I-Corps: Soft Robotic Arms as Human-Compatible Machines

这个I-Corps项目的更广泛的影响/商业潜力是开发柔软的机器人手臂，作为农业收获应用中的人类兼容机器。目前，许多水果和蔬菜都是手工收获的，代表了一个已经很容易接受技术进步的行业中的非自动化领域。通过使用柔软的机器人手臂，农民将能够自动化收获精致水果和蔬菜的过程，而不会造成瘀伤。这些技术的实施可以确保整个作物及时可靠地安全收获。软机器人技术能够在不擦伤的情况下抓取和转移水果和蔬菜，可能会对多个农业行业产生重大影响。I-Corps项目将进一步开发软机器人手臂的技术平台。通过在传统机器人中添加软部件或从根本上设计主要使用软材料的机器人，软机器人设备已展示出有前途的能力，这些能力使许多传统机器人无法实现的独特应用成为可能。受大自然的启发，该项目进一步开发了一种类似血管收缩的微型夹管阀，可实现局部流量控制。使用这种阀门，已经可以构建气动驱动的无系绳软致动器原型，包括软臂和软夹持器，并展示其相对于传统机器人的优势，如灵活性和安全性。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

The broader impact/commercial potential of this I-Corps project is to develop soft robotic arms as human-compatible machines for harvesting applications in the agriculture industry. Currently, many fruits and vegetables are harvested by hand, representing un-automated area in an industry that has readily embraced technical advancements. By using soft robotic arms, farmers will be able to automate the processes of harvesting delicate fruits and vegetables without bruising. The implementation of these technologies can potentially ensure the entire crop is reliably and safely harvested in a timely manner. The soft robotics technology, being able to grip and transfer fruits and vegetables without bruising, can potentially significantly impact several agricultural industries.This I-Corps project will further develop a technology platform of soft robotic arms. By adding soft components in traditional robots or radically designing robots with mostly soft materials, soft robotic devices have demonstrated promising capabilities which have enabled many unique applications not possible with traditional robots. Inspired by nature, this project further develops a vasoconstriction-like micro pinch valve which enables localized flow control. Using this valve, it has been possible to build pneumatically-powered tetherless soft actuator prototypes, including soft arms and soft grippers, and demonstrate their advantages, such as flexibility and safety, over traditional robots. Such a soft robotic arm system is capable of navigating around complex obstacles.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.