Self-sensing driver based on thermoelectric fiber intrinsic integration, closed-loop control method of self-sensing driver and software grabbing device

Abstract

The invention provides a self-sensing driver based on thermoelectric fiber intrinsic integration, a closed-loop control method of the self-sensing driver and a soft grabbing device, and belongs to the technical field of soft robot driving and control. The device comprises a liquid crystal elastomer deformation layer which is used for generating programmable contraction or bending deformation after being heated; the driving-sensing coplanar layer is arranged below the liquid crystal elastomer deformation layer in a stacked mode, the heating-sensing coplanar layer is arranged below the liquid crystal elastomer deformation layer in a stacked mode, and the polyimide constraint bottom layer is arranged below the driving-sensing coplanar layer in a stacked mode and used for limiting the single-degree-of-freedom deformation direction; and the closed-loop control unit is used for receiving the thermoelectric force signal generated by the heating-sensing coplanar layer and dynamically adjusting the input voltage of the snake-shaped patterned conductive polymer driving film in the heating-sensing coplanar layer. The method successfully solves the three core problems of mechanical mismatch, temperature drift interference and insufficient open-loop control precision in the field of soft robots.

Description

Technical Field

[0001] This invention relates to a self-sensing actuator based on intrinsic thermoelectric fiber integration, its closed-loop control method, and a soft grasping device, belonging to the field of soft robot drive and control technology. Background Technology

[0002] Liquid crystal elastomers (LCEs) are ideal materials for artificial muscles due to their large strain (>35%) and high power density. However, their thermally induced phase transition (nematic phase to isotropic phase) leads to nonlinear deformation. Traditional open-loop control strategies cannot adapt to this nonlinearity, resulting in poor motion accuracy. This nonlinearity stems from the intrinsic properties of the material, therefore control strategies based on rigid actuators are incompatible, severely limiting their application in precision operations. Existing technical solutions attempt to optimize the drive, but have not resolved the core contradiction between deformation prediction and real-time feedback.

[0003] To address the control problem, existing technologies monitor deformation by attaching resistance strain sensors to the LCE surface. However, this approach faces two major bottlenecks: first, Joule heating causes sensor temperature drift, leading to distortion of the piezoresistive signal; second, external driving energy (such as infrared light or thermal fields) generates cross-domain interference with the electrical sensing signal, reducing the system's signal-to-noise ratio. This mechanical mismatch and energy crosstalk result in existing LCE systems lacking a reliable intrinsic feedback channel, making it impossible to establish an effective closed-loop control architecture.

[0004] Biological muscles intrinsically integrate actuation and sensing functions through muscle spindle sensing units. In human skeletal muscle, motor neurons trigger contraction, while sensory neurons provide real-time feedback of strain and tension data, achieving high-precision control with an error of <5%. Inspired by this, current pressing issues include: intrinsic integration mechanisms of actuation and sensing, stable signal transmission resistant to temperature drift, and a fast thermo-mechanical signal conversion architecture.

[0005] Biological research shows that biological muscles intrinsically fuse actuation and perception functions through muscle spindle sensory units. Human skeletal muscle achieves this intrinsic fusion through muscle spindle sensory units. When a motor neuron (efferent pathway) triggers muscle contraction, sensory neurons (aperent pathway) can provide real-time feedback of strain, tension, and temperature data, enabling high-precision motion control. Inspired by this, current technologies urgently need to overcome three major challenges: the intrinsic integration mechanism of actuation and perception, a stable signal generation scheme resistant to temperature drift, and a fast-transmitting thermo-mechanical signal conversion architecture. Therefore, solving these problems can lay the foundation for the precise control of next-generation soft robots. Summary of the Invention

[0006] The purpose of this invention is to solve the problems of mechanical mismatch, temperature drift interference, and insufficient open-loop control accuracy in the current soft robot drive-sensing technology, and to provide a self-sensing actuator based on thermoelectric fiber intrinsic integration, its closed-loop control method, and a soft gripping device.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] A self-sensing actuator based on intrinsic thermoelectric fiber integration, the self-sensing actuator comprising: a liquid crystal elastomer deformation layer, a heating-sensing coplanar layer, a polyimide confinement bottom layer, and a closed-loop control unit; the heating-sensing coplanar layer is stacked below the liquid crystal elastomer deformation layer, the polyimide confinement bottom layer is stacked below the heating-sensing coplanar layer, and the signal input and output terminals of the closed-loop control unit are both connected to the heating-sensing coplanar layer;

[0009] Liquid crystal elastomer deformation layer, used to generate programmable shrinkage or bending deformation when heated;

[0010] A heating-sensing coplanar layer is used to drive the liquid crystal elastomer deformation layer to generate deformation and to sense the thermoelectric potential signal generated by temperature changes.

