Method and system for controlling electro-mechanical deformation of a dielectric gel material

Abstract

The embodiment of the application provides a dielectric gel material electrically induced deformation control method and system, and relates to the technical field of flexible manipulators. The method comprises the following steps: receiving a detection instruction of a dielectric gel actuator of the flexible manipulator immersed in a conductive biological solution; applying a detection signal to the dielectric gel actuator according to the detection instruction, and acquiring an electrical characteristic of the dielectric gel actuator; when the electrical characteristic changes by a preset change, identifying a contact state of the dielectric gel actuator and a target sample; in the case of identifying the contact state, adjusting a main driving voltage applied to the dielectric gel actuator, so that the electrical characteristic is kept at a preset contact state value. The dielectric gel material electrically induced deformation control method and system provided by the application can significantly improve the stability and reliability of dielectric gel material electrically induced deformation control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flexible manipulator, in particular to a dielectric gel material electrically induced deformation control method and system applied to a flexible manipulator. BACKGROUND

[0002] In the field of biomedical research, non-destructive and accurate grabbing and transferring of micron or even sub-micron biological samples is the key to realize high-throughput screening and automation. Therefore, the industry introduces a flexible manipulator based on dielectric gel material, which realizes soft grabbing of samples through electrically induced deformation. However, when this kind of manipulator is applied to the actual environment containing conductive biological solution, its performance faces severe challenges. Under the same voltage, the actual deformation of the gel is significantly smaller than the expected one, which leads to the failure of the manipulator to stably grab the target sample, and even the sample slips during the grabbing process.

[0003] In order to compensate for the insufficient deformation and increase the voltage, liquid electrolysis, local heat production, and even irreversible damage to fragile biological samples may be caused. Moreover, the electrical conductivity of biological solution is not constant, and the interface behavior between dielectric gel and conductive liquid is extremely complex and dynamic, such as wettability, biological molecule adsorption, bubble formation, etc. These factors will locally change the electric field distribution, making it difficult to predict and stably control the electrical characteristics and mechanical response of the gel. In addition, long-term immersion and repeated deformation will also cause slow swelling and degradation of the gel material itself, leading to cumulative drift of its mechanical and electrical properties. These complex and dynamic changes make it difficult for dielectric gel actuators to accurately maintain the preset contact state, especially when in contact with the target sample, which seriously restricts their wide application in automated biological operations. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a dielectric gel material electrically induced deformation control method and system, aiming to improve the stability and reliability of dielectric gel material electrically induced deformation control.

[0005] In a first aspect, a dielectric gel material electrically induced deformation control method provided by an embodiment of the present application comprises:

[0006] receiving a detection instruction of immersion of a dielectric gel actuator of the flexible manipulator into a conductive biological solution;

[0007] applying a detection signal to the dielectric gel actuator according to the detection instruction, and acquiring electrical characteristics of the dielectric gel actuator;

[0008] when the electrical characteristics change as preset, identifying a contact state of the dielectric gel actuator and a target sample;

[0009] In a case where the contact state is identified, a main driving voltage applied to the dielectric gel actuator is adjusted to keep the electrical characteristic at a preset contact state value.

[0010] According to some embodiments of the present application, before the contact state of the dielectric gel actuator and the target sample is identified in a case where the electrical characteristic changes by a preset amount, the method further comprises:

[0011] A purifying instruction of the dielectric gel actuator is received.

[0012] According to the purifying instruction, a surface of the dielectric gel actuator is vibrated to shake off particles adhered to the surface of the dielectric gel actuator.

[0013] A stop purifying instruction of the dielectric gel actuator is received, and the dielectric gel actuator is controlled to suspend vibration for a first preset time.

[0014] According to some embodiments of the present application, the contact state of the dielectric gel actuator and the target sample is identified in a case where the electrical characteristic changes by a preset amount, comprising:

[0015] In a case where the electrical characteristic changes by a preset amount, the electrical characteristic is continuously acquired for a second preset time to obtain a target electrical characteristic.

[0016] According to the target electrical characteristic, a variation amplitude of the target electrical characteristic in the second preset time is obtained.

[0017] In a case where the variation amplitude is less than a preset threshold, the contact state of the dielectric gel actuator and the target sample is identified.

[0018] According to some embodiments of the present application, after the main driving voltage applied to the dielectric gel actuator is adjusted to keep the electrical characteristic at a preset contact state value, the method further comprises:

[0019] The main driving voltage is acquired according to a preset period.

[0020] According to the main driving voltage, a long-term variation trend of the main driving voltage is obtained.

[0021] In a case where the long-term variation trend indicates that a mechanical response characteristic of the dielectric gel actuator accumulatively drifts, the preset contact state value is adjusted.

[0022] According to some embodiments of the present application, the main driving voltage is acquired according to a preset period, comprising:

[0023] According to the main driving voltage, a long-term variation trend of the main driving voltage is obtained, comprising:

[0024] acquire a plurality of time periods within a preset period;

[0025] perform statistical processing on the main driving voltage in each of the time periods to obtain statistical voltage values of the plurality of time periods;

[0026] compare the plurality of statistical voltage values to obtain a change direction and a change amplitude of the statistical voltage values;

[0027] when the statistical voltage values present a continuous unidirectional change in the plurality of time periods, obtain a long-term change trend of the main driving voltage.

[0028] According to some embodiments of the present application, the adjusting the preset contact state value comprises:

[0029] adjusting the preset contact state value according to the long-term change trend of the main driving voltage and a preset step length iteration until the long-term change trend is suppressed or reversed.

[0030] According to some embodiments of the present application, the adjusting the main driving voltage applied to the dielectric gel actuator to keep the electrical characteristic at a preset contact state value comprises:

[0031] calculating according to the electrical characteristic and the preset contact state value to obtain a deviation between the electrical characteristic and the preset contact state value;

[0032] calculating according to the deviation to obtain an adjustment amount of the main driving voltage;

[0033] adjusting the main driving voltage according to the adjustment amount to keep the electrical characteristic at the preset contact state value.

[0034] According to some embodiments of the present application, the calculating according to the deviation to obtain an adjustment amount of the main driving voltage comprises:

[0035] calculating according to the deviation according to a preset proportion to obtain an initial adjustment amount;

[0036] when the initial adjustment amount is greater than or equal to a first preset adjustment amount, calculating according to a first preset weight to obtain an adjustment amount of the main driving voltage;

[0037] when the initial adjustment amount is less than a second preset adjustment amount, calculating according to a second preset weight to obtain an adjustment amount of the main driving voltage.

[0038] According to some embodiments of the present application, further comprising:

[0039] In a case where the time during which the contact state is not identified is greater than a first preset time length, the amplitude of the detection signal is increased according to a first preset proportion until the contact state is identified or a threshold value of the amplitude of the detection signal is reached.

