Soft Robotic Manipulators With Variable Stiffness Actuation

具有可变刚度驱动的软机器人操纵器

• 批准号: 2170338
• 金额: --
• 依托单位: University College London
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2019
• 资助国家: 英国
• 起止时间: 2019 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2170338
• 关键词: Soft; Robotic; Manipulators; Variable; Stiffness

In this project, the student aims at exploring material shifting for stiffening mechanisms in soft robotics. This is fundamental science in the multidisciplinary field of soft robotics (which are made of structures using silicone or fabric materials) and combines the engineering fields of material science, control, and robotics. To bridge the gab between soft and traditional rigid robotics, researchers have embedded stiffening mechanisms. Hence, theses soft, stiffness controllable robots have become more complex in their control and larger. This project investigates how to combine the actuation and stiffening chamber and deploy material shifting. The area of application include medical devices for healthcare (e.g., minimally invasive surgery) or growing/self-healing soft robotics.

在这个项目中，学生的目标是探索软机器人中加强机制的材料转移。这是软机器人（由硅树脂或织物材料制成的结构）多学科领域的基础科学，结合了材料科学、控制和机器人技术的工程领域。为了弥合软机器人和传统刚性机器人之间的鸿沟，研究人员嵌入了加强机制。因此，这些柔性、刚度可控的机器人在控制上变得越来越复杂，体积也越来越大。本课题研究了如何将作动和加筋腔结合起来，进行移料部署。应用领域包括医疗保健设备（例如，微创手术）或生长/自我修复软机器人。