[0011] The polyimide constraint layer is used to limit the single-degree-of-freedom deformation direction of the liquid crystal elastomer deformation layer.

[0012] A closed-loop control unit is used to receive the thermoelectric potential signal generated by the heating-sensing coplanar layer and dynamically adjust the input voltage of the serpentine patterned conductive polymer heating film in the heating-sensing coplanar layer.

[0013] Preferably, the liquid crystal elastomer deformation layer includes unidirectionally arranged liquid crystal mesomorphic units with a thickness of 300-500 μm, and the liquid crystal mesomorphic units are coupled to the heating-sensing coplanar layer interface through thermo-press bonding.

[0014] Preferably, the heating-sensing coplanar layer comprises: a serpentine patterned conductive polymer heating film and a pair of flexible thermoelectric fibers and silver-plated nylon fibers; the pair of flexible thermoelectric fibers and silver-plated nylon fibers are arranged parallel to the serpentine heating path of the serpentine patterned conductive polymer heating film, and the pair of flexible thermoelectric fibers and silver-plated nylon fibers are located in the middle of the serpentine heating path within the serpentine patterned conductive polymer heating film.

[0015] A serpentine patterned conductive polymer heating film is used to drive the deformation of a liquid crystal elastomer deformation layer through the Joule heating effect.

[0016] A pair of flexible thermoelectric fibers and silver-plated nylon fibers are embedded at one end in the lower surface of the liquid crystal elastomer deformation layer and at the other end outside the polyimide constraint layer. This is used to generate a thermoelectric potential signal based on the Seebeck effect when there is a temperature difference between the two ends.

[0017] Preferably, the gap between the flexible thermoelectric fiber and the silver-plated nylon fiber is less than 1 mm.

[0018] Preferably, the closed-loop control unit includes: a signal decoupling module, an adaptive regulator, and a power amplifier circuit; the signal input terminal of the signal decoupling module is connected to the flexible thermoelectric fiber and the silver-plated nylon fiber, the signal output terminal of the signal decoupling module is connected to the signal input terminal of the adaptive regulator, the signal output terminal of the adaptive regulator is connected to the signal input terminal of the power amplifier circuit, and the signal output terminal of the power amplifier circuit is connected to the serpentine patterned conductive polymer heating film.

[0019] The signal decoupling module is used to convert the received thermoelectric potential signal into a driver and estimate the deformation angle in real time.

[0020] An adaptive regulator is used to receive the real-time deformation angle estimate output by the signal decoupling module, and output a corresponding PWM drive voltage signal based on the deviation between the preset target deformation angle and the actual deformation angle estimate.

[0021] A power amplifier circuit is used to convert the PWM drive voltage signal into an excitation current for the operation of the heating film.

[0022] A closed-loop control method for a self-sensing actuator based on intrinsic thermoelectric fiber integration, the closed-loop control method comprising the following steps:

[0023] Step 1: Set the target parameters for the deformation angle and movement speed of the liquid crystal elastomer deformation layer;

[0024] Step 2: Real-time acquisition of the thermoelectric potential signal generated by the flexible thermoelectric fiber and the silver-plated nylon fiber pair. ;

[0025] Step 3: Based on the thermoelectric potential signal acquired in Step 2 The mapping relationship with the deformation angle θ is used to calculate the current actual deformation state. Parameters A and B are constants and are calibrated by testing with a test device.

[0026] Step 4: Dynamically adjust the input voltage of the serpentine patterned conductive polymer heating film using control methods to bring the actual deformation state to the target parameters set in Step 1.

[0027] Preferably, the control method in step four includes: position control mode and speed control mode;

[0028] Position control mode: Using thermoelectric potential signal as feedback, multi-angle fixed-point control is achieved through step voltage switching;

[0029] Speed ​​control mode: The thermoelectric potential change rate is used as feedback, and adjustable speed deformation approximation is achieved through ramp voltage modulation.