[0040] In a second aspect, the embodiments of the present application provide a dielectric gel material electrically induced deformation control system for implementing the dielectric gel material electrically induced deformation control method, and the system comprises:

[0041] A receiving module is configured to receive a detection instruction of immersing a dielectric gel actuator of a flexible manipulator into a conductive biological solution;

[0042] An obtaining module is configured to apply a detection signal to the dielectric gel actuator according to the detection instruction, and obtain an electrical characteristic of the dielectric gel actuator;

[0043] An identifying module is configured to identify a contact state of the dielectric gel actuator and a target sample when the electrical characteristic has a preset change.

[0044] An adjusting module is configured to adjust a main driving voltage applied to the dielectric gel actuator to keep the electrical characteristic at a preset contact state value when the contact state is identified.

[0045] According to the technical scheme of the embodiments of the present application, at least the following beneficial effects are achieved: the dielectric gel material electrically induced deformation control method disclosed in the present application proposes an innovative solution for the challenges of electric field shunting, complex interface behavior, material performance drift and the like of the dielectric gel flexible manipulator in the conductive biological solution environment in the prior art. The method receives a detection instruction, applies a detection signal to the dielectric gel actuator and obtains an electrical characteristic thereof, identifies a contact state of the dielectric gel actuator and a target sample when the electrical characteristic has a preset change. More importantly, after the contact state is identified, the method can dynamically adjust a main driving voltage applied to the dielectric gel actuator to keep the electrical characteristic at a preset contact state value.

[0046] By the technical solution, the present application can effectively solve the problems of insufficient deformation and unstable grasping of the dielectric gel actuator in the conductive liquid in the prior art. Specifically, by monitoring the electrical characteristics in real time and performing feedback control, the 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 the gel deformation, thereby maintaining the expected deformation amount. In addition, the method can adapt to the complex dynamic interface behavior between the dielectric gel and the conductive liquid, as well as the mechanical and electrical performance drift caused by the slow swelling and degradation of the gel material itself, and by continuously adjusting the main driving voltage, the dielectric gel actuator can always accurately maintain the preset contact state. This avoids the liquid electrolysis, local heat generation and irreversible damage to fragile biological samples that may be caused by blindly increasing the voltage to compensate for insufficient deformation. Therefore, the present application significantly improves the stability and reliability of the flexible manipulator in biomedical operations for non-destructive, accurate grasping and transferring of micron-level or even sub-micron biological samples, overcomes the difficult problem of unpredictable and stable control in the prior art, and has significant practical value and technical progress.

[0047] Additional aspects and advantages of the application will be set forth in part in the description that follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings are included to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification, together with the embodiments of the present application, to explain the technical solutions of the present application, and do not constitute a limitation on the technical solutions of the present application.

[0049] Figure 1 The flowchart of the dielectric gel material electro-deformation control method provided by an embodiment of the present application is shown in the figure;

[0050] Figure 2 The flowchart of identifying the contact state between the dielectric gel actuator and the target sample before an embodiment of the present application is provided is shown in the figure;

[0051] Figure 3 The flowchart of identifying the contact state between the dielectric gel actuator and the target sample provided by an embodiment of the present application is shown in the figure;

[0052] Figure 4 The flowchart of keeping the electrical characteristics at the preset contact state value after an embodiment of the present application is provided is shown in the figure;

[0053] Figure 5 The flowchart of obtaining the long-term change trend of the main driving voltage from the main driving voltage provided by an embodiment of the present application is shown in the figure;

[0054] Figure 6A flowchart for adjusting a preset contact state value is provided for an embodiment of the present application.

[0055] Figure 7 A flowchart for keeping an electrical characteristic at a preset contact state value is provided for an embodiment of the present application.

[0056] Figure 8 A flowchart for obtaining an adjustment amount of a main drive voltage is provided for an embodiment of the present application.

[0057] Figure 9 A flowchart for identifying a contact state or reaching an amplitude threshold of a detection signal is provided for an embodiment of the present application.

[0058] Figure 10 A schematic diagram of a dielectric gel material electro-deformation control system is provided for an embodiment of the present application.

[0059] Reference signs:

[0060] 1000, dielectric gel material electro-deformation control system; 1010, receiving module; 1020, obtaining module;

[0061] 1030, identifying module; 1040, adjusting module. DETAILED DESCRIPTION

[0062] In order to make the purposes, technical methods and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0064] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solutions.

[0065] Based on the above, the present application provides a dielectric gel material electrically induced deformation control method and system, aiming to improve the efficiency and accuracy of Internet product promotion and optimize user experience.

[0066] Referring to Figure 1 , Figure 1 The flowchart of the dielectric gel material electrically induced deformation control method provided by an embodiment of the present application is shown. The embodiment of the present application includes but is not limited to steps S110 to S140, which will be introduced one by one as follows.

[0067] Step S110, receiving a detection instruction of immersing a dielectric gel actuator of a flexible manipulator into a conductive biological solution;

[0068] Step S120, applying a detection signal to the dielectric gel actuator according to the detection instruction, and acquiring the electrical characteristics of the dielectric gel actuator;

[0069] Step S130, when the electrical characteristics change by a preset change, identifying the contact state of the dielectric gel actuator and the target sample;

[0070] Step S140, in the case of identifying the contact state, adjusting the main driving voltage applied to the dielectric gel actuator to keep the electrical characteristics at a preset contact state value.

[0071] It should be noted that the dielectric gel material is a kind of intelligent material that can deform under the action of an external electric field, and the degree of deformation is closely related to the applied voltage. The dielectric gel actuator refers to a component made of dielectric gel material that can perform specific actions (such as grabbing, releasing), which is usually used as a functional end effector of a flexible manipulator. The conductive biological solution refers to a biological liquid with certain conductivity, such as cell culture solution, physiological saline, etc. Such solutions are widely used in biomedical operations. The detection instruction is a signal or command used to start the detection process of the dielectric gel actuator. The detection signal is a specific electrical signal applied to the dielectric gel actuator to acquire its electrical characteristics. The electrical characteristics refer to the electrical properties exhibited by the dielectric gel actuator under the action of a specific electric field, such as its impedance, capacitance, resistance, etc. The preset change refers to a pre-set electrical characteristic change pattern or threshold value that can indicate a change in the state of the dielectric gel actuator (such as contact with the target sample). The contact state refers to the state in which the dielectric gel actuator physically contacts the target sample. The main driving voltage is the main voltage used to drive the dielectric gel actuator to deform to perform grabbing and other operations. 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 a stable contact state with the target sample. The present method aims to ensure the stability and accuracy of the flexible manipulator in complex conductive biological solution environment through real-time monitoring and feedback control of the electrical characteristics of the dielectric gel actuator.

