Dielectric gel material electrodeformation control method and system

Abstract

The embodiment of the invention provides a dielectric gel material electrodeformation control method and system, and relates to the technical field of flexible mechanical arms. The method comprises the following steps: receiving a detection instruction that a dielectric gel actuator of the flexible manipulator is immersed into a conductive biological solution; a detection signal is applied to the dielectric gel actuator according to the detection instruction, and electrical characteristics of the dielectric gel actuator are obtained; when the electrical characteristics have a preset change, identifying a contact state of the dielectric gel actuator and a target sample; under the condition that the contact state is recognized, a main driving voltage applied to the dielectric gel actuator is adjusted, so that the electrical characteristic is kept at a preset contact state value. According to the dielectric gel material electrodeformation control method and system provided by the invention, the stability and reliability of dielectric gel material electrodeformation control can be remarkably improved.

Description

Technical Field

[0001] This application relates to the field of flexible manipulator technology, and more specifically, to a method and system for controlling the electro-induced deformation of dielectric gel materials applied to flexible manipulators. Background Technology

[0002] In the field of biomedical research, the non-destructive and precise grasping and transfer of biological samples at the micrometer or even submicrometer scale is crucial for achieving high-throughput screening and automated experiments. To this end, the industry has introduced flexible robotic arms based on dielectric gel materials, which achieve gentle sample grasping through electro-deformation. However, when these robotic arms are applied in real-world environments containing conductive biological solutions, their performance faces significant challenges. Under the same voltage, the actual deformation of the gel is significantly less than expected, causing the robotic arm to be unable to stably grasp the target sample, and even resulting in sample slippage during the grasping process.

[0003] Increasing the voltage to compensate for insufficient deformation may trigger liquid electrolysis, localized heat generation, and even irreversible damage to fragile biological samples. Furthermore, the conductivity of biological solutions is not constant, and the interfacial behavior between the dielectric gel and the conductive liquid is extremely complex and dynamic, including factors such as wettability, biomolecule adsorption, and bubble formation. These factors can locally alter the electric field distribution, making the electrical characteristics and mechanical response of the gel difficult to predict and stably control. In addition, long-term immersion and repeated deformation can cause slow swelling and degradation of the gel material itself, leading to cumulative drift in its mechanical and electrical properties. These complex and dynamic changes make it difficult for dielectric gel actuators to accurately maintain a preset contact state in conductive liquid environments, especially when in contact with target samples, severely limiting their widespread application in automated biological manipulation. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a method and system for controlling the electroinduced deformation of dielectric gel materials, aiming to improve the stability and reliability of the electroinduced deformation control of dielectric gel materials.

[0005] In a first aspect, an embodiment of this application provides a method for controlling the electro-induced deformation of a dielectric gel material, comprising: Receive detection commands from the dielectric gel actuator of the flexible manipulator to be immersed in a conductive biological solution; A detection signal is applied to the dielectric gel actuator according to the detection command, and the electrical characteristics of the dielectric gel actuator are obtained; When the electrical characteristics undergo a preset change, the contact state between the dielectric gel actuator and the target sample is identified; Upon detecting the contact state, the main drive voltage applied to the dielectric gel actuator is adjusted to maintain the electrical characteristics at a preset contact state value.

[0006] According to some embodiments of this application, before identifying the contact state between the dielectric gel actuator and the target sample when the electrical characteristics undergo a preset change, the method further includes: Receive the purification command applied by the dielectric gel actuator; The surface of the dielectric gel actuator is vibrated according to the applied purification command to shake off particles attached to the surface of the dielectric gel actuator. Upon receiving a stop and purification command from the dielectric gel actuator, the actuator is controlled to pause vibration for a first preset time.

[0007] According to some embodiments of this application, identifying the contact state between the dielectric gel actuator and the target sample when the electrical characteristics undergo a preset change includes: When the electrical characteristic undergoes a preset change, the electrical characteristic is continuously acquired within a second preset time period to obtain the target electrical characteristic; Based on the target electrical characteristics, the variation range of the target electrical characteristics within the second preset time period is obtained; When the change amplitude is less than a preset threshold, the contact state between the dielectric gel actuator and the target sample is identified.

[0008] According to some embodiments of this application, after adjusting the main drive voltage applied to the dielectric gel actuator to maintain the electrical characteristics at a preset contact state value, the method further includes: The main drive voltage is obtained according to a preset period; The long-term trend of the main driving voltage is obtained based on the main driving voltage. When the long-term trend indicates a cumulative drift in the mechanical response characteristics of the dielectric gel actuator, the preset contact state value is adjusted.

[0009] According to some embodiments of this application, the main drive voltage is obtained according to a preset period; The long-term trend of the main driving voltage is obtained based on the main driving voltage, including: Retrieve multiple time periods within a preset period; The main drive voltage within each time period is statistically processed to obtain statistical voltage values ​​for multiple time periods; By comparing multiple statistical voltage values, the direction and magnitude of change of the statistical voltage values ​​are obtained; When the statistical voltage value exhibits a continuous unidirectional change over the multiple time periods, the long-term trend of the main driving voltage is obtained.

[0010] According to some embodiments of this application, adjusting the preset contact state value includes: The preset contact state value is iteratively adjusted according to the long-term trend of the main driving voltage and the preset step size until the long-term trend is suppressed or reversed.

[0011] According to some embodiments of this application, adjusting the main drive voltage applied to the dielectric gel actuator to maintain the electrical characteristics at a preset contact state value includes: The deviation between the electrical characteristics and the preset contact state value is calculated based on the electrical characteristics and the preset contact state value. The adjustment amount of the main drive voltage is obtained by calculating based on the deviation. The main drive voltage is adjusted according to the adjustment amount so that the electrical characteristics are maintained at the preset contact state value.

[0012] According to some embodiments of this application, the step of calculating the adjustment amount of the main drive voltage based on the deviation includes: The initial adjustment amount is obtained by calculating according to the deviation according to a preset ratio; When the initial adjustment amount is greater than or equal to the first preset adjustment amount, the initial adjustment amount is calculated according to the first preset weight to obtain the adjustment amount of the main drive voltage; When the initial adjustment amount is less than the second preset adjustment amount, the initial adjustment amount is calculated according to the second preset weight to obtain the adjustment amount of the main drive voltage.

[0013] According to some embodiments of this application, it also includes: If the time during which the contact state is not detected is longer than a first preset duration, the amplitude of the detection signal is increased according to a first preset ratio until the contact state is detected or the amplitude threshold of the detection signal is reached.

[0014] Secondly, embodiments of this application provide an electro-deformation control system for dielectric gel materials, used to implement a method for controlling the electro-deformation of dielectric gel materials. The system includes: The receiving module is used to receive the detection command of the dielectric gel actuator of the flexible manipulator being immersed in the conductive biological solution; The acquisition module is used to apply a detection signal to the dielectric gel actuator according to the detection command, and acquire the electrical characteristics of the dielectric gel actuator; The identification module is used to identify the contact state between the dielectric gel actuator and the target sample when the electrical characteristics undergo a preset change; An adjustment module is used to adjust the main drive voltage applied to the dielectric gel actuator when the contact state is detected, so that the electrical characteristics are maintained at a preset contact state value.

