NRI-Large: Collaborative Research: Soft Compliant Robotic Augmentation for Human-Robot Teams

该提案解决了实现软机器人系统所需的硬件，控制和规划技术，以提供固有的安全性和适应未来的人机系统。该项目的动机是人机交互的广泛方面，包括用于安全顺应操作的软增强工具，用于神经肌肉疾病康复的软外骨骼，或可适应任意表面的主动夹紧系统。提出的研究将解决在设计具有姿态不变和形状不变抓取能力的柔性机器人时出现的算法和设备级挑战。建模、控制、规划和适应的算法解决方案的组合将导致新的软柔性机械手，不需要精确的几何模型来抓取。通过设计柔顺的手指和手，掌握规划和操作的新方法将成为可能。一个新的组合驱动系统和支持的规划和控制算法与自然肌肉的启发特征将被开发。更广泛的影响：软机器人本身成本低。负担得起的软操纵器将使老年人或残疾人的家庭助手成为可能，但这些机器人必须能够像人类一样轻松地操纵自然世界。下一代机械手还将支持工厂自动化的新水平，机器人将与人类协同工作，最终目标是降低美国制造业的成本。所提出的软设备将为柔性机器人平台的辅助和康复使用提供一种新的方法。它们的功能兼容特性将使它们能够与人类并肩工作或作为人类身体的一部分，以增强和提高人类的生产力和表现。这种新的可穿戴软机器人技术不仅可以帮助工人完成任务，还可以提高许多人的生活质量。此外，pi有一个悠久的传统，通过提供从高中教师和学生到本科生和研究生以及博士后的各级研究培训，将研究和教育结合起来。计划开展一系列活动，向本科生、高中社区、妇女和少数民族伸出援手。

This proposal addresses the hardware, control and planning technologies required to achieve soft robotic systems, in order to offer inherent safety and adaptation to the human-machine systems of the future. The project is motivated by a broad range of aspects of human-robot interaction, including soft augmentation tools for safe compliant manipulation, soft exoskeletons for rehabilitation of neuromuscular disorders, or active clamping systems that can conform to arbitrary surfaces. The proposed research will address the algorithmic and device-level challenges that arise in the design of soft compliant robots capable of pose-invariant and shape-invariant grasping. A combination of algorithmic solutions to modeling, control, planning, and adaptation will lead to new soft compliant manipulators that do not need accurate geometric models for grasping. By designing soft compliant fingers and hands, new approaches to grasp planning and manipulation will be enabled. A novel composable actuation system and supporting planning and control algorithms with features inspired by natural muscle will be developed.Broader Impacts: Soft robots are inherently low-cost. Affordable soft manipulators will enable in-home assistants for the elderly or incapacitated, but these robots must be able to manipulate the natural world as easily as people do. The next generation robot manipulators will also support new levels of factory automation, in which robots will work synergistically with humans with the ultimate goal of reducing the cost of manufacturing in the USA. The proposed soft devices will provide a new approach to assistive and rehabilitative usage of compliant robotic platforms. Their functional compliant properties will enable them to work side-by-side with human beings or as part of their bodies, to augment and improve human productivity and performance. This new wearable soft robotic technology will not only help workers perform tasks, but also improve the quality of life for many people. In addition, the PIs have a long tradition of integrating research and education by providing research training at all levels, from high-school teachers and students to undergraduate and graduate students, and postdocs. A range of activities to reach out to undergraduate students, high-school communities, women and minorities is planned.