[0072] Specifically, the method comprises the following main steps: first, receiving a detection instruction for the dielectric gel actuator of the flexible manipulator to immerse in the conductive biological solution. The detection instruction can be issued in various ways. For example, it can be manually input by the operator through the user interface, instructing the manipulator to start the detection task. As another implementation, the instruction can also be automatically generated by the upper computer or control system according to the preset automatic program, such as automatically triggering the detection after completing the previous step. In addition, the detection instruction can also be automatically triggered when the sensor detects a specific environmental condition (for example, the dielectric gel actuator has been completely immersed in the liquid).

[0073] Second, a detection signal is applied to the dielectric gel actuator according to the detection instruction, and the electrical characteristics of the dielectric gel actuator are obtained. In one embodiment, a signal generator can be used to apply a low-amplitude alternating current (AC) detection signal to the dielectric gel actuator, such as a sine wave with a fixed frequency and amplitude. At the same time, an impedance analyzer or LCR meter is connected to the dielectric gel actuator to measure its complex impedance, capacitance or resistance in real time. As another implementation, a direct current (DC) pulse signal can also be applied, and a high-precision voltmeter and ammeter are used to measure the voltage and current changes of the dielectric gel actuator in response to the pulse, and then calculate its equivalent resistance or capacitance. For example, a weak square wave voltage can be applied, and the current response across the dielectric gel actuator is monitored to obtain its capacitance and resistance information by analyzing the current waveform.

[0074] Further, when the electrical characteristics change by a preset amount, the contact state of the dielectric gel actuator with the target sample is identified. In one implementation, the electrical characteristics obtained by the dielectric gel actuator can be continuously monitored and compared with the pre-set reference value. When the monitored electrical characteristics (such as capacitance value) change significantly within a short period of time, exceeding a certain fixed threshold, it is determined that the preset change has occurred. Thus, the system identifies that the dielectric gel actuator has contacted the target sample. For example, when the dielectric gel actuator contacts the target sample, its contact area with the surrounding conductive solution, interface impedance, etc. will change, resulting in a detectable change in its overall capacitance or resistance.

[0075] Finally, in the case of identifying the contact state, the main driving voltage applied to the dielectric gel actuator is adjusted to keep the electrical characteristic at the preset contact state value. Once the system identifies the contact between the dielectric gel actuator and the target sample, a feedback control loop is initiated. In this loop, the current acquired electrical characteristic (e.g., real-time capacitance value in contact) is continuously compared with the preset contact state value (e.g., expected capacitance value in stable grasping state). Based on the difference between the two, a simple proportional controller can calculate the adjustment amount needed for the main driving voltage. For example, if the real-time capacitance value deviates from the preset contact state value, the deviation is corrected by increasing or decreasing the main driving voltage until the real-time capacitance value approaches and remains near the preset contact state value.

[0076] The dielectric gel material electro-actuation control method proposed in this application aims to solve the challenges faced by flexible manipulators in micrometer-scale biological sample grasping in conductive biological solution environments. Traditional existing flexible manipulators are unstable in deformation control when operating in conductive liquids, making it difficult to achieve precise and stable grasping due to electric field shunting effects, complex interface behavior, and material's own cumulative drift.

[0077] Figure 2 , Figure 2 The flowchart provided for an embodiment of this application before identifying the contact state between the dielectric gel actuator and the target sample includes but is not limited to steps S210 to S230, which will be introduced one by one as follows.

[0078] Step S210, receiving the dielectric gel actuator application purification instruction;

[0079] Step S220, according to the application purification instruction, the surface of the dielectric gel actuator is vibrated to shake off the particles attached to the surface of the dielectric gel actuator;

[0080] Step S230, receiving the dielectric gel actuator stop purification instruction, controlling the dielectric gel actuator to suspend vibration for a first preset time.

[0081] Specifically, receiving the application purification instruction of the dielectric gel actuator refers to that the system or the operator sends a signal to the control unit, indicating that the surface of the dielectric gel actuator needs to be cleaned. The instruction can be triggered automatically by a preset program, for example, before each detection task starts, or manually input by the user. According to the application purification instruction, the surface of the dielectric gel actuator is vibrated to shake off the particles adhered to the surface of the dielectric gel actuator, wherein the vibration can be realized in various ways, for example, a micro-vibrator can be arranged inside or near the dielectric gel actuator, or an alternating current signal with a specific frequency and amplitude is applied to make the dielectric gel material itself produce a slight deformation to induce 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 the shaking off of the particles. Receiving the stop purification instruction of the dielectric gel actuator refers to that after the surface purification is completed, the system receives a signal to stop the vibration. The dielectric gel actuator is controlled to suspend the vibration for a first preset time, which aims to provide a stable environment for subsequent electrical characteristic acquisition, avoid the transient interference of vibration on the measurement results, and ensure the accuracy of the electrical characteristics.

[0082] The scheme of the present application effectively solves the problem of interference of particles on the surface of the dielectric gel actuator with the acquisition of electrical characteristics by introducing a purification step. Specifically, when the dielectric gel actuator receives the application purification instruction, the surface of the dielectric gel actuator is induced to vibrate. This vibration can generate sufficient inertial force or shear force to overcome the adhesion between the particles and the surface of the actuator, so that the adhered particles are shaken off or separated. After the particles are effectively removed, the system receives the stop purification instruction and makes the actuator suspend the vibration for a first preset time. This suspension period provides a necessary time window for the stable acquisition of electrical characteristics, avoiding the influence of transient electrical noise or mechanical disturbance in the vibration process on the measurement results. It is due to the removal of particles and the stability of the measurement environment that the subsequent detection signal application and electrical characteristic acquisition can be carried out in a more pure and stable condition, thereby improving the accuracy and reliability of the contact state recognition.

[0083] In some preferred embodiments, the following is described by a specific example. Assume that the flexible manipulator is immersed in a container containing cell culture solution before performing the biological sample grabbing. In order to ensure the accuracy of the subsequent grabbing operation, the system first issues a purification instruction. The dielectric gel actuator then starts to vibrate slightly at a frequency of 100 Hz for 5 seconds to shake off the cell debris or protein precipitate that may be attached to the surface. After the vibration is over, the system receives a stop purification instruction, the dielectric gel actuator stops vibrating, and remains in a static state for a first preset time, for example, 2 seconds. During this 2-second stabilization period, the system starts to apply a detection signal and acquire the electrical characteristics of the dielectric gel actuator in preparation for contact state recognition with the target sample. In this way, the interference of surface particles on electrical characteristic measurement can be effectively avoided, ensuring the accuracy of subsequent contact recognition.

[0084] Through the above technical solutions, the application can effectively remove particles attached to the surface of the dielectric gel actuator, significantly reducing the interference of these particles on electrical characteristic acquisition. This enables the electrical characteristics acquired by the flexible manipulator during the detection task to more accurately reflect the true contact state between the dielectric gel actuator and the target sample, thereby improving the precision and reliability of contact recognition. Compared with the scheme without purification treatment, the scheme of the present application avoids misjudgment or omission caused by particle interference, ensuring the stability and precise operation ability of the flexible manipulator in a complex biological solution environment, prolonging the service life of the actuator, and improving the robustness of the overall system.

