NRI: Achieving Selective Kinematics and Stiffness in Flexible Robotics

该研究项目将采用一种称为层流干扰的效果来创建机器人结构，这些结构可以在高度顺应性和近乎刚性之间可控地过渡。精确的位置控制通常需要刚性，而与人类的安全和舒适的交互需要顺应性。例如，在辅助应用中，如帕金森氏病的震颤抑制，需要结合这两种特性。机器人在制造环境中与人类合作也是必要的。层状阻塞结构由多个平行层组成，这些层通常很容易相互滑动。然而，当层状结构被挤压时，层通过摩擦力被锁定在一起。这个项目将推导出在外力作用下层状结构的计算模型，以实现参数化设计和实时控制。层流干扰装置的制造简单而廉价，降低了在商业应用和教育环境中广泛使用的障碍。为了确保成果的传播，参考设计、干扰元件的配置、应用原型以及测试和性能数据将发布在一个流行的软机器人网站上。层流干扰和软机器人的结合开辟了一个全新的机器人设计和行为范围。因为梁的弯曲刚度与其厚度的三次方成正比，所以即使是几个薄板，在卡住时也能产生刚度的显著增加。该项目的目标是定义技术的能力，并推导和验证基本的基本原则。该项目包括三个研究子任务：致动器设计和测试，计算和分析建模，以及关键应用的实现。该项目的成果将为联合收割机提供一套丰富的构建模块，这些模块结合了软机器人和刚性机器人的优点。

This research project will employ an effect called laminar jamming to create robotic structures that controllably transition between highly compliant and nearly rigid. Precise position control typically requires rigidity, while safe and comfortable interactions with humans requires compliance. The need to incorporate both characteristics arises, for example, in assistive applications such as tremor suppression in Parkinson's disease. It is also necessary for robots working collaboratively with humans in manufacturing settings. Laminar jamming structures are composed of multiple parallel layers that ordinarily slide easily over each other. However, when the laminar structure is squeezed the layers become locked together by friction forces. This project will derive computationally tractable models of laminar structures under external forcing, to enable parametric design and real-time control. Fabrication of laminar jamming devices is simple and inexpensive, lowering barriers to widespread use, both in commercial applications and in educational settings. To ensure dissemination of the results, reference designs, configurations of jamming elements, application prototypes, and testing and performance data will be posted on a popular soft robotics website.The combination of laminar jamming and soft robotics opens an entirely new range of robot designs and behaviors. Because the bending stiffness of a beam is proportional to the third power of its thickness, even a few laminae can produce dramatic increases in stiffness when jammed. The goal of this project is to define the capabilities of the technology and derive and validate the fundamental underlying principles. The project consists of three research subtasks: actuator design and testing, computational and analytical modeling, and implementation of key applications. The results of the project will provide a rich set of building blocks for robots that combine the advantageous features of both soft and rigid robots.