Smart Robotic Surfaces - Multi-scale Actuation of Topographies for Adaptive Adhesion

智能机器人表面 - 地形的多尺度驱动以实现自适应粘附

• 批准号: RGPIN-2019-06760
• 负责人: Hatton, Benjamin
• 金额: $ 2.04万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=758254
• 关键词: Smart; Robotic; Surfaces; Multi; scale

When an octopus holds an object, it both grips (macroscopically) by wrapping its whole tentacle, but also locally adheres with sucker rings, before reversing that adhesion for release. Or consider the fly that uses reversible adhesion of its feet to land, hold and then quickly detach from surfaces. A wide range of organisms have mechanisms to reversibly change interfacial strength of adhesion, through dynamic, local structural change (of feet, skin, claws), for climbing, gripping/release, frictional control and locomotion. There are few examples of engineered materials with switchable adhesion. But any technological system using contact adhesion, such as robots, conveyors, gloves and medical devices, could be radically changed by the ability to reversibly change the interfacial adhesion strength (or friction) of their surfaces. Conveyors in manufacturing could better manipulate objects, Velcro could be switched on/off, switchable foot pads could enable climbing robots, a `smart' glove could actively tune its grip, or a new generation of medical devices could attach and release from soft tissue in surgery. This proposal aims to develop materials with switchable control and dynamic optimization of adhesion strength through the actuation (movement and positioning) of micrometer and millimeter scale surface topographies (microposts). We have developed `dynamic micropost arrays' (DMA) to control mechanical adhesion to surfaces, using air pressure (pneumatics) or water pressure (hydraulics). The pressure change can deform the microposts to make them expand out or retract in and grip surfaces as a result. Our approach enables this micropost movement to be controlled digitally, to make them `robotic surfaces', as their movement and properties can be programmed. We also plan to control them through sensory feedback, to `feel' their successful or failed adhesion to a surface. We aim to better understand mechanisms of mechanical adhesion through this local control. Sensing will allow an adhesive DMA layer to optimize its overall adhesion strength, and actively respond to an adhesive failure (slipping). Machine learning algorithms will be tested to respond to pressure sensing information. This approach to dynamic adhesion has not been demonstrated before. Potential applications of this approach could be very significant for technologies in robotics and medicine, and we will explore its application to skin adhesion in particular.

当一个章鱼持有一个物体时，它两者都通过包裹整个触手来抓住（宏观上），但也可以在本地用吸盘环粘附，然后再倒入该粘附以释放。或考虑使用脚部可逆粘附到降落，保持并迅速从表面脱落的苍蝇。各种各样的生物具有可逆性地通过动态的局部结构变化（脚，皮肤，爪子），攀爬，抓握/释放，摩擦控制和运动的机制，可以可逆地改变粘附的界面强度。几乎没有可切换粘附的工程材料的例子。但是，使用接触粘附的任何技术系统，例如机器人，输送机，手套和医疗设备，都可以通过可逆地改变其表面的界面粘附强度（或摩擦）的能力来根本改变。制造中的输送机可以更好地操纵物体，可以打开/关闭魔术贴，可切换的脚垫可以使攀岩机器人能够攀登机器人，“智能”手套可以主动调整其握力，或者新一代的医疗设备可以在手术中从软组织中附加和释放。该建议旨在通过千分尺和毫米尺度表面地形（Microstosts）的致动（运动和定位）（微尺度）的致动（运动和定位）来开发具有可切换控制和动态优化的材料。我们使用气压（气动）或水压（液压）开发了“动态​​微板阵列”（DMA），以控制对表面的机械粘附。压力变化会变形微型底座，从而使它们扩展或缩回并抓住表面。我们的方法使这种微端运动可以通过数字方式进行控制，以使其“机器人表面”，因为它们的运动和属性可以进行编程。我们还计划通过感觉反馈来控制它们，以“感觉到”它们成功或失败的表面粘附。我们的目标是通过这种局部控制更好地了解机械粘附的机制。感应将使粘合剂DMA层优化其整体粘附强度，并积极响应粘合剂衰竭（滑动）。机器学习算法将进行测试以响应压力传感信息。这种动态粘附的方法尚未得到证明。这种方法的潜在应用对于机器人技术和医学方面的技术可能非常重要，我们将尤其探索其在皮肤粘附上的应用。