[0085] Referring to Figure 3 , Figure 3 A flowchart for identifying the contact state between the dielectric gel actuator and the target sample is provided for an embodiment of the present application. Regarding step S130 when the electrical characteristics change by a preset amount, identifying the contact state between the dielectric gel actuator and the target sample includes but is not limited to steps S310 to S330, which will be introduced in turn.

[0086] Step S310, when the electrical characteristics change by a preset amount, continuously acquiring the electrical characteristics within a second preset time to obtain target electrical characteristics;

[0087] Step S320, according to the target electrical characteristics, obtaining the change amplitude of the target electrical characteristics within the second preset time;

[0088] Step S330, when the change amplitude is less than a preset threshold, identifying the contact state between the dielectric gel actuator and the target sample.

[0089] When the dielectric gel actuator contacts the target sample, its electrical characteristic, such as capacitance or resistance, will change instantaneously. To ensure the accuracy and stability of the identified contact state, the present application proposes that, after the electrical characteristic changes by a preset amount, instead of immediately judging as contact, the electrical characteristic is further continuously acquired within 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 in the order of milliseconds or seconds. The electrical characteristic continuously acquired during this period is regarded as the target electrical characteristic, and the purpose is to observe the stable trend of the electrical characteristic after contact occurs.

[0090] Further, after the target electrical characteristic is acquired, the change amplitude of the target electrical characteristic within the second preset time needs to be calculated. The change amplitude can be the difference between the maximum value and the minimum value, the standard deviation, or any statistical quantity that can reflect the fluctuation degree of the target electrical characteristic within the second preset time. By calculating the change amplitude, the stability of the electrical characteristic after contact occurs can be evaluated.

[0091] Therefore, when the calculated change amplitude is less than a preset threshold, the contact state of the dielectric gel actuator and the target sample can be identified. The preset threshold is a key parameter, and its setting should ensure that transient interference and stable contact state can be distinguished. When the change amplitude of the electrical characteristic is small enough, it indicates that the electrical characteristic has stabilized, which usually means that the dielectric gel actuator has established stable physical contact with the target sample, rather than just a brief touch or fluctuation caused by environmental noise.

[0092] The scheme of the present application effectively avoids misjudgment caused by transient interference or unstable contact by introducing continuous monitoring within a second preset time and change amplitude analysis after the electrical characteristic changes by a preset amount. When the dielectric gel actuator actually and stably contacts the target sample, its electrical characteristic will change and quickly stabilize, at which time its change amplitude within the second preset time will be very small. On the contrary, if it is only a brief touch or environmental noise, the change of the electrical characteristic can be unstable or fluctuate greatly, and its change 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.

[0093] Referring to Figure 4 , Figure 4 A flowchart is provided for maintaining the electrical characteristic at a preset contact state value according to an embodiment of the present application. The steps include but are not limited to steps S410 to S430, which will be introduced one by one as follows.

[0094] Step S410, acquiring a main driving voltage according to a preset period;

[0095] Step S420, obtaining a long-term change trend of the main driving voltage according to the main driving voltage;

[0096] Step S430, in the case that the long-term change trend indicates that the mechanical response characteristic of the dielectric gel actuator has accumulated drift, adjusting the preset contact state value.

[0097] When the dielectric gel actuator is in contact with the target sample, its electrical characteristics, such as capacitance or resistance, will change instantaneously. In order to ensure the accuracy and stability of the identified contact state, the present application proposes that after the electrical characteristics change by a preset amount, the contact is not immediately judged, but the electrical characteristics are further continuously acquired within 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 in the order of milliseconds or seconds. The electrical characteristics continuously acquired during this period are regarded as target electrical characteristics, and the purpose is to observe the stable trend of the electrical characteristics after the contact occurs.

[0098] Further, after obtaining the target electrical characteristics, the change amplitude of the target electrical characteristics within the second preset time needs to be calculated. The change amplitude can be the difference between the maximum value and the minimum value, the standard deviation or any statistical quantity that can reflect the fluctuation degree of the target electrical characteristics within the second preset time. By calculating the change amplitude, the stability of the electrical characteristics after the contact occurs can be evaluated.

[0099] Therefore, when the calculated change amplitude is less than a preset threshold, the contact state of 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 interference and stable contact state. 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 stable physical contact with the target sample, rather than just a short touch or fluctuation caused by environmental noise.

[0100] The following is described by a specific example. Assume that a flexible robot hand is used for long-term picking and placing of fragile biological samples. In the initial stage, the system maintains the electrical characteristics (e.g., capacitance value) of the dielectric gel actuator at a preset contact state value by adjusting the main drive voltage, so as to achieve a gentle and stable picking. However, after months of high-frequency use, the dielectric gel material may have slight fatigue or hardening, resulting in a decrease in its deformation under the same voltage, or a higher voltage is required to achieve the same deformation and capacitance value. At this time, if the system still strictly maintains the initial preset contact state value, it may find that it needs to continuously increase the main drive voltage to achieve the target. This continuous rising trend of the main drive voltage, after monitoring for a preset period (e.g., every week), will be identified as an indication of cumulative drift in the mechanical response characteristics of the dielectric gel actuator. Once this long-term change trend is confirmed, the system will intelligently adjust the preset contact state value, for example, slightly lower the target capacitance value, to adapt to the current state of the actuator. In this way, even if the actuator itself has slight performance changes, the system can still ensure that the flexible robot hand can achieve accurate and stable contact with the target sample in actual operation by adjusting the target electrical characteristics, avoiding excessive or insufficient picking force due to actuator aging, thereby protecting fragile biological samples and maintaining operation reliability.

[0101] The scheme of the present application effectively avoids misjudgment caused by transient interference or unstable contact by introducing continuous monitoring and change amplitude analysis within a second preset time after a preset change in electrical characteristics. When the dielectric gel actuator is in actual and stable contact with the target sample, its electrical characteristics will change and quickly stabilize, and at this time its change amplitude within the second preset time will be very small. On the contrary, if it is only a brief touch or environmental noise, the change in electrical characteristics may be unstable or fluctuate greatly, and its change 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.

[0102] Reference is made to Figure 5 , Figure 5 A flowchart for obtaining a long-term change trend of the main drive voltage according to the main drive voltage is provided for an embodiment of the present application. Regarding the step S420 of obtaining a long-term change trend of the main drive voltage according to the main drive voltage, it includes but is not limited to steps S510 to S540, which will be introduced one by one as follows.

[0103] Step S510, obtaining a plurality of time periods within a preset period;

[0104] Step S520, statistically processing the main drive voltage in each time period to obtain statistical voltage values of the plurality of time periods;

[0105] Step S530, comparing the plurality of statistical voltage values to obtain the change direction and change amplitude of the statistical voltage values;

[0106] Step S540, when the statistical voltage values present a continuous unidirectional change in a plurality of time periods, obtaining the long-term change trend of the main driving voltage.

