Smart piezoelectric fabric and its application to control of humanoid robot
Smart piezoelectric fabric and its application to control of humanoid robot
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DOI：
10.1080/00150193.2016.1171982
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发表时间：
2016-05
期刊：
影响因子：
0.8
通讯作者：
Y. Tajitsu
中科院分区：
文献类型：
--
作者：
Y. Tajitsu
利用压电聚乳酸（PLLA）纤维开发了一种用于感应外加应力和应变的压电织物，并利用压电聚乳酸（PLLA）织物定制了具有感应复杂人体运动功能的智能服装。为了提供具有大压电性的高质量PLLA织物，同时满足柔软性、拉伸性和耐磨性的特点，我们首先尝试改善PLLA纤维物理性能的平衡。由于丙烯酸共聚物具有极高的分散性和相容性，我们研究了使用丙烯酸共聚物作为塑料添加剂来改善PLLA纤维的压电性能和力学性能，并进一步优化了PLLA纤维的制备条件以改善其物理性能。为了实现具有感知复杂人体运动能力的压电织物，日本Teijin有限公司联合研究公司利用PLLA纤维生产了具有改善压电性、柔软性、拉伸性和耐磨性的平纹、斜纹和缎纹织物。此外，我们开发了一个原型系统，通过将压电织物拼接在一起获得的智能服装的运动传感检测到人类的运动，并将其与人形机器人的运动连接起来。目前，类人机器人可以复制手臂弯曲和手腕扭曲等简单的动作，但无法复制手臂的复杂动作。
ABSTRACT We have developed a piezoelectric fabric for sensing applied stress and strain using piezoelectric poly-l-lactic acid (PLLA) fibers, and tailored smart clothing having the function of sensing complex human motion using the piezoelectric PLLA fabric. To provide a high-quality PLLA fabric with large piezoelectricity, simultaneously satisfying the characteristics of softness, stretchability, and wearability, we first attempted the to improve the balance of the physical properties of PLLA fibers. We investigated the use of an acrylic copolymer as a plastic additive for improving the piezoelectric and mechanical properties of PLLA fibers, since the acrylic copolymer has extremely high dispersibility and compatibility, and the optimized furthermore the PLLA fiber fabrication conditions to improve the physical properties. To realize a piezoelectric fabric with the ability of sensing complex human motion, plain, twill, and satin weaves with improved the piezoelectricity, softness, stretchability, and wearability were produced using the PLLA fibers by Teijin Limited, Japan, a joint research company. Moreover, we developed a prototype system that allows human movement, detected through the motion sensing of smart clothing obtained by sewing together pieces of piezoelectric fabric, to be linked with that of a humanoid robot. At present, simple procedures such as bending of the arms and twisting of the wrists can be replicated by the humanoid robot but not complex movements of the arms.