Wireless power transfer (WPT) has the significant potential for soft-bodied continuum robots to extend the operational time limitlessly and reduce weight. However, rigid power receiver coils, widely used in WPT, hinder the continuum deformation of the robot, and as a result, the function realization using the continuum deformation (e.g., locomotion) is impaired. Therefore, this article introduces that a soft-bodied continuum robot can be designed by using thin film receiver coils and an inductively coupled wireless powering solution without sacrificing the continuum deformation and locomotion ability. A system is described for powering and controlling a soft robotic caterpillar consisting of nothing more than its continuum structure, actuators, and thin/flexible power receiving coils.

中文翻译：

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带有无线供电形状记忆合金执行器的 Continuum 机器人 Caterpillar

无线电力传输 (WPT) 对软体连续体机器人具有无限延长操作时间和减轻重量的巨大潜力。然而，在 WPT 中广泛使用的刚性电力接收器线圈阻碍了机器人的连续变形，因此，使用连续变形（例如运动）的功能实现受到损害。因此，本文介绍了在不牺牲连续体变形和运动能力的情况下，可以使用薄膜接收线圈和感应耦合无线供电解决方案设计软体连续体机器人。描述了一种用于为软机器人毛毛虫供电和控制的系统，该系统仅由其连续结构、致动器和薄/柔性电力接收线圈组成。