[0030] An adaptive soft grasping device, wherein the adaptive soft grasping device integrates at least two self-sensing actuators based on thermoelectric fiber intrinsic integration as described in claim 1 as actuating fingers, and the closed-loop control unit automatically switches between position control mode and speed control mode according to the weight and shape of the object.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] This invention, through the intrinsic integration of thermoelectric fibers (PEDOT:PSS) and liquid crystal elastomers (LCE), successfully solves three core problems in the field of soft robotics: mechanical mismatch, temperature drift interference, and insufficient open-loop control accuracy. Specifically, the thermoelectric fiber, located on the lower surface of the LCE deformation layer, generates a thermoelectric potential signal that exhibits a linear relationship with the bending angle, fundamentally eliminating the mechanical mismatch caused by assembly misalignment or interface slippage in traditional external sensors; the thermocouple, based on the Seebeck effect, monitors the true temperature gradient of the LCE phase transition region in situ in real time, effectively isolating environmental temperature fluctuation interference (temperature drift suppression rate >95%); and utilizes a linear feedback model of thermoelectric potential versus deformation angle (…). Combined with dynamic voltage modulation algorithms (such as PID), high-precision closed-loop position control (accuracy up to ±0.5°) is achieved, which is significantly better than open-loop drive control. The system supports programmable multi-modal drive, and achieves fast / medium / slow approach rates through preset voltage waveforms. The thermoelectric signal threshold triggering mechanism ensures that the actuator is stably locked at the preset bending angle. The serpentine patterned conductive polymer heating film exhibits excellent durability (resistance drift <0.5% after 400 R = 5mm bending). The PI constraint layer limits the single degree of freedom deformation direction of the liquid crystal elastomer deformation layer. Finally, the drive (electrothermal), sensing (temperature / deformation) and control functions are integrated into a single actuator. The structure is compact (thickness <200μm), which is especially suitable for space-constrained scenarios. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of a self-sensing actuator based on intrinsic thermoelectric fiber integration, provided by the present invention.

[0034] Figure 2 Calibration curves for the Seebeck effect of thermoelectric fibers.

[0035] Figure 3 It is a linear model of thermoelectric potential and bending angle.

[0036] Figure 4 This is a topology diagram of the closed-loop control unit.

[0037] Figure 5 This is a screenshot of the position control mode.

[0038] Figure 6 This is a screenshot showing the effect of the speed control mode.

[0039] Figure 7 This is a sequence diagram of application scenarios for multi-finger grasping of objects of different shapes; where:

[0040] Figure 7 (a) is a diagram of the initial 0s application scenario for multi-finger grasping of a tetrahedron;

[0041] Figure 7 (b) is a diagram illustrating a 20-second application scenario of multi-finger grasping of a tetrahedron;

[0042] Figure 7 (c) is a diagram illustrating a 23-second application scenario for multi-finger grasping of a tetrahedron;

[0043] Figure 7 (d) is an application scenario diagram of releasing a tetrahedron after a multi-finger grasp for 48 seconds;

[0044] Figure 7 (e) is a diagram of the initial 0s application scenario for multi-finger grasping of a pentahedron;

[0045] Figure 7 (f) is a diagram illustrating a 20-second application scenario of multi-finger grasping of a pentahedron;

[0046] Figure 7 (g) is a diagram illustrating a 23-second application scenario for multi-finger grasping of a pentahedron;

[0047] Figure 7 (h) is a diagram illustrating a 48-second application scenario of multi-finger grasping and releasing a pentahedron;

[0048] Figure 7 (i) is a diagram of the initial 0s application scenario for multi-finger grasping of a triangle;

[0049] Figure 7 (j) is a 20-second application scenario diagram of multi-finger grasping of a triangular object;

[0050] Figure 7 (k) is a diagram illustrating a 23-second application scenario for multi-finger grasping of a triangular object;

[0051] Figure 7 (l) is a diagram illustrating a 48-second release scenario for multi-finger grasping of a triangular object;

[0052] Figure 7(m) is a diagram of the initial 0s application scenario for multi-finger grasping of a sphere;

[0053] Figure 7 (n) is a diagram illustrating a 20-second application scenario of multi-finger grasping of a sphere;

[0054] Figure 7 (o) is a diagram illustrating a 23-second application scenario for multi-finger grasping of a sphere;

[0055] Figure 7 (p) is a diagram of an application scenario where a ball is released after being grasped by multiple fingers for 48 seconds.

