Development a 3-D sensation haptic device based on function material mechanism design loop

开发基于功能材料机制设计循环的3D感觉触觉装置

• 批准号: 21J13536
• 负责人: 張 裴之
• 金额: $ 0.96万
• 依托单位: Waseda University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for JSPS Fellows
• 财政年份: 2021
• 资助国家: 日本
• 起止时间: 2021-04-28 至 2023-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-21J13536/
• 关键词: Soft robotics; Haptic device; Functional materials; Smart materials; Magnetic field; VR; Multiphysics modeling

This year I visited and collaborated with the Oxford Robotics Institute at the University of Oxford. And we developed a soft proportional valve and valve array with MRE, which is a key component for soft robot and haptic device applications. By introducing a cooling system, the overheating problem can be solved, and the device's work time can be increased. The related results have been published in [Advanced Intelligent Systems (IF 7.298)]. And another related research is preparing to be published in [Soft robotics (IF 7.784)]. For PME, we attempted to apply it as a soft pump, another crucial component for soft robots and haptic devices. Inspired by human calf muscle, we developed a module pump, which can combine freely for increased the flowrate. The achievement has been presented in AIM 2022. Last year, we developed an MRF actuator and investigated the relationship between force/deformation by material and magnetic field. The achievement has been published in IEEE/ASME Transactions on Mechatronics (IF. 5.86).And our research last year also received recognition from the world robot community. Our research on the MRE suction cup won the 2021 IEEE RAL Best Paper Award. Research on haptic devices won the 2022 IEEE International Conference on Robotics and Automation Outstanding Mechanisms and Design Paper Award-Finalist, and IEEE Robotics and Automation Society Japan Joint Chapter Young Award.

今年我参观了牛津大学的牛津机器人研究所并与之合作。我们利用 MRE 开发了软比例阀和阀阵列，这是软机器人和触觉设备应用的关键组件。通过引入冷却系统，可以解决过热问题，并可以增加设备的工作时间。相关成果发表在【Advanced Intelligence Systems (IF 7.298)】上。另一项相关研究正准备发表在[Soft robots (IF 7.784)]上。对于 PME，我们尝试将其用作软泵，这是软机器人和触觉设备的另一个关键组件。受人体小腿肌肉的启发，我们开发了一款模块泵，可以自由组合以增加流量。该成果已在 AIM 2022 上展示。去年，我们开发了一种 MRF 执行器，并研究了材料与磁场产生的力/变形之间的关系。该成果已发表在IEEE/ASME Transactions on Mechatronics（IF.5.86）上。而我们去年的研究也得到了世界机器人界的认可。我们对 MRE 吸盘的研究荣获 2021 年 IEEE RAL 最佳论文奖。触觉设备研究荣获2022年IEEE国际机器人与自动化会议杰出机构与设计论文奖-决赛入围奖、IEEE机器人与自动化学会日本联合分会青年奖。

项目成果

EPM?MRE: Electropermanent Magnet?Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping

EPM？MRE：电永磁体？用于软驱动系统的磁流变弹性体及其在机器人抓取中的应用

• DOI: 10.1109/lra.2021.3100939
• 发表时间: 2021
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Peizhi Zhang;Mitsuhiro Kamezaki;Zhuoyi He;Hiroyuki Sakamoto;Shigeki Sugano
• 通讯作者: Shigeki Sugano

永久磁石エラストマーを用いた触覚センサを一体化させたソフトロボットスキンの開発

使用永磁弹性体开发带有集成触觉传感器的软机器人皮肤

• 发表时间: 2021
• 作者: Yutaro Shimada;Koji Tokimatsu;桶本まどか，三浦雅展;島田佑太朗，時松宏治，栗島英明;シェムベカールサヒル，王啓臣，亀﨑允啓，張裴之，岩本悠宏，井門康司，菅野重樹
• 通讯作者: シェムベカールサヒル，王啓臣，亀﨑允啓，張裴之，岩本悠宏，井門康司，菅野重樹

Awards and Finalists

奖项和决赛入围者

A Magnetorheological Elastomer‐Based Proportional Valve for Soft Pneumatic Actuators

用于软气动执行器的基于磁流变弹性体的比例阀

• DOI: 10.1002/aisy.202200238
• 发表时间: 2022
• 期刊: Advanced Intelligent Systems
• 影响因子: 7.4
• 作者: Wang Sihan;He Liang;Albini Alessandro;Zhang Peizhi;Maiolino Perla
• 通讯作者: Maiolino Perla

Proposal of a Control Strategy Using Fuzzy Logic and Support Vector Classifier for MR Fluid Actuator with Variable Impedance Mechanism

提出一种使用模糊逻辑和支持向量分类器的可变阻抗磁流变流体执行器的控制策略

• 发表时间: 2023
• 作者: Yushi Wang;Mitsuhiro Kamezaki;Shan He;Ryuichiro Tsunoda;Peizhi Zhang;and Shigeki Sugano
• 通讯作者: and Shigeki Sugano