[0015] The technical solution according to the embodiments of this application has at least the following beneficial effects: The electro-deformation control method for dielectric gel materials disclosed in this application proposes an innovative solution to the challenges faced by existing dielectric gel flexible manipulators in conductive biological solution environments, such as electric field shunting, complex interface behavior, and material property drift. This method receives a detection command, applies a detection signal to the dielectric gel actuator, and acquires its electrical characteristics. When the electrical characteristics undergo a preset change, the contact state between the dielectric gel actuator and the target sample is identified. More importantly, after identifying the contact state, this method can dynamically adjust the main driving voltage applied to the dielectric gel actuator to maintain the electrical characteristics at the preset contact state value.

[0016] Through the above technical solution, this application effectively solves the problems of insufficient deformation and unstable gripping in existing dielectric gel actuators in conductive liquids. Specifically, by real-time monitoring of electrical characteristics and feedback control, this method can dynamically compensate for the electric field shunting effect caused by the conductive biological solution, ensuring that the applied voltage can be effectively converted into an electric field force to drive gel deformation, thereby maintaining the expected deformation. Furthermore, this method can adapt to the complex dynamic interfacial behavior between the dielectric gel and the conductive liquid, as well as the mechanical and electrical property drift caused by the slow swelling and degradation of the gel material itself. By continuously adjusting the main driving voltage, the dielectric gel actuator can always accurately maintain the preset contact state. This avoids the liquid electrolysis, localized heat generation, and irreversible damage to fragile biological samples that may be caused by blindly increasing the voltage to compensate for insufficient deformation. Therefore, this application significantly improves the stability and reliability of flexible manipulators in the non-destructive and precise gripping and transfer of micron-sized and even submicron-sized biological samples in biomedical operations, overcoming the difficulties of unpredictable and stable control in existing technologies, and has significant practical value and technological advancement.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0019] Figure 1 This is a schematic flowchart of a method for controlling the electro-induced deformation of dielectric gel materials according to an embodiment of this application; Figure 2 This is a schematic diagram of the process before identifying the contact state between the dielectric gel actuator and the target sample, as provided in one embodiment of this application. Figure 3 This is a schematic diagram of a process for identifying the contact state between a dielectric gel actuator and a target sample, provided in one embodiment of this application. Figure 4 This is a schematic diagram of a process for maintaining an electrical feature at a preset contact state value, provided as an embodiment of this application. Figure 5 This is a flowchart illustrating the process of obtaining the long-term trend of the main drive voltage based on the main drive voltage, according to one embodiment of this application. Figure 6 This is a schematic diagram of a process for adjusting a preset contact state value according to one embodiment of this application; Figure 7 This is a schematic diagram illustrating the process of maintaining an electrical feature at a preset contact state value according to one embodiment of the present application. Figure 8 This is a schematic diagram of a process for obtaining the adjustment amount of the main drive voltage according to one embodiment of this application; Figure 9 This is a schematic diagram illustrating the process of identifying a contact state or reaching a threshold value of the detection signal, provided in one embodiment of this application. Figure 10 This is a schematic diagram of an electrodeformation control system for a dielectric gel material provided in one embodiment of this application.

[0020] Figure label: 1000, Electrodeformation control system for dielectric gel materials; 1010, Receiving module; 1020, Acquisition module; 1030. Identification module; 1040. Adjustment module. Detailed Implementation

[0021] To make the objectives, technical methods, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0024] Based on the above, this application proposes a method and system for controlling the electro-induced deformation of dielectric gel materials, aiming to improve the efficiency and accuracy of internet product promotion and optimize user experience.

[0025] See Figure 1 , Figure 1 This is a schematic flowchart illustrating a method for controlling the electroinduced deformation of a dielectric gel material according to an embodiment of this application. The embodiment includes, but is not limited to, steps S110 to S140, which will be described in detail below.

[0026] Step S110: Receive the detection command of the dielectric gel actuator of the flexible manipulator being immersed in the conductive biological solution; Step S120: Apply a detection signal to the dielectric gel actuator according to the detection command, and obtain the electrical characteristics of the dielectric gel actuator; Step S130: When the electrical characteristics undergo a preset change, identify the contact state between the dielectric gel actuator and the target sample; Step S140: When a contact state is detected, adjust the main drive voltage applied to the dielectric gel actuator to keep the electrical characteristics at a preset contact state value.

[0027] It should be noted that dielectric gel materials are smart materials capable of deformation under an applied electric field, and the degree of deformation is closely related to the applied voltage. A dielectric gel actuator is a component made of dielectric gel material capable of performing specific actions (such as grasping and releasing), typically serving as a functional end effector for flexible robotic arms. Conductive biological solutions refer to biological liquids with a certain degree of conductivity, such as cell culture media and physiological saline; these solutions are widely used in biomedical procedures. A detection command is a signal or command used to initiate the detection process of a dielectric gel actuator. A detection signal is a specific electrical signal applied to the dielectric gel actuator to obtain its electrical characteristics. Electrical characteristics refer to the electrical properties exhibited by the dielectric gel actuator under a specific electric field, such as its impedance, capacitance, and resistance. A preset change refers to a pre-set pattern or threshold of electrical characteristic changes that indicates a change in the state of the dielectric gel actuator (e.g., contact with a target sample). A contact state refers to the state in which physical contact occurs between the dielectric gel actuator and the target sample. The main driving voltage is the primary voltage used to drive the dielectric gel actuator to deform and perform operations such as grasping. The preset contact state value refers to the target value that the electrical characteristics of the dielectric gel actuator should maintain when it is in stable contact with the target sample. This method aims to ensure the stable and precise operation of a flexible robotic arm in complex conductive biological solution environments through real-time monitoring and feedback control of the electrical characteristics of the dielectric gel actuator.

[0028] Specifically, this method includes the following main steps: First, receiving a detection command from a flexible robotic arm to immerse its dielectric gel actuator in a conductive biological solution. This detection command can be issued in several ways. For example, it can be manually input by an operator through a user interface, instructing the robotic arm to begin the detection task. Alternatively, the command can be automatically generated by a host computer or control system according to a preset automation program, such as automatically triggering detection after the previous step is completed. Furthermore, the detection command can also be automatically triggered when sensors detect specific environmental conditions (e.g., the dielectric gel actuator is fully immersed in the liquid).

[0029] Secondly, a probe signal is applied to the dielectric gel actuator according to the probe command, and the electrical characteristics of the dielectric gel actuator are obtained. In one embodiment, a low-amplitude AC probe signal, such as a sine wave with a fixed frequency and amplitude, can be applied to the dielectric gel actuator using a signal generator. Simultaneously, an impedance analyzer or LCR meter is connected to the dielectric gel actuator to measure its complex impedance, capacitance, or resistance, etc., in real time. Alternatively, a DC pulse signal can be applied, and a high-precision voltmeter and ammeter can be used to measure the voltage and current changes of the dielectric gel actuator in response to the pulse, thereby calculating its equivalent resistance or capacitance. For example, a weak square wave voltage can be applied, and the current response across the dielectric gel actuator can be monitored; its capacitance and resistance information can be obtained by analyzing the current waveform.

