66 results about "Pneumatic artificial muscles" patented technology

The invention provides a chameleon-imitated self-growing throat swab sampling robot, which comprises a robot body, which is formed by self-growing a flexible material in a pneumatic mode, an internal channel communicated with the atmosphere is formed in the robot body, and the throat swab is grabbed and released according to the change of the grabbing length of the throat swab by the internal channel; the driving storage mechanism is connected with the front end of the robot body and is used for storing the flexible material required by the growth of the robot body and providing power for the growth and recovery of the robot body; the pneumatic artificial muscle is located on the surface of the robot body and used for controlling the pose of the tail end of the robot. The tail end executing mechanism is located at the tail end of the robot body and comprises a recycling structure and a data collecting module, and the recycling structure guides the flexible material in a rolling friction mode so as to assist recycling of the robot body. According to the method, the predation process of aiming, launching, swallowing and withdrawing of a chameleon is imitated, the flexibility and conveying characteristics of the self-growing robot are fully utilized, and rapid and safe collection of the throat swab is achieved.

The invention discloses a self-growing robot and an environment exploration method thereof. The self-growing robot comprises a driving storage mechanism, a plastic film body, a flexible sensing unit, a signal receiving module, pneumatic artificial muscles arranged on the inner wall of the plastic film body and a tail end guiding sensing mechanism. The flexible sensing units are attached to the surface of the plastic film body, the sensing units are designed in an array mode, detection of obstacles in the environment is achieved while flexibility is guaranteed, the tail end guiding sensing mechanism is used for sensing the posture of the robot, information of a proximity sensor, an encoder and a gyroscope is combined, and the detection accuracy of the robot is improved. Navigation in an unknown environment can be realized; besides, pre-bending is set according to environment obstacle information, the environment obstacle is used for guiding the robot to grow, a larger area can be covered by combining pneumatic artificial muscles, a proximity sensor is used for detecting angular points in the environment according to the method, and the environment is explored by adopting a depth-first strategy; and a relatively high environment exploration rate can be realized within relatively few exploration times.

The present invention relates to a flexible robotic arm based on the coupling of memory alloy and pneumatic artificial muscle, wherein the flexible robotic arm comprises a fixed disk, a spacer disk, an airbag, a center rod, a base and an air supply pipe. The fixed disk is a circular thin disk, which is installed at the end of the flexible robotic arm and is used to fix other components. The spacer disk is also a circular thin disk, which plays a supporting role in the middle of the flexible robotic arm. The airbag is a silicone thin shell structure, which provides power for the movement of the flexible robotic arm. The center rod material is nickel-titanium alloy, which has shape memory function, and the stiffness is enhanced after heating, thereby improving the stability of the flexible robotic arm. The base is a circular disk, which is used to fix other components and connect other control devices or power sources. The air supply pipe is rubber soft, which provides power by supplying air to the airbag. The present invention realizes the movement and stiffness change of the flexible robotic arm, reduces vibration and improves stability through the cooperation of the airbag and the shape memory alloy center rod.

The invention relates to the technical field of rehabilitation robot control, in particular to an active-disturbance-rejection backstepping control system of a wrist rehabilitation robot. The wrist rehabilitation robot adopts two pneumatic artificial muscle systems as driving elements, and the control system comprises a tracking differentiator used for tracking and differentiating an input target angle signal; the extended state observer is used for estimating the system state and the total disturbance of the system in real time; the nonlinear error feedback controller is used for forming an error feedback signal and generating a control torque; the backstepping method controller is used for calculating and distributing the output pressure of the pneumatic artificial muscle system; the PID controller is used for dynamically correcting the output pressure; and the self-adaptive combination valve is used for controlling the pressure in the pneumatic artificial muscle system. According to the method, the inherent problems of high nonlinearity, uncertainty and hysteresis effect of a pneumatic artificial muscle system are solved, and high-precision trajectory tracking control over wrist joint movement is achieved.

The invention provides a double-pneumatic artificial muscle control method and system with overshoot constraint, and relates to the technical field of robot control. Comprising the following steps: defining error signals of a forearm muscle length, an upper arm muscle length, a shoulder joint angle and an elbow joint angle based on a dynamic model of a double-pneumatic artificial muscle system, and constructing an error signal convergence constraint term and an overshoot range constraint term; determining an energy function of the double-pneumatic artificial muscle system; based on a kinetic model and an energy function of the double-pneumatic artificial muscle system, considering the error signal convergence constraint term and the overshoot range constraint term, and designing a controller to control the forearm control input air pressure and the upper arm control input air pressure of the double-pneumatic artificial muscle system. According to the method, the error signal convergence constraint term and the overshoot range constraint term are considered, the overshoot of the system state variable is controlled within the safety constraint range, the overshoot phenomenon is avoided, and the safety performance of the system is improved.