[0107] Specifically, in order to more accurately identify the long-term change trend of the main driving voltage, first, in a preset period, the period is divided into a plurality of continuous time periods. For example, if the preset period is one day, it can be divided into 24 one-hour time periods, or more detailedly divided into 96 15-minute time periods. Such segmentation processing helps to distinguish long-term trend from short-term fluctuations.

[0108] Secondly, the main driving voltage obtained in each time period is statistically processed. The statistical processing can include but is not limited to calculating the mean, median, mode of the main driving voltage in the time period or performing filtering processing. Through such statistical processing, instantaneous noise and short-term fluctuations can be effectively smoothed out, so as to obtain a statistical voltage value which can better represent the overall level of the main driving voltage in the time period. For example, the arithmetic mean of the main driving voltage in each time period can be calculated as the statistical voltage value of the time period.

[0109] Subsequently, the statistical voltage values obtained in different time periods are compared. The purpose of comparison is to determine the change direction (for example, is it continuously rising, continuously falling or fluctuating) and change amplitude of the statistical voltage values between different time periods. Such comparison can be realized by various mathematical methods, for example, the difference between the statistical voltage values of adjacent time periods can be calculated, or linear regression analysis can be performed to observe the overall trend.

[0110] Finally, when the statistical voltage values present a continuous unidirectional change in a plurality of continuous time periods, it can be considered that the main driving voltage has a clear long-term change trend. Here, "continuous unidirectional change" means that the statistical voltage value has been rising or falling continuously in a plurality of continuous time periods, rather than frequently fluctuating between rising and falling. Such judgment mechanism can effectively avoid misjudgment caused by accidental fluctuations, ensure that the identified long-term change trend is real and stable, and accurately reflect the cumulative drift of the mechanical response characteristics of the dielectric gel actuator.

[0111] In some preferred embodiments, the following is illustrated by a specific example. Assume that the main drive voltage of a dielectric gel actuator of a flexible robot hand needs to be monitored to detect the cumulative drift of its mechanical response characteristics. A preset period is set to be 24 hours. In order to accurately identify long-term trends, the 24-hour preset period is divided into 24 one-hour time periods. In each one-hour time period, the system continuously collects data points of the main drive voltage and statistically processes these data points, for example, calculates their average value, to obtain the statistical voltage value of the 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, to obtain V 24 . Subsequently, the system compares these consecutive statistical voltage values. If it is found that V1 < V2 < V3 <... < V 24 , that is, the statistical voltage values present a continuous one-way upward trend in the consecutive 24 time periods, then the system determines that there is a clear long-term upward trend in the main drive voltage, which indicates that the mechanical response characteristics of the dielectric gel actuator may be undergoing cumulative drift. Based on this, adjustment of the preset contact state value can be triggered. Conversely, if the statistical voltage values fluctuate greatly in different time periods and do not present a continuous one-way change, they will not be identified as a long-term trend, thereby avoiding false responses to short-term fluctuations. This method ensures that the system will make corresponding adjustments only when a true cumulative drift occurs, improving the accuracy and stability of control.

[0112] The scheme of the present application effectively filters out the effects of transient noise and short-term fluctuations by dividing the preset period into multiple time periods and statistically processing the main drive voltage in each time period, so that the statistical voltage value of each time period can more accurately reflect the average level or main trend of the main drive voltage in that time period. Further, by comparing these statistical voltage values and paying particular attention to whether they present a continuous one-way change, the present application can distinguish between a true long-term cumulative drift and a random short-term fluctuation. 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 a cumulative drift of the mechanical response characteristics, thereby avoiding frequent or unnecessary adjustments of the preset contact state value due to misjudgment.

[0113] Referring to Figure 6 , Figure 6 A flowchart for adjusting the preset contact state value is provided for an embodiment of the present application. Regarding step S430 described above, adjusting the preset contact state value in the case where the long-term change trend indicates that the mechanical response characteristics of the dielectric gel actuator are undergoing cumulative drift, includes but is not limited to step S610, which will be introduced in turn as follows.

[0114] Step S610: Iteratively adjust the preset contact state value according to the long-term trend of the main driving voltage and a preset step size until the long-term trend is suppressed or reversed.

[0115] Specifically, the long-term trend of the main driving voltage refers to the persistent and directional change of the main driving voltage applied to the dielectric gel actuator over a period of time. This trend usually reflects the cumulative drift of the mechanical response characteristics (such as stiffness, compliance, etc.) of the dielectric gel actuator itself, which may be caused by factors such as material aging, environmental temperature changes, long-term working fatigue, etc. The preset step size can be understood as a fixed amount or proportion by which the preset contact state value is increased or decreased in each iteration adjustment. The setting of this step size needs to consider the sensitivity of adjustment, convergence speed, and system stability to avoid overshoot or oscillation. The iterative adjustment refers to a repetitive and step-by-step adjustment process, i.e., according to the current long-term trend of the main driving voltage, the preset contact state value is corrected multiple times with a small amplitude. The "until the long-term trend is suppressed or reversed" is the termination condition of the iterative adjustment. Among them, "suppressed" means that the amplitude of the long-term trend of the main driving voltage is significantly reduced and tends to be stable, indicating that the drift has been effectively controlled; "reversed" means that the direction of the trend changes, for example, from continuously rising to continuously falling, or vice versa, which usually means that the adjustment has gone beyond the optimal point, but is still within an acceptable range, and indicates that the drift has been successfully offset.

[0116] In some preferred embodiments, the following is described by a specific example. Assume that after a long time of grasping a specific biological sample, the dielectric gel actuator of the flexible manipulator gradually increases the main driving voltage required to reach the preset contact state due to material fatigue, showing a long-term upward trend of the main driving voltage. The system periodically acquires the main driving voltage and analyzes its long-term trend. Once this persistent upward trend is detected, the system will start the iterative adjustment process of the preset contact state value. For example, if the preset contact state value is a certain capacitance value, the system will gradually increase this value by a preset step size (e.g., 0.5% each time) according to the upward trend of the main driving voltage. After each adjustment, the system will continue to monitor the long-term trend of the main driving voltage. This process will continue until the upward trend of the main driving voltage is effectively suppressed (i.e., the trend line tends to be flat) or reversed (i.e., it starts to fall), indicating that the mechanical response characteristics of the dielectric gel actuator have been restored to the desired working range through adjustment of the preset contact state value. In this way, even if the dielectric gel actuator itself drifts, the flexible manipulator can continue to perform the grasping task stably and maintain accurate contact sensing and mechanical control of the target sample.