[0030] Furthermore, when a preset change occurs in the electrical characteristics, the contact state between the dielectric gel actuator and the target sample is identified. In one implementation, the electrical characteristics acquired by the dielectric gel actuator can be continuously monitored and compared with a preset reference value. When the monitored electrical characteristics (e.g., capacitance value) show a significant decrease or increase exceeding a certain fixed threshold within a short period of time, it is determined that a preset change has occurred. Thus, the system identifies that the dielectric gel actuator has made contact with the target sample. For example, when the dielectric gel actuator contacts the target sample, its contact area with the surrounding conductive solution, interfacial impedance, etc., will change, resulting in a detectable change in its overall capacitance or resistance.

[0031] Finally, upon detecting a contact state, the main drive voltage applied to the dielectric gel actuator is adjusted to maintain the electrical characteristics at a preset contact state value. Once the system detects contact between the dielectric gel actuator and the target sample, a feedback control loop is activated. In this loop, the currently acquired electrical characteristics (e.g., the real-time capacitance value at contact) are continuously compared to a preset contact state value (e.g., the capacitance value in the desired stable gripping state). Based on the difference between the two, a simple proportional controller can calculate the amount of adjustment required to the main drive voltage. For example, if the real-time capacitance value deviates from the preset contact state value, this deviation is corrected by increasing or decreasing the main drive voltage until the real-time capacitance value approaches and remains near the preset contact state value.

[0032] The electrodeformation control method for dielectric gel materials proposed in this application aims to address the challenges faced by flexible robotic arms in grasping micron-sized biological samples in conductive biological solutions. Traditional flexible robotic arms, when operating in conductive liquids, suffer from unstable deformation control due to electric field shunting effects, complex interfacial behavior, and the cumulative drift of the material itself, making precise and stable grasping difficult.

[0033] Figure 2 , Figure 2 This is a schematic diagram of the process before identifying the contact state between the dielectric gel actuator and the target sample according to an embodiment of this application. The steps include, but are not limited to, steps S210 to S230. Each step will be described in turn below.

[0034] Step S210: Receive the purification command from the dielectric gel actuator; Step S220: Vibrate the surface of the dielectric gel actuator according to the applied purification command to shake off the particles attached to the surface of the dielectric gel actuator. Step S230: Receive the stop purification command from the dielectric gel actuator and control the dielectric gel actuator to pause vibration within a first preset time.

[0035] Specifically, receiving a cleanup command from the dielectric gel actuator means that the system or operator sends a signal to the control unit, indicating that the surface of the dielectric gel actuator needs to be cleaned. This command can be automatically triggered by a preset program, such as before each detection task, or manually entered by the user. According to the cleanup command, the surface of the dielectric gel actuator vibrates to shake off particles adhering to its surface. This vibration can be achieved in various ways, such as by placing a micro-vibrator inside or near the dielectric gel actuator, or by applying an AC signal of specific frequency and amplitude to induce slight deformation in the dielectric gel material itself, thereby triggering vibration. The frequency and amplitude of the vibration can be optimized and adjusted according to the type, size, and adhesion of the particles to maximize particle removal. Receiving a stop cleanup command from the dielectric gel actuator means that after surface cleaning is completed, the system receives a signal to stop the vibration. Controlling the dielectric gel actuator to pause vibration for a first preset time aims to provide a stable environment for subsequent electrical characteristic acquisition, avoid momentary interference from vibration on the measurement results, and ensure the accuracy of the electrical characteristics.

[0036] This application's solution effectively solves the problem of particle interference in the acquisition of electrical characteristics on the surface of dielectric gel actuators by introducing a purification step. Specifically, when the dielectric gel actuator receives a purification command, its surface is induced to vibrate. This vibration generates sufficient inertial or shear forces to overcome the adhesion between the particles and the actuator surface, thereby shaking off or detaching the attached particles. After the particles are effectively removed, the system receives a stop purification command and the actuator pauses vibration for a first preset time. This pause provides a necessary time window for the stable acquisition of electrical characteristics, avoiding the influence of transient electrical noise or mechanical disturbances that may be generated during vibration on the measurement results. It is precisely because of the removal of particles and the stabilization of the measurement environment that subsequent application of detection signals and acquisition of electrical characteristics can be carried out under cleaner and more stable conditions, thereby improving the accuracy and reliability of contact state identification.

[0037] In some preferred embodiments, a specific example is illustrated below. Suppose that before a flexible robotic arm grasps a biological sample, its dielectric gel actuator is immersed in a container containing cell culture medium. To ensure the accuracy of the subsequent grasping operation, the system first issues a cleansing command. The dielectric gel actuator then begins to vibrate at a frequency of 100 Hz for 5 seconds to shake off any cell debris or protein deposits that may be attached to the surface. After the vibration ends, the system receives a stop cleansing command, and the dielectric gel actuator stops vibrating and remains stationary for a first preset time, such as 2 seconds. During this 2-second stabilization period, the system begins to apply a probe signal and acquire the electrical characteristics of the dielectric gel actuator to prepare for contact state identification with the target sample. In this way, interference from surface particles on the electrical characteristic measurement can be effectively avoided, ensuring the accuracy of subsequent contact identification.

[0038] Through the above technical solution, this application can effectively remove particles attached to the surface of the dielectric gel actuator, significantly reducing the interference of these particles on the acquisition of electrical features. This allows the acquired electrical features to more accurately reflect the true contact state between the dielectric gel actuator and the target sample when the flexible manipulator performs detection tasks, thereby improving the accuracy and reliability of contact recognition. Compared with solutions without purification treatment, the solution of this application avoids misjudgments or missed judgments caused by particle interference, ensuring the stability and precise operation capability of the flexible manipulator in complex biological solution environments, extending the service life of the actuator, and improving the robustness of the overall system.

[0039] See Figure 3 , Figure 3This is a schematic flowchart illustrating the process of identifying the contact state between a dielectric gel actuator and a target sample according to an embodiment of this application. Regarding step S130, which involves identifying the contact state between the dielectric gel actuator and the target sample when a preset change occurs in the electrical characteristics, this includes, but is not limited to, steps S310 to S330. Each step will be described in turn below.

[0040] Step S310: When the electrical characteristics undergo a preset change, the electrical characteristics are continuously acquired within a second preset time period to obtain the target electrical characteristics; Step S320: Based on the target electrical characteristics, obtain the variation range of the target electrical characteristics within a second preset time period; Step S330: When the change amplitude is less than a preset threshold, identify the contact state between the dielectric gel actuator and the target sample.

[0041] When the dielectric gel actuator comes into contact with the target sample, its electrical characteristics, such as capacitance or resistance, undergo instantaneous changes. To ensure the accuracy and stability of the identified contact state, this application proposes that after a preset change in the electrical characteristic occurs, contact is not immediately determined. Instead, the electrical characteristic is continuously acquired for a second preset time. The second preset time can be set according to the actual application scenario and the response characteristics of the dielectric gel material, for example, it can be on the order of milliseconds or seconds. The electrical characteristics continuously acquired during this period are considered as the target electrical characteristics, and the purpose is to observe the stabilization trend of the electrical characteristics after contact occurs.

