Ideally, robots may be designed to adapt to different tasks such as heavy lifting and handling delicate objects, in which the requirements in force compliance and position accuracy vary dramatically. While conventional rigid actuators are usually characterized by high precision and large force output, soft actuators are designed to be more compliant and flexible. In this paper, a lobster-inspired bending module with compliant actuation, enhanced torque output, and reconfigurability in assembling is presented. It is also capable of accurate control of its angular position with variable stiffness. Inspired by the anatomic structure of the lobster leg joint, the bending module has antagonistic soft chambers for actuation and rigid shells for structural protection and support. Theoretical models have been developed and their capability of independently adjusting both the bending angle and stiffness has been evaluated through experiments. A control strategy is constructed to realize ...

中文翻译：

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一种适用于兼容机器人应用的龙虾式弯曲模块。

理想情况下，机器人可以设计成适应不同的任务，例如起重和搬运精密物体，其中对力的顺应性和位置精度的要求差异很大。传统的刚性执行器通常具有高精度和大力输出的特点，而软执行器的设计则更具柔顺性和灵活性。在本文中，提出了一种受龙虾启发的弯曲模块，具有柔顺驱动、增强的扭矩输出和组装可重构性。它还能够以可变刚度精确控制其角位置。受龙虾腿关节解剖结构的启发，弯曲模块具有用于驱动的​​拮抗软腔和用于结构保护和支撑的刚性外壳。已经开发了理论模型，并通过实验评估了它们独立调整弯曲角度和刚度的能力。构建控制策略以实现...