[0056] Figure 1 The reference numerals in the figures are as follows: 1 is the liquid crystal elastomer deformation layer, 2 is the heating-sensing coplanar layer, 3 is the polyimide constraint bottom layer, and 4 is the copper wire. Detailed Implementation

[0057] The present invention will be further described in detail below with reference to the accompanying drawings: This embodiment is implemented under the premise of the technical solution of the present invention, and detailed implementation methods are given, but the protection scope of the present invention is not limited to the following embodiments.

[0058] It should be noted that when describing an element as "fixed in" or "placed" on another element, it includes direct contact or indirect stacking relationship; "connection" includes physical fixation, electrical conduction or signal coupling; descriptive terms such as "slightly greater than" and "certain" only indicate relative relationships, and the specific numerical range is defined by the claims and embodiments.

[0059] like Figure 1 As shown, the self-sensing actuator based on intrinsic thermoelectric fiber integration involved in this embodiment adopts a three-layer functional integrated structure, which is stacked sequentially from top to bottom in the vertical direction:

[0060] Liquid crystal elastomer (LCE) deformation layer 1 is used to generate programmable shrinkage or bending deformation when heated;

[0061] A heating-sensing coplanar layer 2 is stacked below the liquid crystal elastomer deformation layer 1 and includes parallel pairs of thermoelectric fibers (PEDOT:PSS) / silver-plated nylon electrodes and a serpentine patterned conductive polymer heating layer, used to drive the liquid crystal elastomer deformation layer 1 to generate deformation and sense the thermoelectric potential signal generated by temperature changes.

[0062] A polyimide (PI) confining bottom layer 3 is stacked below the heating-sensing coplanar layer 2 to limit the single-degree-of-freedom deformation direction of the liquid crystal elastomer deformation layer 1;

[0063] Among them, the thermoelectric fiber (PEDOT:PSS, diameter 30-50 μm) and the silver-plated nylon electrode are arranged in parallel to form a thermocouple on the lower surface of LCE deformation layer 1; the conductive polymer layer (PEDOT:PSS / DMSO, conductivity 300±15 S / cm) adopts a laser-patterned serpentine structure (linewidth 900±50 μm); LCE deformation layer 1 is prepared by a two-step crosslinking-mechanical orientation method of thiol-acrylate, has a nematic-isotropic phase transition temperature of 63℃, and a reversible driven strain >35%; the PI confinement bottom layer 3 defines the single degree of freedom deformation direction of liquid crystal elastomer deformation layer 1.

[0064] When a driving voltage is applied, the serpentine patterned conductive polymer heating film heats up through the Joule effect. When the temperature approaches the phase transition temperature of LCE deformation layer 1, it induces thermally induced bending deformation of LCE deformation layer 1. Simultaneously, the thermoelectric fiber, based on the Seebeck effect (coefficient...),... Real-time monitoring of temperature changes (μV / K) generates data related to bending angle. Linearly correlated thermoelectric potential signal ,satisfy (Unit: degrees) This signal is fed back to the controller, i.e., the closed-loop control unit, forming a closed loop. Position control is achieved by dynamically adjusting the voltage. (Accuracy) and three approach rates (fast / medium / slow). Intrinsic integration of thermoelectric fibers and LCE deformation layer 1 eliminates temperature drift interference. The resistance drift of the serpentine patterned conductive polymer heating film is reduced after 400 bends (R = 5mm). The thermoelectric potential-deformation linear model eliminates misidentification caused by mechanical mismatch in principle.

[0065] A self-sensing actuator based on intrinsic thermoelectric fiber integration achieves multimodal control through collaboration: thermoelectric signal threshold trigger voltage modulation enables the actuator to stably reach a preset bending angle, and the fast / medium / slow approach rate is achieved by programming the voltage waveform;

[0066] The thermoelectric fibers are wet-spun PEDOT:PSS microfibers (30-50 μm in diameter). The serpentine patterned conductive polymer heating film is prepared as a dimethyl sulfoxide (DMSO)-doped PEDOT:PSS composite film. The LCE deformation layer 1 is prepared as a single-domain structure through a two-step crosslinking-mechanical orientation method.