[0042] Furthermore, after obtaining the target electrical characteristic, it is necessary to calculate the variation range of the target electrical characteristic within the second preset time period. This variation range can be calculated as the difference between the maximum and minimum values ​​of the target electrical characteristic within the second preset time period, its standard deviation, or any statistical measure that can reflect its fluctuation degree. By calculating the variation range, the stability of the electrical characteristic after contact occurs can be assessed.

[0043] Therefore, when the calculated change amplitude is less than a preset threshold, the contact state between the dielectric gel actuator and the target sample can be identified. The preset threshold is a key parameter, and its setting should ensure that it can distinguish between transient disturbances and stable contact states. When the change amplitude of the electrical characteristics is small enough, it indicates that the electrical characteristics have stabilized, which usually means that the dielectric gel actuator has established a stable physical contact with the target sample, rather than just a brief touch or fluctuations caused by environmental noise.

[0044] This application's solution effectively avoids misjudgments caused by transient interference or unstable contact by introducing continuous monitoring and amplitude analysis over a second preset time period after a preset change in electrical characteristics. When the dielectric gel actuator makes actual and stable contact with the target sample, its electrical characteristics change and quickly stabilize, at which point the amplitude of its change over the second preset time period will be very small. Conversely, if it is only a brief touch or environmental noise, the change in electrical characteristics may be unstable or fluctuate greatly, and its amplitude will be relatively large. By setting a preset threshold, these unstable signals can be accurately filtered out, thereby ensuring that the identified contact state is reliable.

[0045] See Figure 4 , Figure 4 This is a schematic diagram illustrating a process for maintaining an electrical feature at a preset contact state value according to an embodiment of this application. This process includes, but is not limited to, steps S410 to S430, which will be described in detail below.

[0046] Step S410: Obtain the main drive voltage according to the preset cycle; Step S420: Obtain the long-term trend of the main drive voltage based on the main drive voltage; Step S430: When the long-term trend indicates that the mechanical response characteristics of the dielectric gel actuator have undergone cumulative drift, adjust the preset contact state value.

[0047] When the dielectric gel actuator comes into contact with the target sample, its electrical characteristics, such as capacitance or resistance, undergo instantaneous changes. To ensure the accuracy and stability of the identified contact state, this application proposes that after a preset change in the electrical characteristic occurs, contact is not immediately determined. Instead, the electrical characteristic is continuously acquired for a second preset time. The second preset time can be set according to the actual application scenario and the response characteristics of the dielectric gel material, for example, it can be on the order of milliseconds or seconds. The electrical characteristics continuously acquired during this period are considered as the target electrical characteristics, and the purpose is to observe the stabilization trend of the electrical characteristics after contact occurs.

[0048] Furthermore, after obtaining the target electrical characteristic, it is necessary to calculate the variation range of the target electrical characteristic within the second preset time period. This variation range can be calculated as the difference between the maximum and minimum values ​​of the target electrical characteristic within the second preset time period, its standard deviation, or any statistical measure that can reflect its fluctuation degree. By calculating the variation range, the stability of the electrical characteristic after contact occurs can be assessed.

[0049] Therefore, when the calculated change amplitude is less than a preset threshold, the contact state between the dielectric gel actuator and the target sample can be identified. The preset threshold is a key parameter, and its setting should ensure that it can distinguish between transient disturbances and stable contact states. When the change amplitude of the electrical characteristics is small enough, it indicates that the electrical characteristics have stabilized, which usually means that the dielectric gel actuator has established a stable physical contact with the target sample, rather than just a brief touch or fluctuations caused by environmental noise.

[0050] The following is a concrete example. Suppose a flexible robotic arm is used for long-term grasping and placement of fragile biological samples. Initially, the system adjusts the main drive voltage to maintain the electrical characteristics (e.g., capacitance) of the dielectric gel actuator at a preset contact state value to achieve gentle and stable grasping. However, after months of high-frequency use, the dielectric gel material may experience slight fatigue or hardening, resulting in reduced deformation at the same voltage, or requiring a higher voltage to achieve the same deformation and capacitance value. At this point, if the system still strictly maintains the initial preset contact state value, it may find that a continuous increase in the main drive voltage is needed to achieve the target. This continuous upward trend in the main drive voltage, after monitoring at a preset period (e.g., weekly), is identified as an indication of a cumulative drift in the mechanical response characteristics of the dielectric gel actuator. Once this long-term trend is confirmed, the system intelligently adjusts the preset contact state value, for example, slightly lowering the target capacitance value to adapt to the actuator's current state. In this way, even if the actuator itself undergoes slight performance changes, the system can adjust the target electrical characteristics to ensure that the flexible manipulator can still achieve precise and stable contact with the target sample in actual operation. This avoids excessive or insufficient gripping force due to actuator aging, thereby protecting the fragile biological sample and maintaining the reliability of the operation.

[0051] This application's solution effectively avoids misjudgments caused by transient interference or unstable contact by introducing continuous monitoring and amplitude analysis over a second preset time period after a preset change in electrical characteristics. When the dielectric gel actuator makes actual and stable contact with the target sample, its electrical characteristics change and quickly stabilize, at which point the amplitude of its change over the second preset time period will be very small. Conversely, if it is only a brief touch or environmental noise, the change in electrical characteristics may be unstable or fluctuate greatly, and its amplitude will be relatively large. By setting a preset threshold, these unstable signals can be accurately filtered out, thereby ensuring that the identified contact state is reliable.

[0052] See Figure 5 , Figure 5This is a flowchart illustrating the process of obtaining the long-term trend of the main driving voltage based on the main driving voltage according to one embodiment of this application. The step S420 above, which involves obtaining the long-term trend of the main driving voltage based on the main driving voltage, includes, but is not limited to, steps S510 to S540, which will be described in detail below.

[0053] Step S510: Obtain multiple time periods within a preset period; Step S520: Perform statistical processing on the main drive voltage in each time period to obtain statistical voltage values ​​for multiple time periods; Step S530: Compare multiple statistical voltage values ​​to obtain the direction and magnitude of change of the statistical voltage values; Step S540: When the statistical voltage value shows a continuous unidirectional change over multiple time periods, the long-term trend of the main driving voltage is obtained.

[0054] Specifically, to more accurately identify the long-term trend of the main drive voltage, the preset period is first divided into multiple consecutive time periods. For example, if the preset period is one day, it can be divided into 24 one-hour time periods, or more precisely, into 96 15-minute time periods. This segmentation helps to distinguish long-term trends from short-term fluctuations.

[0055] Secondly, the main drive voltage acquired within each time period is statistically processed. This statistical processing may include, but is not limited to, calculating the average, median, and mode of the main drive voltage within that time period, or performing filtering. This statistical processing effectively smooths out instantaneous noise and short-term fluctuations, resulting in a statistical voltage value that better represents the overall level of the main drive voltage within that time period. For example, the arithmetic mean of the main drive voltage within each time period can be calculated as the statistical voltage value for that time period.

