Sensitive and robust electroactive polymer tactile pressure sensors and shape-morphing actuation for robotic grippers
Sensitive and robust electroactive polymer tactile pressure sensors and shape-morphing actuation for robotic grippers
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灵敏且坚固的电活性聚合物触觉压力传感器和机器人夹具的变形驱动
DOI：
10.1117/12.2607779
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Zhong, Alexander
中科院分区：
文献类型：
--
作者：
Briggs, Calum R.;Kaiser, Greg H.;Sporidis, Yanni;Vicars, Peter N.;Rasmussen, Lenore;Bowers, Matthew P.;Dogrucu, Ada;Popovic, Marko;Zhong, Alexander
目前的机器人传感主要是视觉的，这是有用的，直到接触点。为了理解一个物体是如何被抓住的，触觉反馈是必要的。人的抓握温柔而坚定，集成触觉触摸反馈。Ras实验室生产的Synthetic Muscle™是一类基于电活性聚合物（EAP）的材料和执行器，可以感知从轻微触摸到高冲击的压力，在低电压（电池电量）下可控地收缩和膨胀，并衰减力。这种传感技术的发展已经提供了指尖状传感器，能够检测低至0.01 N甚至0.005 N的非常轻的压力，具有宽的压力范围至25 N甚至更高，并且具有高线性度。通过使用这些柔软而坚固的触觉指尖™传感器，在第一个接触点产生即时反馈。因为这些弹性垫提供了一个柔软的兼容界面，第一个接触点不会施加过大的力，允许温和的物体处理和控制施加在物体上的力。触觉指尖还可以检测其表面压力位置的变化，即方向滑动提供实时反馈，从而可以通过调整握力来检测和防止滑动。机器学习（ML）和人工智能（AI）被集成到这些传感器中，用于物体识别，以及确定良好的抓地力（位置、握力、不打滑、不晃动），用于拾取和放置等应用。合成肌肉™也被改装为类似人手的仿生抓手的驱动器。EAP形状变形和传感的结合为具有类似人手控制和触觉传感的机器人抓手提供了潜力。这有望推动机器人技术的发展，无论是农业、医疗外科、治疗或个人护理，还是在人类无法进入的极端环境中，包括无法治愈的传染病，以及协作机器人技术，使人类和机器人能够直观地安全有效地协同工作。
Current robotic sensing is mainly visual, which is useful up until the point of contact. To understand how an object is being gripped, tactile feedback is needed. Human grasp is gentle yet firm, with integrated tactile touch feedback. Ras Labs makes Synthetic Muscle™, which is a class of electroactive polymer (EAP) based materials and actuators that sense pressure from gentle touch to high impact, controllably contract and expand at low voltage (battery levels), and attenuate force. The development of this technology towards sensing has provided for fingertip-like sensors that were able to detect very light pressures down to 0.01 N and even 0.005 N, with a wide pressure range to 25 N and more and with high linearity. By using these soft yet robust Tactile Fingertip™ sensors, immediate feedback was generated at the first point of contact. Because these elastomeric pads provided a soft compliant interface, the first point of contact did not apply excessive force, allowing for gentle object handling and control of the force applied to the object. The Tactile Fingertip could also detect a change in pressure location on its surface, i.e., directional glide provided real time feedback, making it possible to detect and prevent slippage by then adjusting the grip strength. Machine learning (ML) and artificial intelligence (AI) were integrated into these sensors for object identification along with the determination of good grip (position, grip force, no slip, no wobble) for pick-and-place and other applications. Synthetic Muscle™ is also being retrofitted as actuators into a human hand-like biomimetic gripper. The combination of EAP shape-morphing and sensing promises the potential for robotic grippers with human hand-like control and tactile sensing. This is expected to advance robotics, whether it is for agriculture, medical surgery, therapeutic or personal care, or in extreme environments where humans cannot enter, including with contagions that have no cure, as well as for collaborative robotics to allow humans and robots to intuitively work safely and effectively together.
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