The invention discloses a hybrid drive power-assisted exoskeleton device and method, and relates to the technical field of power-assisted robots, the hybrid drive power-assisted exoskeleton device comprises hip joint modules and a sensor assembly, the hip joint modules are rotatably connected to the two sides of a back body, the hip joint modules are connected with pneumatic artificial muscles and joint motors, and the pneumatic artificial muscles and the joint motors are connected with a control assembly; the sensor assembly comprises a pressure sensor, a tilt angle sensor and a gyroscope, the pressure sensor is used for acquiring the state of the pneumatic artificial muscle, and the tilt angle sensor and the gyroscope are used for detecting the tilt angle, so that the control assembly controls the pneumatic artificial muscle or the joint motor to work according to the tilt angle of the human body. Pneumatic driving is adopted when objects are taken out and put down, motor driving is adopted in the walking and object carrying moving process, the object carrying efficiency is improved, and the service life of the device is prolonged.

This invention belongs to the field of robot control and provides a control method and system for a pneumatic artificial muscle parallel robot based on hysteresis compensation. The control method includes: constructing a dynamic model of the pneumatic artificial muscle parallel robot based on its state information; constructing a fractional-order Bouc-Wen hysteresis model and its corresponding inverse model based on the dynamic model; performing hysteresis feedforward compensation based on the fractional-order Bouc-Wen hysteresis model and its corresponding inverse model; and constructing an output feedback synchronization controller by combining a pre-designed tracking error, synchronization error, coupling error, and velocity estimation system to act on the pneumatic artificial muscle parallel robot, thereby achieving rapid and accurate tracking of a smooth reference trajectory by the active arm.

The invention discloses a pneumatic artificial muscle driven soft rehabilitation glove, and belongs to the technical field of rehabilitation medical instruments, the pneumatic artificial muscle driven soft rehabilitation glove comprises a glove, driving assemblies and an air path conversion base, the glove comprises a finger sleeve, a phalanx sleeve and a palm sleeve, one end of a stretching tendon rope located on the hand back side is connected with the finger sleeve, the phalanx sleeve and the palm sleeve, and the other end of the stretching tendon rope is connected with one driving assembly; one end of the bent tendon rope located on the palm side is also connected with the fingerstall, the phalanx sleeve and the palm sleeve, the other end of the bent tendon rope located on the palm side is also connected with the other driving assembly, the two driving assemblies are connected with the two air path conversion bases respectively, the two air path conversion bases are connected through a bandage buckle, and the two air path conversion bases sleeve and are locked at the positions of the arms of the human body. The technical problems that an existing rehabilitation glove is high in structural rigidity and poor in wearing comfort, the maintenance cost is high due to an integrated structure, and motion antagonism and joint motion range limitation are generated due to lack of passive ductility of artificial muscles can be solved.

This application provides a preset performance dynamic surface trajectory tracking control method for a robotic arm system. The method includes the following steps: Step 1, analyzing the total kinetic and potential energy of the robotic arm system using the Lagrange formula, and solving for the control torque using a pneumatic artificial muscle mechanics model and rotational laws to establish a dynamic model of the robotic arm system; Step 2, designing a fixed-time disturbance observer to monitor the total disturbance of the system in real time, addressing the strong nonlinearity and joint coupling and frictional disturbance problems of the robotic arm system; Step 3, designing a preset performance fixed-time dynamic surface controller to compensate for the total disturbance of the system in real time, and designing a control law to enable the angular positions of each joint of the robotic arm system to quickly track the desired target trajectory signal within the allowable error range, thereby achieving the preset transient and steady-state performance constraints within a fixed time and ensuring that all signals of the multi-joint pneumatic robotic arm closed-loop system are bounded.