[0056] Subsequently, these statistical voltage values ​​obtained over different time periods are compared. The purpose of the comparison is to determine the direction of change (e.g., whether it is continuously rising, continuously falling, or fluctuating) and the magnitude of the change in statistical voltage values ​​across different time periods. This comparison can be achieved through various mathematical methods; for example, the difference between statistical voltage values ​​in adjacent time periods can be calculated, or linear regression analysis can be performed to observe the overall trend.

[0057] Finally, when these statistical voltage values ​​exhibit a continuous unidirectional change over multiple consecutive time periods, it can be considered that the main driving voltage has a clear long-term trend. Here, "continuous unidirectional change" means that the statistical voltage value consistently rises or falls over multiple consecutive time periods, rather than fluctuating frequently between rising and falling. This judgment mechanism effectively avoids misjudgments caused by accidental fluctuations, ensuring that the identified long-term trend is real and stable, thus accurately reflecting the cumulative drift of the mechanical response characteristics of the dielectric gel actuator.

[0058] In some preferred embodiments, a specific example is illustrated below. Suppose it is necessary to monitor the main drive voltage of the dielectric gel actuator of a flexible robotic arm to detect the cumulative drift of its mechanical response characteristics. A preset period is set to 24 hours. To accurately identify long-term trends, this 24-hour preset period is divided into 24 one-hour time periods. Within each one-hour time period, the system continuously collects data points of the main drive voltage and performs statistical processing on these data points, such as calculating their average value, to obtain the statistical voltage value for that hour. For example, in the first hour, the average value of the main drive voltage is V1; in the second hour, the average value is V2; and so on, until the twenty-fourth hour, obtaining V... 24 The system then compares these consecutive statistical voltage values. If V1 is found... <V2<V3<...<V 24 If the statistical voltage value shows a continuous unidirectional upward trend over 24 consecutive time periods, the system will determine that the main drive voltage exhibits a clear long-term upward trend. This indicates that the mechanical response characteristics of the dielectric gel actuator may be undergoing cumulative drift. Based on this, adjustments to the preset contact state value can be triggered. Conversely, if the statistical voltage value fluctuates significantly across different time periods without showing a continuous unidirectional change, it will not be identified as a long-term trend, thus avoiding erroneous responses to short-term fluctuations. This method ensures that the system only makes corresponding adjustments when a true cumulative drift occurs, improving the accuracy and stability of control.

[0059] This application's solution effectively filters out the influence of instantaneous noise and short-term fluctuations by dividing a preset period into multiple time periods and statistically processing the main drive voltage within each time period. This allows the statistical voltage value of each time period to more accurately reflect the average level or main trend of the main drive voltage within that time period. Furthermore, by comparing these statistical voltage values ​​and paying particular attention to whether they exhibit continuous unidirectional changes, this application can distinguish between true long-term cumulative drift and random short-term fluctuations. Thus, only when the statistical value of the main drive voltage shows a stable and consistent upward or downward trend over a long time span will it be identified as cumulative drift in the mechanical response characteristics, thereby avoiding frequent or unnecessary adjustments to the preset contact state value due to misjudgment.

[0060] See Figure 6 , Figure 6 This is a schematic flowchart illustrating the adjustment of a preset contact state value according to one embodiment of this application. Regarding step S430, which adjusts the preset contact state value when the long-term trend indicates a cumulative drift in the mechanical response characteristics of the dielectric gel actuator, the steps include, but are not limited to, step S610. Each step will be described below.

[0061] Step S610: Adjust the preset contact state value iteratively according to the long-term trend of the main driving voltage and the preset step size until the long-term trend is suppressed or reversed.

[0062] Specifically, the long-term trend of the main driving voltage refers to the continuous and directional change of the main driving voltage applied to the dielectric gel actuator over a period of time. This trend typically reflects the cumulative drift of the mechanical response characteristics (such as stiffness and compliance) of the dielectric gel actuator itself, which may be caused by factors such as material aging, changes in ambient temperature, and fatigue from prolonged operation. The preset step size can be understood as the fixed amount or proportion by which the preset contact state value is increased or decreased in each iterative adjustment. The setting of this step size needs to comprehensively consider the sensitivity of the adjustment, the convergence speed, and the system stability to avoid overshoot or oscillation. The iterative adjustment refers to a repetitive, gradual approximation adjustment process, that is, making small-scale, multiple corrections to the preset contact state value based on the current long-term trend of the main driving voltage. The condition for terminating the iterative adjustment is "until the long-term trend is suppressed or reversed". "Suppression" means that the magnitude of the long-term change trend of the main driving voltage has decreased significantly and tended to be stable, indicating that the drift has been effectively controlled; "reversal" means that the direction of the trend has changed, for example from continuous rise to continuous fall, or vice versa. This usually means that the adjustment has exceeded the optimal point, but is still within the acceptable range, and indicates that the drift has been successfully offset.

[0063] In some preferred embodiments, a specific example is illustrated below. Suppose that after a flexible robotic arm has been grasping a specific biological sample for an extended period, its dielectric gel actuator experiences material fatigue, causing the main driving voltage required to reach a preset contact state to gradually increase, exhibiting a long-term upward trend in the main driving voltage. The system periodically acquires the main driving voltage and analyzes its long-term trend. Once this continuous upward trend is detected, the system initiates an iterative adjustment process for the preset contact state value. For example, if the preset contact state value is a capacitance value, the system gradually increases the preset contact state value in preset step sizes (e.g., 0.5% each time) based on the upward trend of the main driving voltage. After each adjustment, the system continues to monitor the long-term trend of the main driving voltage. This process continues until the upward trend of the main driving voltage is effectively suppressed (i.e., the trend line flattens) or reverses (i.e., begins to decline), indicating that the mechanical response characteristics of the dielectric gel actuator have been restored to the desired operating range by adjusting the preset contact state value. In this way, even if the properties of the dielectric gel actuator itself drift, the flexible robotic arm can continue to perform grasping tasks stably, maintaining precise contact perception and mechanical control of the target sample.

[0064] This application's solution introduces an iterative adjustment mechanism based on the long-term variation trend of the main driving voltage, enabling dynamic and precise compensation for the cumulative drift of the mechanical response characteristics of the dielectric gel actuator. When the system detects a continuous unidirectional variation trend in the main driving voltage, it indicates that the mechanical response characteristics of the dielectric gel actuator are undergoing cumulative drift. At this time, the system makes small, iterative adjustments to the preset contact state value according to the direction of the trend and a preset step size. For example, if the main driving voltage continues to increase, it may mean that the dielectric gel actuator requires a larger voltage to achieve the same deformation or contact force, which may indicate an increase in stiffness or a decrease in sensitivity. By iteratively adjusting the preset contact state value, this change can be gradually offset, ensuring that in actual operation, when the dielectric gel actuator contacts the target sample, its electrical characteristics remain near the desired preset contact state value, thereby maintaining a stable mechanical response. This iterative adjustment strategy, which continues until the trend is suppressed or reversed, ensures the convergence and effectiveness of the adjustment process, avoiding the problems of over-adjustment or under-adjustment.

