Laser Pouch Motors: Selective and Wireless Activation of Soft Actuators by Laser-powered Liquid-to-gas Phase Change
Laser Pouch Motors: Selective and Wireless Activation of Soft Actuators by Laser-powered Liquid-to-gas Phase Change
复制标题
激光袋电机：通过激光驱动的液气相变选择性无线激活软执行器
DOI：
10.1109/lra.2020.2982864
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发表时间：
2020
影响因子：
5.2
通讯作者：
Kawahara Yoshihiro
中科院分区：
文献类型：
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作者：
Hiraki Takefumi;Nakahara Kenichi;Narumi Koya;Niiyama Ryuma;Kida Noriaki;Takamura Naoki;Okamoto Hiroshi;Kawahara Yoshihiro
软体机器人的无系留控制对于在各种非结构化和动态环境中的交互是有吸引力的。然而，软机器人系统目前在多个致动器的无线、选择性和可扩展控制方面受到限制。因此，我们提出了一种通过激光投影无线驱动多个软致动器的方法。在一个平面的薄袋中，少量的低沸点液体可以被激光加热并蒸发，从而使整个身体膨胀。激光投影实现了无线能量供应和目标致动器的选择。此外，低沸点液体用作致动源和激光照射的接收器。因此，我们不需要额外的组件，如电路和电池，以实现多个软致动器的简单和可扩展的实施。我们评估了机械性能，并证明了该系统可以无线控制的机器人手的手指的手势。我们还验证了我们的方法可以激活一组移动的软机器人同时和单独跟踪执行器的位置。我们的方法有助于软机器人系统的可扩展部署，通过消除电力和通信的系绳。
Untethered control of soft-bodied robots is attractive for interactions in a variety of unstructured and dynamic environments. However, soft robotics systems are currently limited in terms of wireless, selective, and scalable control of multiple actuators. Therefore, we propose a method to wirelessly drive multiple soft actuators by laser projection. A small amount of low-boiling-point liquid inside a planar thin pouch can be heated by a laser and evaporated to inflate the whole body. Laser projection enables both wireless energy supply and the selection of target actuators. Further, the low-boiling-point liquid serves as an actuation source and as a receiver of laser irradiation. Thus, we do not need additional components such as electric circuits and batteries to achieve simple and scalable implementation of multiple soft actuators. We evaluated the mechanical properties and demonstrated that the system can wirelessly control the gestures of fingers of a robot hand. We also verified that our method can activate a group of mobile soft robots simultaneously and individually while tracking the actuator positions. Our approach contributes to the scalable deployment of soft robotic systems by removing tethers for power and communication.