Inverse Design Methodology for Patient Specific Soft Robotics
Inverse Design Methodology for Patient Specific Soft Robotics
复制标题
针对特定患者的软机器人的逆向设计方法
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Timothy M. Kowalewski
中科院分区：
文献类型：
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作者：
Mark D. Gilbertson;J. Ven;Timothy M. Kowalewski
提出了一种柔性机器人执行器的逆设计方法。这种方法可以用来创建特定患者的导管机器人的设计，可以实现现有导管方法无法实现的行为。具体来说，给定初始机器人形状（例如，像典型导管一样的管子）和几乎任意的期望最终形状（例如，由患者特定解剖结构决定的弯曲或螺旋形状），实现这种驱动的材料设计是什么？为了完成材料设计，将微分几何和连续介质力学的工具应用于软机器人。提出了一种材料抖动算法，实现了有限弹性材料设计的3D打印。弯曲和螺旋形状被用作案例研究，基于对设计结果的定性审查，得出可信的设计。
We propose a methodology of inverse design for soft robotic actuators. This approach could be used to create designs of patient-specific catheter robots that may achieve behaviors not possible with existing catheter approaches. Specifically, given an initial robot shape (e.g. a tube like a typical catheter) and a nearly arbitrary desired final shape (e.g. a bend or spiral shape as dictated by patient-specific anatomy), what is the material design to realize this actuation? To accomplish a material design tools from differential geometry and continuum mechanics are applied to soft robotics. A material dithering algorithm is proposed to enable 3D printing of designs with a finite set of elastomeric materials. Bending and spiral shapes are used as a case study, resulting in credible designs based on a qualitative review of the design results.