Synthetic Muscle Electroactive Polymer (EAP) pressure sensing and controlled shape-morphing for robotic grippers
Synthetic Muscle Electroactive Polymer (EAP) pressure sensing and controlled shape-morphing for robotic grippers
复制标题
用于机器人夹具的合成肌肉电活性聚合物 (EAP) 压力传感和受控形状变形
DOI：
10.1117/12.2583295
复制
发表时间：
2021
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;Cheng, Tianyu;Meredith, Margot;Vicars, Peter N.;Rasmussen, Lenore;Zhong, Alexander
Ras Labs生产的Synthetic Muscle™是一种基于电活性聚合物（EAP）的材料和致动器，可在低电压（1.5 V至50 V，电池电量）下可控地收缩和膨胀，感知压力（轻轻触摸到高冲击），并衰减力。机器人传感主要是视觉的，这在接触点之前是有用的。要了解物体是如何被抓住的，需要触觉反馈。通过使用基于软Synthetic Muscle™的EAP垫作为传感器，在第一个接触点产生即时反馈。由于这些垫提供了柔软的、顺应性的界面，因此施加到物体上的力被精细地控制。EAP传感器还可以检测其表面上的压力位置的变化，使得可以通过然后调节抓握强度来检测和防止滑动-由于指尖状EAP垫本身的反馈和柔软性，定向滑动提供了针对可能的滑动的存在的反馈，以用稍微更紧的抓握来控制而没有口吃。这些EAP垫还自然地保持被夹持的物体，从而在不增加所施加的力的情况下改善了刚性夹持器的夹持质量。具有适当涂层和电子器件的EAP被定位为机器人夹具的指尖区域中的压力传感器。压力位置和大小测试成功，灵敏度低至0.05 N。当我们拿着我们的一个传感器时，我们注意到我们认为是一个电子工件，但传感器在我们的手指上拾取心跳脉冲。在同一传感器内，压力范围为0.05 N至约20 N。抓取器的不同接触点沿着传感器的长度感测沿着不同的区域，这可以显示滑动并提供反馈以防止滑动。Synthetic Muscle™也被改装为现成的机器人夹具的致动器系统，并被考虑用于新型仿生夹具设计。人类的抓握是温和而坚定的，具有触觉反馈。我们的EAP形状变形和传感功能的结合，保证了机器人抓手与人类的手一样的控制和触觉传感的潜力。这项工作预计将推动机器人技术的发展，无论是用于农业，医疗手术，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一起工作。
Ras Labs makes Synthetic Muscle™, which are electroactive polymer (EAP) based materials and actuators that controllably contract and expand at low voltage (1.5 V to 50 V, battery levels), sense pressure (gentle touch to high impact), and attenuate force. 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. By using soft Synthetic Muscle™ based EAP pads as the sensors, immediate feedback was generated at the first point of contact. Because these pads provided a soft, compliant interface, the force applied to the object to be finely controlled. The EAP sensor could also detect a change in pressure location on its surface, making it possible to detect and prevent slippage by then adjusting the grip strength – directional glide provided feedback for the presence of possible slippage to control with a slightly tighter grip, without stutter, due to both the feedback and the softness of the fingertip-like EAP pads themselves. These EAP pads also naturally held the gripped object, improving the gripping quality over rigid grippers without an increase in applied force. EAPs with appropriate coatings and electronics were positioned as pressure sensors in the fingertip regions of robotic grippers. Pressure position and magnitude tests were successful, with sensitivity down to 0.05 N. While we were holding one of our sensors, we noticed what we thought was an electronic artifact, but was the sensor picking up the heartbeat pulse in our fingers. The pressure range is from 0.05 N to about 20 N within the same sensor. The different touch points of the gripper sensed different areas along the length of the sensor, which can show glide and provide feedback to prevent slippage. Synthetic Muscle™ was also retrofitted as actuator systems into off-the-shelf robotic grippers and considered in novel biomimetic gripper designs. Human grasp is gentle yet firm, with tactile touch feedback. The combination of our EAP shape-morphing and sensing features promises the potential for robotic grippers with human hand-like control and tactile sensing. This work 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.
基于合成肌肉电活性聚合物 (EAP) 的驱动和传感，适用于假肢和机器人应用
DOI：
10.1117/12.2297660
发表时间：
2018
期刊：
--
影响因子：
--
作者：
Lenore Rasmussen;Simone Rodriguez;M. Bowers;G. Franzini;C. Gentile;G. Ascione;Robert Hitchner;James Taylor;Dan Hoffman;Leon Moy;Patrick S. Mark;Daniel L. Prillaman;Robert Nodarse;Michael J. Menegus;R. Carpenter;Darold Martin;M. Maltese;T. Seacrist;C. Furlong;Payam Razavi;G. Martino
通讯作者：
G. Martino