致动器可以主动关闭和打开微气动设备的弹性阀，以将加压气体输送到歧管内。微气动装置中阀门和通道的位置和几何形状决定了气动歧管的功能，多层软光刻的使用允许制造具有许多可能功能的各种配置的网络。只需更换不同设计的微气动装置，即可快速重新配置气动歧管。作为原理的证明，气动歧管控制一台包含32个独立致动器的软机器，使球在平面上移动。
One strategy for actuating soft machines (e.g., tentacles, grippers, and simple walkers) uses pneumatic inflation of networks of small channels in an elastomeric material. Although the management of a few pneumatic inputs and valves to control pressurized gas is straightforward, the fabrication and operation of manifolds containing many (>50) independent valves is an unsolved problem. Complex pneumatic manifolds—often built for a single purpose—are not easily reconfigured to accommodate the specific inputs (i.e., multiplexing of many fluids, ranges of pressures, and changes in flow rates) required by pneumatic systems. This paper describes a pneumatic manifold comprising a computer-controlled braille display and a micropneumatic device. The braille display provides a compact array of 64 piezoelectric actuators that actively close and open elastomeric valves of a micropneumatic device to route pressurized gas within the manifold. The positioning and geometries of the valves and channels in the micropneumatic device dictate the functionality of the pneumatic manifold, and the use of multi-layer soft lithography permits the fabrication of networks in a wide range of configurations with many possible functions. Simply exchanging micropneumatic devices of different designs enables rapid reconfiguration of the pneumatic manifold. As a proof of principle, a pneumatic manifold controlled a soft machine containing 32 independent actuators to move a ball above a flat surface.
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影响因子：
6.1
作者：
Tung, Yi-Chung;Torisawa, Yu-Suke;Takayama, Shuichi
通讯作者：
Takayama, Shuichi
DOI：
10.1073/pnas.1116564108
发表时间：
2011-12-20
影响因子：
11.1
作者：
Shepherd, Robert F.;Ilievski, Filip;Whitesides, George M.
通讯作者：
Whitesides, George M.
影响因子：
56.9
作者：
Unger, MA;Chou, HP;Quake, SR
通讯作者：
Quake, SR
影响因子：
19
作者：
Martinez, Ramses V.;Fish, Carina R.;Whitesides, George M.
通讯作者：
Whitesides, George M.
DOI：
10.1088/0960-1317/18/6/067001
发表时间：
2008-06-01
影响因子：
2.3
作者：
Eddings, Mark A.;Johnson, Michael A.;Gale, Bruce K.
通讯作者：
Gale, Bruce K.