[0117] The scheme of the present application can dynamically and accurately compensate for the cumulative drift of the mechanical response characteristics of the dielectric gel actuator by introducing an iterative adjustment mechanism based on the long-term variation trend of the main driving voltage. When the system detects that the main driving voltage presents a continuous unidirectional variation trend, it indicates that the mechanical response characteristics of the dielectric gel actuator are undergoing cumulative drift. At this time, the system will make small and repeated adjustments to the preset contact state value according to the direction of the trend and the preset step size. For example, if the main driving voltage continues to rise, it may mean that the dielectric gel actuator needs a larger voltage to reach the same deformation or contact force, which may indicate an increase in its stiffness or a decrease in its sensitivity. By iteratively adjusting the preset contact state value, this change can be gradually offset, so that in actual operation, the dielectric gel actuator can maintain its electrical characteristics near the desired preset contact state value when contacting the target sample, thereby maintaining stable mechanical response. This iterative adjustment strategy 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.

[0118] Referring to Figure 7 , Figure 7 A flowchart for maintaining the electrical characteristics at the preset contact state value is provided for an embodiment of the present application. Regarding step S140 described above, adjusting the main driving voltage applied to the dielectric gel actuator to maintain the electrical characteristics at the preset contact state value includes but is not limited to steps S710 to S730, which are described below.

[0119] Step S710, calculating the deviation between the electrical characteristics and the preset contact state value according to the electrical characteristics and the preset contact state value;

[0120] Step S720, calculating the adjustment amount of the main driving voltage according to the deviation;

[0121] Step S730, adjusting the main driving voltage according to the adjustment amount to maintain the electrical characteristics at the preset contact state value.

[0122] 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, etc. The preset contact state value refers to the target value that the electrical characteristics of the dielectric gel actuator should reach when it is in an ideal contact state 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.

[0123] Specifically, after obtaining the real-time electrical characteristic of the dielectric gel actuator, it is compared with the preset contact state value, so as to calculate the deviation between the two. The deviation reflects the difference between the current electrical characteristic and the expected value. For example, the deviation can be calculated by simple subtraction operation or more complex error function.

[0124] Further, according to the calculated deviation, the adjustment amount of the main driving voltage can be determined. The calculation of the adjustment amount aims to eliminate or reduce the above-mentioned deviation, so that the electrical characteristic of the dielectric gel actuator gradually approaches the preset contact state value. The calculation of the adjustment amount can be based on various control algorithms such as proportional control, integral control, differential control or their combination (such as PID control). For example, when the deviation is positive, the main driving voltage may need to be reduced; when the deviation is negative, the main driving voltage may need to be increased.

[0125] Finally, according to the calculated adjustment amount, the main driving voltage currently applied to the dielectric gel actuator is adjusted. Through this closed-loop feedback mechanism, the main driving voltage is dynamically adjusted, so that the electrical characteristic of the dielectric gel actuator can be continuously maintained at the preset contact state value, ensuring the stability and reliability of the flexible manipulator when contacting the target sample.

[0126] The scheme of the present application realizes accurate control of the electro-deformation state of the dielectric gel actuator by introducing the calculation of the deviation between the electrical characteristic and the preset contact state value, and dynamically adjusting the main driving voltage based on the deviation. When the dielectric gel actuator contacts the target sample, its electrical characteristic will change. In order to maintain a stable contact state, the electrical characteristic needs to be maintained at a specific preset contact state value. By monitoring the electrical characteristic in real time and calculating the deviation between the electrical characteristic and the preset contact state value, the system can accurately judge the degree of deviation of the current contact state. Subsequently, the required adjustment amount of the main driving voltage is calculated according to the deviation, and the main driving voltage is corrected accordingly. This feedback control mechanism ensures that even when the external environment or the characteristics of the target sample change slightly, the dielectric gel actuator can be finely adjusted by the voltage, so that its electrical characteristic is always maintained near the preset contact state value, thereby maintaining a stable contact force or deformation state.

[0127] Referring to Figure 8 , Figure 8 The flowchart for obtaining the adjustment amount of the main driving voltage is provided for an embodiment of the present application. Regarding the step S720 of calculating the adjustment amount of the main driving voltage according to the deviation, it includes but is not limited to steps S810 to S830, which will be introduced one by one as follows.

[0128] Step S810, calculating an initial adjustment amount according to the preset proportion according to the deviation;

[0129] Step S820, when the initial adjustment amount is greater than or equal to the first preset adjustment amount, calculating the initial adjustment amount according to a first preset weight to obtain an adjustment amount of the main driving voltage;

[0130] Step S830, when the initial adjustment amount is less than the second preset adjustment amount, calculating the initial adjustment amount according to a second preset weight to obtain an adjustment amount of the main driving voltage.

[0131] Specifically, the deviation refers to the difference between the electrical characteristic of the dielectric gel actuator and the preset contact state value, which can be quantitatively represented. The preset ratio is a pre-set coefficient for preliminarily converting the deviation into an initial adjustment reference value, i.e., the initial adjustment amount. The initial adjustment amount reflects the degree of deviation of the current electrical characteristic from the target state. The first preset adjustment amount and the second preset adjustment amount are threshold values for dividing the initial adjustment amount range. 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 that there is a significant deviation between the electrical characteristic and the preset contact state value, at which time the first preset weight can be applied to calculate the initial adjustment amount to obtain a relatively large main driving 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 characteristic has approached the preset contact state value, at which time the second preset weight can be applied to calculate the initial adjustment amount to obtain a relatively small main driving voltage adjustment amount, thereby performing fine adjustment and avoiding overshoot or oscillation.

[0132] The scheme of the present application realizes adaptive calculation of the main driving voltage adjustment amount by introducing a weight selection mechanism based on the size of the initial adjustment amount. When there is a large deviation between the electrical characteristic of the dielectric gel actuator and the preset contact state value, the system can quickly apply a large adjustment amount by applying the first preset weight, thereby rapidly pulling the electrical characteristic back to the target range. Conversely, when the deviation is small and the electrical characteristic has approached the target value, the system applies a more fine adjustment amount by applying the second preset weight, avoiding system instability or oscillation caused by excessive adjustment, and ensuring the stability and accuracy of the control. This segmented adjustment strategy enables the control system to flexibly select the appropriate adjustment intensity according to the actual size of the deviation, thereby optimizing the response speed and stability of the entire control process.

[0133] In some preferred embodiments, the following is described by a specific example. Assuming that the deviation between the electrical characteristic of the dielectric gel actuator and the preset contact state value is ΔE. First, according to the preset ratio K1, the initial adjustment amount ΔV_initial = ΔE K1. Further, the first preset adjustment amount can be set as V_threshold1, and the second preset adjustment amount can be set as V_threshold2, where V_threshold1 is generally 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, which indicates that the deviation is large and the system needs to respond quickly. The final adjustment amount ΔV_adjust of the main drive voltage can be calculated according to the first preset weight W1, for example, ΔV_adjust = ΔV_initial W1, where W1 can be set as 0.8, then ΔV_adjust = 8V. When the calculated initial adjustment amount ΔV_initial is less than the second preset adjustment amount, for example, ΔV_initial = 0.5V, which indicates that the deviation is small and the system needs to be finely adjusted. The final adjustment amount ΔV_adjust of the main drive voltage can be calculated according to the second preset weight W2, for example, ΔV_adjust = ΔV_initial W2, where W2 can be set as 0.2, then ΔV_adjust = 0.1V. In this way, when the deviation is large, the system can apply a relatively large adjustment amount to quickly correct it; when the deviation is small, a relatively small adjustment amount is applied for fine tuning, thereby effectively avoiding overshoot and oscillation, ensuring the stability and accuracy of the control.