[0067] like Figure 2 The figure shows the Seebeck effect calibration curves for thermoelectric fibers, where the horizontal axis represents different temperature gradients and the vertical axis represents the corresponding thermoelectric potential. The fitted straight line has an R² = 0.99, indicating a strong linear correlation between the two.

[0068] like Figure 3The figure shows a linear model of thermoelectric potential versus bending angle, where the horizontal axis represents the bending angle of the actuator, and the vertical axis represents the corresponding thermoelectric potential. Figure 3 A strong linear correlation can be observed between the bending angle and the electric potential.

[0069] like Figure 4 The diagram shown is a topology diagram of a closed-loop control system, in which the power supply in the control system provides power to the modules.

[0070] like Figure 5 The image shown is a diagram of the position control mode. The horizontal axis represents time, and the vertical axis represents thermoelectric potential. That is, the different thermoelectric potentials correspond to different positions reached by the driver.

[0071] like Figure 6 The diagram shown is an effect of the speed control mode. The horizontal axis represents time, and the vertical axis represents thermoelectric potential, i.e. how fast the driver reaches the same position. Specific implementation method one:

[0073] A method for fabricating a self-sensing actuator based on intrinsic integration of thermoelectric fibers includes the following steps:

[0074] S1. PEDOT:PSS thermoelectric fibers were prepared by wet spinning and paired with silver-plated nylon fibers to form a thermocouple.

[0075] S2. Mix PEDOT:PSS solution with DMSO to prepare a thin film, then laser cut a serpentine circuit to form a serpentine patterned conductive polymer heating film.

[0076] S3. A single-domain LCE film is synthesized by two-step crosslinking of thiol and acrylate, pre-stretched by 200%, and then cured under UV light.

[0077] S4. Embed the thermocouple array into the lower surface of LCE deformation layer 1, stack the serpentine patterned conductive polymer heating film and PI constraint layer, and hot-press bond them at 80°C.

[0078] S5, integrated into the end effector of the robotic arm, the PI constraint bottom layer 3 limits the single-degree-of-freedom deformation direction of the LCE deformation layer 1. Specific Implementation Method Two:

[0080] As a preferred preparation method, the present invention also provides a method for preparing a self-sensing liquid crystal elastomer actuator based on intrinsic thermoelectric fiber integration, comprising the following steps:

[0081] S1. Preparation of single-domain LCE thin films:

[0082] Liquid crystal monomers, crosslinking agents, and photoinitiators are dissolved in a solvent, and then pre-crosslinked, stretched, oriented, and UV-cured to form a single-domain structure.

[0083] S2. Preparation of serpentine patterned conductive polymer heating thin film:

[0084] A mixture of PEDOT:PSS solution and DMSO was dried in steps to form a film, which was then laser-cut into a serpentine circuit.

[0085] S3, Thermoelectric fiber preparation:

[0086] Concentrated PEDOT:PSS spinning solution is wet-spun, then washed, dried, and twisted into fiber bundles.

[0087] S4, Heating-Sensing Coplanar Layer 2 Integration:

[0088] Thermoelectric fibers and silver-plated nylon fibers are paired in parallel and hot-pressed onto the PI constraint substrate 3. A serpentine patterned conductive polymer heating film is also hot-pressed onto the PI constraint substrate 3, and copper wires 4 are welded on.

[0089] S5, Driver Assembly:

[0090] The LCE deformation layer 1 is hot-pressed onto the heating-sensing coplanar layer 2, so that the thermoelectric fibers are completely embedded in the lower surface of the LCE deformation layer 1, forming a sandwich structure. Specific implementation method three:

[0092] A method for fabricating a self-sensing liquid crystal elastomer actuator based on intrinsic thermoelectric fiber integration includes the following steps:

[0093] Step 1, Preparation of single-domain LCE thin films:

[0094] Step 1.1: Dissolve RM257 liquid crystal monomer (2.0g) in toluene (0.8g) and stir at 80°C until transparent;

[0095] Step 1.2: After cooling to 25°C, add EDDET spacer (0.42g), PETMP crosslinking agent (0.08g), HHMP photoinitiator (0.15g), and DPA catalyst (0.30g) in sequence, and degas under vacuum for 30 minutes;

[0096] Step 1.3: Pour into a polytetrafluoroethylene mold (1 mm thick) and pre-crosslink at 25°C for 12 hours;

[0097] Step 1.4: Curing at 60℃ for 24 hours to evaporate the solvent, stretching to 200% strain and fixing, irradiating with 365 nm ultraviolet light for 10 minutes to obtain a single-domain LCE film (thickness 100±5μm).