[0065] See Figure 7 , Figure 7 This is a schematic diagram illustrating a process for maintaining an electrical feature at a preset contact state value according to an embodiment of this application. Regarding step S140, which involves adjusting the main drive voltage applied to the dielectric gel actuator upon detecting a contact state to maintain the electrical feature at the preset contact state value, steps S710 to S730 are included, but are not limited to, steps S710 to S730, and will be described below.

[0066] Step S710: Calculate the deviation between the electrical characteristics and the preset contact state value based on the electrical characteristics and preset contact state value; Step S720: Calculate the adjustment amount of the main drive voltage based on the deviation; Step S730: Adjust the main drive voltage according to the adjustment amount so that the electrical characteristics are maintained at the preset contact state value.

[0067] The electrical characteristics can be understood as the electrical response exhibited by the dielectric gel actuator under the action of a specific detection signal, such as its impedance, capacitance, or resistance. The preset contact state value refers to the target value that the electrical characteristics should reach when the dielectric gel actuator is in ideal contact with the target sample. This preset contact state value is usually determined during the system design or calibration phase to ensure that the flexible manipulator can stably maintain contact with the target sample during grasping or detection.

[0068] Specifically, after acquiring the real-time electrical characteristics of the dielectric gel actuator, these characteristics are compared with preset contact state values ​​to calculate the deviation between them. This deviation reflects the degree of difference between the current electrical characteristics and the expected value. For example, this deviation can be calculated using simple subtraction or a more complex error function.

[0069] Furthermore, based on the calculated deviation, the adjustment amount of the main drive voltage can be determined. This adjustment is calculated to eliminate or reduce the aforementioned deviation, gradually bringing the electrical characteristics of the dielectric gel actuator closer to the preset contact state value. The adjustment can be calculated based on various control algorithms, such as proportional control, integral control, derivative control, or combinations thereof (e.g., PID control). For example, when the deviation is positive, it may be necessary to decrease the main drive voltage; when the deviation is negative, it may be necessary to increase the main drive voltage.

[0070] Finally, based on the calculated adjustment amount, the main drive voltage currently applied to the dielectric gel actuator is adjusted. Through this closed-loop feedback mechanism, the main drive voltage is dynamically regulated, thereby ensuring that the electrical characteristics of the dielectric gel actuator are continuously maintained at the preset contact state value, thus ensuring the stability and reliability of the flexible manipulator when in contact with the target sample.

[0071] This application's solution achieves precise control of the electro-induced deformation state of a dielectric gel actuator by calculating the deviation between electrical characteristics and a preset contact state value, and dynamically adjusting the main driving voltage based on this deviation. When the dielectric gel actuator comes into contact with a target sample, its electrical characteristics change. To maintain a stable contact state, these electrical characteristics need to be maintained at a specific preset contact state value. By monitoring the electrical characteristics in real time and calculating the deviation between them and the preset contact state value, the system can accurately determine the degree of deviation of the current contact state. Subsequently, the required adjustment amount of the main driving voltage is calculated based on this deviation, and the main driving voltage is corrected accordingly. This feedback control mechanism ensures that even when there are slight changes in the external environment or the characteristics of the target sample, the dielectric gel actuator can maintain its electrical characteristics near the preset contact state value through fine voltage adjustment, thereby maintaining a stable contact force or deformation state.

[0072] See Figure 8 , Figure 8 This is a schematic flowchart illustrating the process of obtaining the adjustment amount of the main drive voltage according to one embodiment of this application. The above step S720, which calculates the adjustment amount of the main drive voltage based on the deviation, includes, but is not limited to, steps S810 to S830, which will be described in detail below.

[0073] Step S810: Calculate the initial adjustment amount according to the deviation and a preset ratio; Step S820: When the initial adjustment amount is greater than or equal to the first preset adjustment amount, the initial adjustment amount is calculated according to the first preset weight to obtain the adjustment amount of the main drive voltage. Step S830: When the initial adjustment amount is less than the second preset adjustment amount, the initial adjustment amount is calculated according to the second preset weight to obtain the adjustment amount of the main drive voltage.

[0074] Specifically, the deviation refers to the difference between the electrical characteristics of the dielectric gel actuator and the preset contact state value, and this difference can be quantified. The preset ratio is a pre-set coefficient used to initially convert the deviation into an initial adjustment reference value, i.e., the initial adjustment amount. This initial adjustment amount reflects the degree to which the current electrical characteristics deviate from the target state. The first preset adjustment amount and the second preset adjustment amount are thresholds used to divide the range of the initial adjustment amount. The first preset weight and the second preset weight are coefficients corresponding to these ranges. When the initial adjustment amount is large, for example, greater than or equal to the first preset adjustment amount, it indicates a significant deviation between the electrical characteristics and the preset contact state value. In this case, the first preset weight can be applied to calculate the initial adjustment amount to obtain a relatively large main drive voltage adjustment amount, thereby achieving rapid correction. When the initial adjustment amount is small, for example, less than the second preset adjustment amount, it indicates that the electrical characteristics are close to the preset contact state value. In this case, the second preset weight can be applied to calculate the initial adjustment amount to obtain a relatively small main drive voltage adjustment amount, thereby performing fine adjustment and avoiding overshoot or oscillation.

[0075] This application's solution introduces a weight selection mechanism based on the initial adjustment amount, enabling adaptive calculation of the main drive voltage adjustment. When there is a significant deviation between the electrical characteristics of the dielectric gel actuator and the preset contact state value, the system can quickly apply a large adjustment amount by applying a first preset weight, thereby rapidly pulling the electrical characteristics back to the target range. Conversely, when the deviation is small and the electrical characteristics are close to the target value, the system applies a more refined adjustment amount by applying a second preset weight, avoiding system instability or oscillation caused by over-adjustment and ensuring the smoothness and accuracy of control. This segmented adjustment strategy allows the control system to flexibly select an appropriate adjustment force according to the actual deviation, thereby optimizing the response speed and stability of the entire control process.

[0076] In some preferred embodiments, a specific example is given below. Assume the deviation between the electrical characteristics of the dielectric gel actuator and a preset contact state value is ΔE. First, the initial adjustment amount ΔV_initial = ΔE is calculated based on a preset ratio K1. K1. Further, a first preset adjustment amount can be set as V_threshold1, and a second preset adjustment amount as V_threshold2, where V_threshold1 is typically greater than V_threshold2. When the calculated initial adjustment amount ΔV_initial is greater than or equal to V_threshold1, for example, ΔV_initial = 10V, this indicates a large deviation, and the system needs a rapid response. Then, the final adjustment amount ΔV_adjust of the main drive voltage can be calculated based on the first preset weight W1, for example, ΔV_adjust = ΔV_initial. W1, where W1 can be set to 0.8, then ΔV_adjust = 10V 0.8 = 8V. When the calculated initial adjustment ΔV_initial is less than the second preset adjustment, for example, ΔV_initial = 0.5V, it indicates that the deviation is small and the system needs fine adjustment. The final adjustment ΔV_adjust of the main drive voltage can then be calculated based on the second preset weight W2, for example, ΔV_adjust = ΔV_initial. W2, where W2 can be set to 0.2, then ΔV_adjust = 0.5V 0.2 = 0.1V. In this way, when the deviation is large, the system can apply a relatively large adjustment to quickly correct it; when the deviation is small, a relatively small adjustment is applied for fine-tuning, thereby effectively avoiding overshoot and oscillation, and ensuring the stability and accuracy of control.

