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Precurved, Fiber-Reinforced Actuators Enable Pneumatically Efficient Replication of Complex Biological Motions
Soft Robotics ( IF 7.9 ) Pub Date : 2022-04-19 , DOI: 10.1089/soro.2020.0087
Lucy Hu 1, 2 , Dominik Gau 3 , James Nixon 4 , Melissa Klein 5 , Yiling Fan 5 , Gary Menary 4 , Ellen T Roche 1, 2, 5
Affiliation  

Much of the research on bioinspired soft robotics has focused on capturing the interplay of biological form and function. However, existing soft robotic actuators are mostly made with linear or planar fabrication orientations that do not represent the resting geometry of complex biological systems, such as curved musculature. This work introduces the ability to create fiber-reinforced actuators with precurved configurations. By tuning variables such as dimensions and fiber angles, an optimization algorithm can prescribe the mechanical fabrication parameters to create a fiber-reinforced actuator that can generate controlled motion to follow a desired input trajectory. Precurved configurations introduce an additional optimization parameter, the initial bend angle, allowing for a more accurate and robust algorithm and generating a median percent error of <1%. With a customized software tool, we can take existing motion data from biological systems—such as medical imaging—and build soft robotic actuators optimized to replicate these trajectories. We can predict the motion of precurved actuators both analytically and numerically and replicate the motion experimentally, with excellent trajectory matching between the three. In constructing actuators that better match the native forms found within biological systems, we find that precurved actuators are more efficient than their initially straight counterparts. This pneumatic efficiency allows for the use of control systems with lower power and precision, lowering the economic cost of the associated control hardware, while more accurately replicating the biological motion. Taking two examples from biology, that of the human diaphragm during respiration and that of a jellyfish bell during locomotion, we design and generate fiber reinforced actuators to mimic these motions.

中文翻译:

预弯曲纤维增强执行器可实现复杂生物运动的气动高效复制

许多仿生软机器人研究都集中在捕捉生物形态和功能的相互作用。然而,现有的软机器人执行器大多采用线性或平面制造方向制成,不能代表复杂生物系统的静止几何形状,例如弯曲的肌肉组织。这项工作介绍了创建具有预弯曲配置的纤维增强执行器的能力。通过调整尺寸和纤维角度等变量,优化算法可以规定机械制造参数,以创建纤维增强执行器,该执行器可以生成受控运动以遵循所需的输入轨迹。预弯曲配置引入了一个额外的优化参数,即初始弯曲角度,可实现更准确、更稳健的算法,并产生 <1% 的中值百分比误差。通过定制的软件工具,我们可以从生物系统(例如医学成像)获取现有的运动数据,并构建经过优化以复制这些轨迹的软机器人执行器。我们可以通过分析和数值方式预测预弯曲执行器的运动,并通过实验复制该运动,三者之间具有出色的轨迹匹配。在构建与生物系统中发现的原生形式更好匹配的执行器时,我们发现预弯曲执行器比最初的直线执行器更有效。这种气动效率允许使用具有较低功率和精度的控制系统,降低相关控制硬件的经济成本,同时更准确地复制生物运动。以生物学中的两个例子,即人类呼吸过程中的横膈膜和水母钟运动过程中的例子,我们设计并生成纤维增强执行器来模拟这些运动。
更新日期:2022-04-22
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