[0098] Step 2, Preparation of serpentine patterned conductive polymer heating film:

[0099] Step 2.1: Mix PEDOT:PSS aqueous solution (15 mL) with DMSO (150 μL), stir magnetically for 30 minutes, and sonicate to remove bubbles for 20 minutes;

[0100] Step 2.2: Pour into a glass mold and dry in stages: 60℃ / 2h and 120℃ / 30min to form a film (thickness 50±3μm).

[0101] Step 2.3: Laser (355 nm, 15W) cuts a serpentine circuit with a linewidth of 900±50μm, followed by ethanol immersion cleaning.

[0102] Step 3, Thermoelectric fiber preparation:

[0103] Step 3.1 Add DMSO (50 μL) to PEDOT:PSS solution (10 mL) and concentrate to 200% concentration by rotary evaporation at 50 °C;

[0104] Step 3.2 Inject into a 50wt% sulfuric acid coagulation bath through a 400μm needle, and allow phase separation for 2 hours;

[0105] Step 3.3 Pass the product through a washing bath containing an ethanol / water mixture (3:1 volume ratio) at a constant speed and dry at 80°C;

[0106] Step 3.4 Twist the monofilaments into fiber bundles with a diameter of 300-500μm (diameter 40±5μm, electrical conductivity 280±15S / cm).

[0107] Step 4, Integration of Heating-Sensing Coplanar Layer 2:

[0108] Step 4.1: Arrange PEDOT:PSS fiber bundles and silver-plated nylon fibers (25 μm in diameter) in parallel (200 ± 10 μm spacing) and fix them on the surface of PI film (50 μm thick);

[0109] Step 4.2: Hot-press at 80℃ for 20 minutes to form a thermocouple array;

[0110] Step 4.3: Then, the serpentine patterned conductive polymer heating film is also hot-pressed onto the PI constraint substrate 3, and copper wire 4 (0.1 mm in diameter) is welded on.

[0111] Step 5, Driver assembly:

[0112] Step 5.1: The LCE deformation layer 1 is hot-pressed onto the heating-sensing coplanar layer 2, so that the thermoelectric fibers are completely embedded in the lower surface of the LCE deformation layer 1, forming a sandwich structure. From top to bottom, the structure consists of the LCE deformation layer 1, the heating-sensing coplanar layer 2, and the PI constraint bottom layer 3.

[0113] Step 5.2, hot-press bonding at 80℃ (0.5 MPa, 30 seconds), total thickness 375±10μm.

[0114] The above description, in conjunction with preferred embodiments, provides a detailed explanation of the present invention and should not be construed as limiting the specific implementation of the invention to these embodiments. Those skilled in the art can make various adjustments to the process parameters (such as temperature and pressure), material ratios (such as DMSO doping amount), and structural designs (such as serpentine linewidth) without departing from the concept of the present invention; all such adjustments should be considered within the scope of protection of the present invention.

[0115] The above description is merely a preferred embodiment of the present invention. These specific embodiments are different implementations based on the overall concept of the present invention, and the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A self-sensing driver based on intrinsic integration of thermoelectric fibers, characterized in that, The self-sensing driver comprises a liquid crystal elastomer deformation layer (1), a heating-sensing co-planar layer (2), a polyimide constraint bottom layer (3), and a closed-loop control unit; the heating-sensing co-planar layer (2) is arranged below the liquid crystal elastomer deformation layer (1) in a stacked manner, the polyimide constraint bottom layer (3) is arranged below the heating-sensing co-planar layer (2) in a stacked manner, and the signal input and output ends of the closed-loop control unit are connected with the heating-sensing co-planar layer (2); The liquid crystal elastomer deformation layer (1) is used for generating programmable shrinkage or bending deformation by heating. The heating-sensing co-planar layer (2) is used for driving the liquid crystal elastomer deformation layer (1) to generate deformation and sensing the thermoelectric potential signal generated by temperature change. The polyimide constraint bottom layer (3) is used for limiting the single-degree-of-freedom deformation direction of the liquid crystal elastomer deformation layer (1). The closed-loop control unit is used for receiving the thermoelectric potential signal generated by the heating-sensing co-planar layer (2) and dynamically adjusting the input voltage of the serpentine patterned conductive polymer heating film in the heating-sensing co-planar layer (2).