[0077] See Figure 9 , Figure 9 This is a schematic flowchart illustrating the process of identifying a contact state or reaching a threshold amplitude of a detection signal according to one embodiment of this application. The steps include, but are not limited to, step S910, which will be described in detail below.

[0078] Step S910: If the time during which no contact state is detected is longer than the first preset time, increase the amplitude of the detection signal according to the first preset ratio until a contact state is detected or the amplitude threshold of the detection signal is reached.

[0079] Specifically, "the time for which the contact state is not identified is greater than a first preset duration" means that if, during the process of continuously applying a "probe signal" and attempting to acquire "electrical characteristics" to identify the contact state, the system fails to successfully identify the contact state between the "dielectric gel actuator" and the "target sample" after a preset, relatively long period of time (i.e., the "first preset duration"), then it is considered that the current "probe signal" may not be sufficient to trigger a change in the identifiable "electrical characteristics". The "first preset duration" can be set according to the actual application scenario and the required response speed, for example, it can be set to several seconds to tens of seconds.

[0080] "Increase the amplitude of the detection signal according to the first preset ratio" means that when the above conditions are met, the system will automatically adjust and increase the voltage or current amplitude of the "detection signal" currently applied to the "dielectric gel actuator". The "first preset ratio" is a preset increment factor used to control the step size of each amplitude increase, for example, it can be set to 10%, 20% or a fixed voltage increment.

[0081] "Until the contact state is detected or the amplitude threshold of the detection signal is reached" means that the increase in the amplitude of the "detection signal" is not indefinite, but is limited by one of two conditions. Once the "dielectric gel actuator" successfully detects contact with the "target sample," or the amplitude of the "detection signal" has reached the preset maximum allowable value (i.e., the "amplitude threshold of the detection signal"), the increase in the amplitude of the "detection signal" will stop. The "amplitude threshold of the detection signal" is designed to protect the "dielectric gel actuator" from damage caused by excessive voltage or current and to limit energy consumption.

[0082] In some preferred embodiments, a specific example is illustrated below. Suppose that the dielectric gel actuator of a "flexible robotic arm" is used to probe a tiny biological sample in a turbid liquid. The initially set amplitude of the "probe signal" may be insufficient to penetrate the turbid liquid or sense even slight contact with the tiny sample. The system begins contact detection, continuously applying the "probe signal" and monitoring the "electrical characteristics." If, after, for example, a "first preset duration" of 5 seconds, the system still does not detect any contact, it determines that the current amplitude of the "probe signal" may be too low. At this point, the system will automatically increase the amplitude of the "probe signal" according to a "first preset ratio" (e.g., increasing the amplitude by 10% each time). For example, if the initial amplitude is 1V, it will be increased to 1.1V, and then detection will continue. If no contact is still detected, it will be increased again to 1.21V, and so on. This process continues until the dielectric gel actuator successfully identifies contact with the biological sample (e.g., a significant change in its capacitance value) or the amplitude of the probe signal reaches a preset amplitude threshold (e.g., 5V) to prevent damage to the dielectric gel actuator. This adaptive amplitude adjustment mechanism ensures that even under less than ideal detection conditions, the dielectric gel actuator can accurately identify contact with the target sample, allowing the flexible manipulator to adjust its main drive voltage in a timely manner to maintain the preset contact state.

[0083] Through the above technical solution, this application significantly improves the robustness and adaptability of the "electrodeformation control method for dielectric gel materials" in contact recognition under complex environments. This solution effectively addresses the problem of contact recognition failure caused by insufficient initial amplitude of the "detection signal" or excessively weak contact, avoiding the predicament of the "flexible robotic arm" being unable to sense contact with the "target sample" for extended periods. Therefore, it ensures that the "flexible robotic arm" can more reliably and efficiently identify and respond to contact with the "target sample" when performing tasks such as grasping and detection, thereby improving the overall success rate and level of intelligence in the operation.

[0084] See Figure 10 , Figure 10 This is a schematic diagram of an electrodeformation control system for a dielectric gel material provided in one embodiment of this application.

[0085] The dielectric gel material electro-induced deformation control system 1000, applied to flexible robotic arms, includes: The receiving module 1010 is used to receive the detection command of the dielectric gel actuator of the flexible manipulator being immersed in the conductive biological solution; The acquisition module 1020 is used to apply a detection signal to the dielectric gel actuator according to the detection command and acquire the electrical characteristics of the dielectric gel actuator; The identification module 1030 is used to identify the contact state between the dielectric gel actuator and the target sample when the electrical characteristics undergo a preset change; The adjustment module 1040 is used to adjust the main drive voltage applied to the dielectric gel actuator when a contact state is detected, so that the electrical characteristics are maintained at a preset contact state value.

[0086] This system, through its modular design, achieves precise control over the electroinduced deformation of a dielectric gel actuator in a conductive biological solution environment. The receiving module acquires the detection command and initiates the detection process; the acquisition module applies the detection signal according to the command and monitors the electrical characteristics of the dielectric gel actuator in real time, providing a data basis for subsequent state judgment; the identification module intelligently determines whether the dielectric gel actuator has made contact with the target sample based on changes in electrical characteristics, ensuring operational accuracy; and the adjustment module, after confirming contact, dynamically adjusts the main drive voltage to maintain the electrical characteristics of the dielectric gel actuator at a preset stable contact state value. This effectively overcomes problems such as electric field shunting, dynamic interface changes, and material property drift, ensuring stable grasping and operational accuracy of the flexible robotic arm in complex environments.

[0087] Specifically, the modules in this system can be configured in the following ways: the receiving module can be configured in various forms to receive detection commands. For example, the receiving module can be a physical interface for receiving electrical signal commands from an external control unit; or it can be a software module for receiving commands from a host computer via a network communication protocol; or the receiving module can integrate a sensor interface for receiving trigger signals from environmental sensors, such as a liquid level sensor or a conductivity sensor, which automatically generates and receives detection commands when the dielectric gel actuator is fully immersed in the conductive biological solution.