[0134] Referring to Figure 9 , Figure 9 A flowchart for identifying the contact state or reaching the amplitude threshold of the detection signal is provided for an embodiment of the present application. This step includes but is not limited to step S910, and each step will be introduced in turn as follows.

[0135] Step S910, in the case where the time without identifying the contact state is greater than the first preset time length, the amplitude of the detection signal is increased according to the first preset proportion until the contact state is identified or the amplitude threshold of the detection signal is reached.

[0136] Specifically, the time when the contact state is not identified is greater than the first preset time length means that if the system continues to apply the detection signal and attempts to obtain the electrical characteristics to identify the contact state, and if a predetermined longer time (i.e. the first preset time length) has elapsed without successfully identifying the contact state between the dielectric gel actuator and the target sample, it is considered that the current detection signal may not be sufficient to trigger identifiable electrical characteristic changes. The first preset time length 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.

[0137] The amplitude of the detection signal is increased according to the first preset proportion 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 proportion is a preset increment factor for controlling the step size of each amplitude increase, for example, it can be set to 10%, 20% or a fixed voltage increment.

[0138] The amplitude of the detection signal is increased until the contact state is identified or the amplitude threshold of the detection signal is reached means that the increase process of the amplitude of the detection signal is not infinite, but is limited by one of the two conditions. Once the dielectric gel actuator successfully identifies the contact state with the target sample, or the amplitude of the detection signal has reached the preset maximum allowed value (i.e. the amplitude threshold of the detection signal), the amplitude of the detection signal is stopped from being increased. The amplitude threshold of the detection signal is intended to protect the dielectric gel actuator from excessive voltage or current damage and limit energy consumption.

[0139] In some preferred embodiments, the following is illustrated by a specific example. Assume that the "dielectric gel actuator" of the "flexible robot hand" is used to detect a tiny biological sample in a turbid liquid. The initial set "detection signal" amplitude may not be sufficient to penetrate the turbid liquid or sense the slight contact of the tiny sample. The system begins to perform contact detection, continuously applies the "detection signal" and monitors the "electrical characteristics". If after a "first preset time period" of, for example, 5 seconds, the system still does not identify any contact state, it is determined that the current "detection signal" amplitude may be too low. At this time, the system will automatically increase the amplitude of the "detection signal" according to the "first preset ratio" (for example, increase the amplitude by 10% each time). For example, if the initial amplitude is 1V, it will be increased to 1.1V and then continue to detect. If no contact is identified, it will be increased to 1.21V again, and so on. This process will continue until the "dielectric gel actuator" successfully identifies contact with the biological sample (for example, its capacitance value changes significantly) or the amplitude of the "detection signal" reaches a preset "amplitude threshold value" (for example, 5V) to prevent damage to the "dielectric gel actuator". Through this adaptive amplitude adjustment mechanism, even in less than ideal detection conditions, the "dielectric gel actuator" can eventually accurately identify contact with the "target sample", so that the "flexible robot hand" can adjust its "main drive voltage" in time to maintain the preset contact state.

[0140] Through the above technical solutions, the contact recognition robustness and adaptability of the "dielectric gel material electrically induced deformation control method" in complex environments are significantly improved. This scheme can effectively deal with the problem of contact recognition failure caused by insufficient initial amplitude of the "detection signal" or too weak contact, avoiding the dilemma that the "flexible robot hand" cannot sense the contact of the "target sample" for a long time. Thus, it ensures that the "flexible robot hand" can more reliably and efficiently identify and respond to contact with the "target sample" when performing tasks such as grabbing and detecting, thereby improving the success rate and intelligent level of the overall operation.

[0141] Reference Figure 10 , Figure 10 A schematic diagram of a dielectric gel material electrically induced deformation control system provided for an embodiment of the present application.

[0142] The dielectric gel material electrically induced deformation control system 1000 is applied to a flexible robot hand and includes:

[0143] The receiving module 1010 is configured to receive a detection instruction for the dielectric gel actuator of the flexible robot hand to be immersed in the conductive biological solution;

[0144] The acquisition module 1020 is configured to apply a detection signal to the dielectric gel actuator according to the detection instruction and acquire the electrical characteristics of the dielectric gel actuator;

[0145] The recognition module 1030 is configured to recognize the contact state between the dielectric gel actuator and the target sample when the electrical characteristic changes by a preset amount.

[0146] The adjustment module 1040 is configured to adjust the main driving voltage applied to the dielectric gel actuator to keep the electrical characteristic at a preset contact state value when the contact state is recognized.

[0147] The system realizes accurate control of the dielectric gel actuator in the electrically induced deformation in the conductive biological solution environment through a modular design. The receiving module is responsible for obtaining the detection instruction and starting the detection process. The acquisition module applies the detection signal according to the instruction and monitors the electrical characteristic of the dielectric gel actuator in real time, providing a data basis for subsequent state judgment. The recognition module intelligently judges whether the dielectric gel actuator is in contact with the target sample based on the change of the electrical characteristic, ensuring the accuracy of the operation. The adjustment module dynamically adjusts the main driving voltage to keep the electrical characteristic of the dielectric gel actuator at a preset stable contact state value after confirming the contact, thereby effectively overcoming the problems of electric field shunting, dynamic changes of the interface, and material performance drift, ensuring the stable grasping and operation precision of the flexible manipulator in complex environments.

[0148] Specifically, each module in the system can be configured in the following form: the receiving module can be configured in multiple forms to receive the detection instruction. For example, the receiving module can be a physical interface for receiving an electrical signal instruction from an external control unit; or it can be a software module that receives an instruction from a host computer through a network communication protocol; or the receiving module can be integrated with a sensor interface for receiving a trigger signal from an environmental sensor, such as a liquid level sensor or an electrical conductivity sensor, which automatically generates and receives the detection instruction when the dielectric gel actuator is fully immersed in the conductive biological solution.

