Conformable robotic systems are attractive for applications in which they may actuate structures with large surface areas, provide forces through wearable garments, or enable autonomous robotic systems. We present a new family of soft actuators that we refer to as Fluidic Fabric Muscle Sheets (FFMS). They are composite fabric structures that integrate fluidic transmissions based on arrays of elastic tubes. These sheet-like actuators can strain, squeeze, bend, and conform to hard or soft objects of arbitrary shapes or sizes, including the human body. We show how to design and fabricate FFMS actuators via facile apparel engineering methods, including computerized sewing techniques that determine the stress and strain distributions that can be generated. We present a simple mathematical model that proves effective for predicting their performance. FFMS can operate at frequencies of 5 Hz or more, achieve engineering strains exceeding 100%, and exert forces >115 times their weight. They can be safely used in intimate contact with the human body even when delivering stresses exceeding 10⁶ Pascals. We demonstrate their versatility for actuating a variety of bodies or structures, and in configurations that perform multiaxis actuation, including bending and shape change. As we also show, FFMS can be used to exert forces on body tissues for wearable and biomedical applications. We demonstrate several potential use cases, including a miniature steerable robot, a glove for grasp assistance, garments for applying compression to the extremities, and devices for actuating small body regions or tissues via localized skin stretch.

中文翻译：

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用于可穿戴和柔软机器人的流体织物肌肉片。

合适的机器人系统对于以下应用很有吸引力：在这些应用中，它们可能会驱动具有较大表面积的结构，通过可穿衣服提供作用力或启用自主机器人系统。我们提出了一个新的软执行器系列，我们称之为流体织物肌肉片（FFMS）。它们是复合织物结构，集成了基于弹性管阵列的流体传输。这些片状致动器可变形，挤压，弯曲并适应包括人体在内的任意形状或大小的硬或软物体。我们展示了如何通过便捷的服装工程方法设计和制造FFMS执行器，包括确定可能产生的应力和应变分布的计算机化缝纫技术。我们提供了一个简单的数学模型，该模型可有效预测其性能。FFMS可以在5 Hz或更高的频率下运行，达到超过100％的工程应变，并施加大于其重量115倍的力。即使施加超过10的压力，也可以安全地与人体紧密接触⁶帕斯卡。我们展示了它们在驱动各种物体或结构以及执行多轴驱动（包括弯曲和形状变化）的配置中的多功能性。正如我们还显示的那样，FFMS可用于在可穿戴和生物医学应用的身体组织上施加力。我们演示了几种潜在的用例，包括微型可操纵的机器人，用于抓握辅助的手套，用于对四肢施加压力的服装以及用于通过局部皮肤拉伸来驱动小的身体区域或组织的设备。