[0088] It is important to emphasize that the acquisition module can be designed to include a signal generator and a measurement unit. The signal generator can be a programmable arbitrary waveform generator used to generate probe signals of different frequencies, amplitudes, and waveforms, such as sine waves, square waves, or pulse signals. The measurement unit can be a high-precision data acquisition system integrating a voltmeter, ammeter, or impedance analyzer for real-time acquisition of the electrical response of the dielectric gel actuator under the probe signal, such as parameters like voltage, current, impedance, capacitance, or resistance. The acquisition module can also include a data processing unit for preprocessing and feature extraction of the raw acquired data to obtain the desired electrical characteristic values. The identification module can be configured to include a comparator and a state judgment logic unit. The comparator compares the real-time electrical characteristics provided by the acquisition module with preset reference electrical characteristics or thresholds. The state judgment logic unit determines whether a preset change has occurred in the electrical characteristics based on the comparison result. For example, when the instantaneous rate of change or cumulative change of the electrical characteristics exceeds a preset threshold, the identification module outputs a contact status signal. The identification module can also employ a simple threshold judgment algorithm, for example, assuming contact has occurred when the capacitance value drops by more than a certain percentage; or, it can use a machine learning-based classification algorithm to identify different contact patterns through training data. The adjustment module can be designed to include a feedback controller and a voltage output unit. The feedback controller can be a proportional (P), proportional-integral (PI), or proportional-integral-derivative (PID) controller, whose input is the deviation between the current electrical characteristics and the preset contact state value, and whose output is the amount of main drive voltage to be adjusted. The voltage output unit, according to the instructions of the feedback controller, precisely adjusts the main drive voltage applied to the dielectric gel actuator, for example, through a high-voltage amplifier or a programmable power supply. The goal of the adjustment module is to continuously maintain the electrical characteristics of the dielectric gel actuator at the preset contact state value, thereby ensuring a stable gripping force.

[0089] The electro-induced deformation control system for dielectric gel materials proposed in this application aims to address the challenges faced by flexible robotic arms in grasping micron-sized biological samples in conductive biological solutions. Traditional flexible robotic arms, when operating in conductive liquids, suffer from unstable deformation control due to electric field shunting effects, complex interfacial behavior, and the cumulative drift of the material itself, making precise and stable grasping difficult.

[0090] This system, through its modular design, introduces a real-time feedback control mechanism based on electrical characteristics, effectively overcoming the aforementioned problems. The receiving, acquisition, identification, and adjustment modules work collaboratively to form a closed-loop control system. Unlike existing technologies that rely on preset voltages for open-loop control or simple force feedback, this system directly uses the electrical response of the dielectric gel actuator in actual contact as the feedback basis. This dynamic adjustment mechanism based on electrical characteristics allows the system to proactively adapt to the dynamic changes in the conductivity, interfacial properties, and properties of the conductive biological solution, as well as the properties of the dielectric gel material itself, ensuring that the dielectric gel actuator maintains stable contact with the target sample at a preset contact state. Therefore, this system significantly improves the reliability and operational accuracy of flexible manipulators in biomedical applications, providing a more stable grasping solution for high-throughput screening and automated experiments.

[0091] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling the electro-deformation of dielectric gel materials, applied to a flexible robotic arm, characterized in that, include: Receive detection commands from the dielectric gel actuator of the flexible manipulator to be immersed in a conductive biological solution; A detection signal is applied to the dielectric gel actuator according to the detection command, and the electrical characteristics of the dielectric gel actuator are obtained; When the electrical characteristics undergo a preset change, the contact state between the dielectric gel actuator and the target sample is identified; Upon detecting the contact state, the main drive voltage applied to the dielectric gel actuator is adjusted to maintain the electrical characteristics at a preset contact state value.

2. The method according to claim 1, characterized in that, Before identifying the contact state between the dielectric gel actuator and the target sample when the electrical characteristics undergo a preset change, the method further includes: Receive the purification command applied by the dielectric gel actuator; The surface of the dielectric gel actuator is vibrated according to the applied purification command to shake off particles attached to the surface of the dielectric gel actuator. Upon receiving a stop and purification command from the dielectric gel actuator, the actuator is controlled to pause vibration for a first preset time.

3. The method according to claim 1, characterized in that, The step of identifying the contact state between the dielectric gel actuator and the target sample when the electrical characteristics undergo a preset change includes: When the electrical characteristic undergoes a preset change, the electrical characteristic is continuously acquired within a second preset time period to obtain the target electrical characteristic; Based on the target electrical characteristics, the variation range of the target electrical characteristics within the second preset time period is obtained; When the change amplitude is less than a preset threshold, the contact state between the dielectric gel actuator and the target sample is identified.

4. The method according to claim 1, characterized in that, After adjusting the main drive voltage applied to the dielectric gel actuator to maintain the electrical characteristics at a preset contact state value, the method further includes: The main drive voltage is obtained according to a preset period; The long-term trend of the main driving voltage is obtained based on the main driving voltage. When the long-term trend indicates a cumulative drift in the mechanical response characteristics of the dielectric gel actuator, the preset contact state value is adjusted.

5. The method according to claim 4, characterized in that, The main drive voltage is obtained according to a preset period; The long-term trend of the main driving voltage is obtained based on the main driving voltage, including: Retrieve multiple time periods within a preset period; The main drive voltage within each time period is statistically processed to obtain statistical voltage values ​​for multiple time periods; By comparing multiple statistical voltage values, the direction and magnitude of change of the statistical voltage values ​​are obtained; When the statistical voltage value exhibits a continuous unidirectional change over the multiple time periods, the long-term trend of the main driving voltage is obtained.

6. The method according to claim 4, characterized in that, Adjusting the preset contact state value includes: The preset contact state value is iteratively adjusted according to the long-term trend of the main driving voltage and the preset step size until the long-term trend is suppressed or reversed.

7. The method according to claim 1, characterized in that, The adjustment of the main drive voltage applied to the dielectric gel actuator to maintain the electrical characteristics at a preset contact state value includes: The deviation between the electrical characteristics and the preset contact state value is calculated based on the electrical characteristics and the preset contact state value. The adjustment amount of the main drive voltage is obtained by calculating based on the deviation. The main drive voltage is adjusted according to the adjustment amount so that the electrical characteristics are maintained at the preset contact state value.

8. The method according to claim 7, characterized in that, The step of calculating the adjustment amount of the main drive voltage based on the deviation includes: The initial adjustment amount is obtained by calculating according to the deviation according to a preset ratio; When the initial adjustment amount is greater than or equal to the first preset adjustment amount, the initial adjustment amount is calculated according to the first preset weight to obtain the adjustment amount of the main drive voltage; When the initial adjustment amount is less than the second preset adjustment amount, the initial adjustment amount is calculated according to the second preset weight to obtain the adjustment amount of the main drive voltage.

9. The method according to claim 1, characterized in that, Also includes: If the time during which the contact state is not detected is longer than a first preset duration, the amplitude of the detection signal is increased according to a first preset ratio until the contact state is detected or the amplitude threshold of the detection signal is reached.

10. A dielectric gel material electro-induced deformation control system, applied to a flexible robotic arm, characterized in that, include: The receiving module is used to receive the detection command of the dielectric gel actuator of the flexible manipulator being immersed in the conductive biological solution; The acquisition module is used to apply a detection signal to the dielectric gel actuator according to the detection command, and acquire the electrical characteristics of the dielectric gel actuator; The identification module is used to identify the contact state between the dielectric gel actuator and the target sample when the electrical characteristics undergo a preset change; An adjustment module is used to adjust the main drive voltage applied to the dielectric gel actuator when the contact state is detected, so that the electrical characteristics are maintained at a preset contact state value.

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