[0149] It is emphasized that the acquisition module can be designed to include a signal generator and a measurement unit. Among them, the signal generator can be a programmable arbitrary waveform generator for generating detection 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 integrated with a voltmeter, ammeter or impedance analyzer for real-time acquisition of electrical responses of the dielectric gel actuator under the action of the detection signal, such as voltage, current, impedance, capacitance or resistance, etc. The acquisition module can also include a data processing unit for pre-processing and feature extraction of the original collected data to obtain the required electrical characteristic values. The identification module can be configured to include a comparator and a state judgment logic unit. The comparator is used to compare the real-time electrical characteristics provided by the acquisition module with the preset reference electrical characteristics or threshold values. The state judgment logic unit then determines whether the electrical characteristics have changed as preset according to the comparison result. For example, when the instantaneous change rate or cumulative change amount of the electrical characteristics exceeds the preset threshold, the identification module will output a contact state signal. The identification module can also use simple threshold judgment algorithms, such as when the capacitance value drops by more than a certain percentage, it is considered that contact has occurred; or use machine learning-based classification algorithms to identify different contact modes 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) controller, proportional integral (PI) controller or proportional integral derivative (PID) controller, whose input is the deviation between the current electrical characteristics and the preset contact state value, and the output is the main drive voltage amount that needs to be adjusted. The voltage output unit then accurately adjusts the main drive voltage applied to the dielectric gel actuator according to the instructions of the feedback controller, such as through a high-voltage amplifier or 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 stable gripping force.

[0150] The dielectric gel material electro-deformation control system proposed in the present application aims to solve the challenges faced by flexible manipulators in micrometer-scale biological sample gripping in conductive biological solution environments. Traditional existing flexible manipulators are unstable in deformation control when operating in conductive liquids, making it difficult to achieve accurate and stable gripping due to electric field shunting effect, complex interface behavior and material's own cumulative drift.

[0151] The system overcomes the above problems by introducing a real-time feedback control mechanism based on electrical characteristics through modular design. The receiving module, acquisition module, identification module and adjustment module work together to form a closed-loop control system. Unlike the existing technology which relies on preset voltage for open-loop control or simple force feedback, the system directly uses the electrical response of the dielectric gel actuator in the actual contact state as the feedback basis. This dynamic adjustment mechanism based on electrical characteristics enables the system to actively adapt to the dynamic changes in the conductivity of the conductive biological solution, the interface characteristics and the performance of the dielectric gel material itself, thereby ensuring that the dielectric gel actuator always maintains stable contact with the target sample in the preset contact state. As a result, the system significantly improves the reliability and operation accuracy of the flexible manipulator in biomedical applications, providing a more stable grasping solution for high-throughput screening and automated experiments.

[0152] The above only describes the embodiments of the present application and is not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling electro-mechanical deformation of a dielectric gel material, applied to a flexible robot, characterized in that, The method comprises: receiving a detection instruction for the dielectric gel actuator of the flexible robot to be immersed in a conductive biological solution; applying a detection signal to the dielectric gel actuator according to the detection instruction, and obtaining an electrical characteristic of the dielectric gel actuator; when the electrical characteristic changes by a preset amount, identifying a contact state between the dielectric gel actuator and a target sample; when the contact state is identified, adjusting a main driving voltage applied to the dielectric gel actuator to keep the electrical characteristic at a preset contact state value.

2. The method of claim 1, wherein, Before the step of when the electrical characteristic changes by a preset amount, identifying a contact state between the dielectric gel actuator and a target sample, the method further comprises: receiving a purification instruction for the dielectric gel actuator; vibrating a surface of the dielectric gel actuator according to the purification instruction to shake off particles attached to the surface of the dielectric gel actuator; receiving a stop purification instruction for the dielectric gel actuator, and controlling the dielectric gel actuator to suspend vibration for a first preset time.

3. The method of claim 1, wherein, The step of when the electrical characteristic changes by a preset amount, identifying a contact state between the dielectric gel actuator and a target sample, comprises: when the electrical characteristic changes by a preset amount, continuously obtaining the electrical characteristic for a second preset time to obtain a target electrical characteristic; obtaining a variation amplitude of the target electrical characteristic within the second preset time according to the target electrical characteristic; when the variation amplitude is less than a preset threshold, identifying the contact state between the dielectric gel actuator and the target sample.

4. The method of claim 1, wherein, After the step of adjusting a main driving voltage applied to the dielectric gel actuator to keep the electrical characteristic at a preset contact state value, the method further comprises: obtaining the main driving voltage according to a preset period; obtaining a long-term variation trend of the main driving voltage according to the main driving voltage; when the long-term variation trend indicates that a mechanical response characteristic of the dielectric gel actuator has accumulated drift, adjusting the preset contact state value.

5. The method of claim 4, wherein, The step of obtaining the main driving voltage according to a preset period, comprises: obtaining a plurality of time periods within the preset period; statistically processing the main driving voltage in each of the time periods to obtain statistical voltage values of the plurality of time periods; comparing the statistical voltage values to obtain a variation direction and a variation amplitude of the statistical voltage values; when the statistical voltage values exhibit continuous unidirectional variation in the plurality of time periods, obtaining a long-term variation trend of the main driving voltage. The step of adjusting the preset contact state value, comprises:

6. The method of claim 4, wherein, iteratively adjusting the preset contact state value according to the long-term variation trend of the main driving voltage and a preset step size until the long-term variation trend is suppressed or reversed. The step of adjusting a main driving voltage applied to the dielectric gel actuator to keep the electrical characteristic at a preset contact state value, comprises:

7. The method of claim 1, wherein, calculating a deviation between the electrical characteristic and the preset contact state value according to the electrical characteristic and the preset contact state value; calculating an adjustment amount of the main driving voltage according to the deviation; and applying the main driving voltage to the dielectric gel actuator. Adjust the main driving voltage according to the adjustment amount, so as to keep the electrical characteristic at the preset contact state value.

8. The method of claim 7, wherein, The adjustment amount of the main driving voltage is calculated according to the deviation, comprising: According to the deviation, the initial adjustment amount is calculated according to a preset proportion; When the initial adjustment amount is greater than or equal to a first preset adjustment amount, the initial adjustment amount is calculated according to a first preset weight to obtain the adjustment amount of the main driving voltage; When the initial adjustment amount is less than a second preset adjustment amount, the initial adjustment amount is calculated according to a second preset weight to obtain the adjustment amount of the main driving voltage.

9. The method of claim 1, wherein, Also includes: In the case where the time when the contact state is not identified is greater than a first preset time length, the amplitude of the detection signal is increased according to a first preset proportion until the contact state is identified or the amplitude threshold of the detection signal is reached.

10. A dielectric gel material electro- shape change control system applied to a flexible robot, characterized by, Including: The receiving module is used for receiving the detection instruction of the dielectric gel actuator of the flexible manipulator immersed in the conductive biological solution; The acquisition module is used for applying a detection signal to the dielectric gel actuator according to the detection instruction, and acquiring the electrical characteristic of the dielectric gel actuator; The identification module is used for identifying the contact state between the dielectric gel actuator and the target sample when the electrical characteristic changes by a preset amount. The adjustment module is used for adjusting the main driving voltage applied to the dielectric gel actuator to keep the electrical characteristic at a preset contact state value when the contact state is identified.

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