2. The pyroelectric fiber based intrinsically integrated self-sensing actuator according to claim 1, characterized in that, The liquid crystal elastomer deformation layer (1) comprises unidirectionally arranged liquid crystal mesogenic units, the thickness is 300-500 μm, and the liquid crystal mesogenic units are coupled with the interface of the heating-sensing co-planar layer (2) through thermal compression bonding.

3. The pyroelectric fiber based intrinsically integrated self-sensing actuator according to claim 1, characterized in that, The heating-sensing co-planar layer (2) comprises a serpentine patterned conductive polymer heating film and a pair of flexible thermoelectric fibers and silver-plated nylon fibers; the pair of flexible thermoelectric fibers and silver-plated nylon fibers are arranged in parallel along the serpentine heating line of the serpentine patterned conductive polymer heating film, and the pair of flexible thermoelectric fibers and silver-plated nylon fibers are located in the middle of the serpentine heating line in the serpentine patterned conductive polymer heating film; The serpentine patterned conductive polymer heating film is used for driving the liquid crystal elastomer deformation layer (1) to generate deformation through the Joule heating effect. The pair of flexible thermoelectric fibers and silver-plated nylon fibers is embedded in the lower surface of the liquid crystal elastomer deformation layer (1) at one end and located outside the polyimide constraint bottom layer (3) at the other end, and is used for generating a thermoelectric potential signal based on the Seebeck effect when there is a temperature difference between the two ends.

4. The pyroelectric fiber based intrinsically integrated self-sensing actuator according to claim 3, characterized in that, The distance between the pair of flexible thermoelectric fibers and silver-plated nylon fibers is less than 1 mm.

5. The pyroelectric fiber based intrinsically integrated self-sensing actuator according to claim 3, characterized in that, The closed-loop control unit comprises a signal decoupling module, an adaptive regulator, and a power amplification circuit; the signal input end of the signal decoupling module is connected with the pair of flexible thermoelectric fibers and silver-plated nylon fibers, the signal output end of the signal decoupling module is connected with the signal input end of the adaptive regulator, the signal output end of the adaptive regulator is connected with the signal input end of the power amplification circuit, and the signal output end of the power amplification circuit is connected with the serpentine patterned conductive polymer heating film; The signal decoupling module is used for converting the received thermoelectric potential signal into a driver and estimating the real-time deformation angle; The adaptive regulator is used for receiving the real-time deformation angle estimated by the signal decoupling module and outputting a corresponding PWM driving voltage signal based on the deviation between the preset target deformation angle and the actual deformation angle; The power amplification circuit is used for converting the PWM driving voltage signal into an excitation current for the operation of the heating film.

6. A closed loop control method based on the self-sensing driver based on pyroelectric fiber intrinsic integration according to any one of claims 3-5, characterized in that, The closed-loop control method comprises the following steps: Step one: set the target parameters of the deformation angle and the movement speed of the liquid crystal elastomer deformation layer (1); Step two: Real-time acquisition of thermoelectric potential signal generated by flexible thermoelectric fiber and silver-plated nylon fiber pair ; Step three: calculating the current actual deformation state based on the thermoelectric potential signal collected in step two The mapping relationship with the deformation angle θ is calculated to obtain the current actual deformation state, wherein parameters A and B are constants calibrated by testing the device. Step four: dynamically adjust the input voltage of the serpentine patterned conductive polymer heating film through the control method, so that the actual deformation state converges to the target parameters set in step one.

7. The closed loop control method of claim 6, wherein, The control method in step four comprises: position control mode and speed control mode; Position control mode: using thermoelectric potential signal as feedback, realizing multi-angle fixed-point control through step voltage switching; Speed control mode: using thermoelectric potential change rate as feedback, realizing adjustable speed deformation approximation through slope voltage modulation.

8. An adaptive software grasping device, characterized by: The adaptive soft gripper device integrates at least two self-sensing drivers based on intrinsic integration of thermoelectric fibers as execution fingers according to claim 1, and the closed-loop control unit automatically switches the position control mode and the speed control mode according to the weight and shape of the object.

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