The application relates to the technical field of automobile safety belts and discloses an automobile safety belt pre-winding and pre-tightening system based on pneumatic artificial muscles, which comprises an automobile seat, a three-point safety belt assembly, a pre-winding and pre-tightening execution assembly and a pre-winding and pre-tightening controller. The three-point safety belt assembly comprises a winder, a safety belt guide, a safety belt, a pluggable lock and an unpluggable lock. The winder is fixed to the automobile seat or the vehicle body, and the safety belt guide is fixed to the vehicle body B column. The automobile safety belt pre-winding and pre-tightening system based on pneumatic artificial muscles and the control method are characterized in that a split two-way design is adopted, a pre-tightening pneumatic artificial muscle is used to replace a traditional pyrotechnic pre-tightening mechanism, a pre-winding pneumatic artificial muscle is used to replace a motor pre-winding mechanism, the pre-winding and pre-tightening functions are completely separated from the winder, the winder only retains basic force limiting and locking functions, and the system structure is greatly simplified, so that the overall weight, volume and vehicle manufacturing cost are reduced.

The invention relates to a three-dimensional hysteresis modeling method for pneumatic artificial muscle input-displacement-force coupling, which comprises the following steps of: disassembling a modeling process into a superposition form of two forces, respectively modeling in two stages, then superposing models of two parts according to an analysis process of the forces, and finally systematically forming a three-dimensional hysteresis model. The three-dimensional hysteresis model is a model of output force, which means that the model not only can capture the input-displacement-force three-dimensional hysteresis characteristic of the pneumatic artificial muscle, but also can estimate the output force of the pneumatic artificial muscle, and a model which does not need a black box method and has a clear mathematical formula is established. This is the core of the method provided by the invention.

The application discloses a self-growing robot and an environment exploration method thereof, and comprises a driving storage mechanism, a plastic film body, a flexible sensing unit, a signal receiving module, pneumatic artificial muscles arranged on the inner wall of the plastic film body and a terminal guiding sensing mechanism; the flexible sensing unit is attached to the surface of the plastic film body, the sensing unit is designed in an array mode, the detection of obstacles in the environment is realized while the flexibility is ensured, the terminal guiding sensing mechanism is used for sensing the posture of the robot, and the information of the proximity sensor, the encoder and the gyroscope can be combined to realize navigation in the unknown environment; in addition, the pre-bending is set according to the environment obstacle information, the robot growth is guided by the environment obstacles, the pneumatic artificial muscles can cover a larger area, the proximity sensor is used to detect the corner points in the environment, and the depth-first strategy is adopted to explore the environment, so that a higher environment exploration rate can be realized in a smaller number of exploration times.

The application provides a nested vacuum-driven tension-enhanced pneumatic artificial muscle and relates to the technical field of flexible actuators.The nested vacuum-driven tension-enhanced pneumatic artificial muscle comprises a negative pressure collapse driving module and a positive pressure expansion and collapse driving module, has a first cavity and a gas extraction hole structure; the positive pressure expansion and collapse driving module has a second cavity and a gas passage hole structure, the second cavity is communicated with the external atmosphere through the gas passage hole structure; the positive pressure expansion and collapse driving module is embedded in the first cavity, and the axial ends of the positive pressure expansion and collapse driving module are fixedly installed with the negative pressure collapse driving module, respectively, a gas cavity is formed between the positive pressure expansion and collapse driving module and the negative pressure collapse driving module, and the gas cavity is communicated with a vacuum pump through the gas extraction hole structure; the vacuum pump extracts gas from the gas cavity through the gas extraction hole structure, so that the negative pressure collapse driving module is contracted along the axial direction of the negative pressure collapse driving module and the positive pressure expansion and collapse driving module is expanded along the radial direction of the positive pressure expansion and collapse driving module and is contracted along the axial direction of the positive pressure expansion and collapse driving module; and the application can improve the output force of the pneumatic artificial muscle.

According to the pneumatic artificial muscle based on the annular air bag, an air bag assembly comprises the annular air bag, a wiring device and a silk thread, a plurality of L-shaped through holes are formed in the wiring device, one end of each L-shaped through hole faces the inner circumferential direction of the annular air bag in the radial direction of the annular air bag, and the other end of each L-shaped through hole faces the terminal direction in the axial direction of the annular air bag; the silk thread penetrates through the L-shaped through hole, one end of the silk thread is arranged on the inner circumferential surface of the annular air bag, and the other end of the silk thread is connected with the terminal or connected with the silk thread of the adjacent air bag assembly; the outer protection film is arranged on the outer sides of the multiple air bag assemblies in a sleeving mode, terminals are arranged at the two ends of the outer protection film correspondingly, and connecting pieces are arranged on the terminals. Through the cooperation of the annular air bag and the wiring device, the change of the radial distance of the annular air bag is converted into the change of the axial distance of the terminal, that is, the change of the radius of the inner ring of the annular air bag is converted into the change of the telescopic length of the artificial muscle, the shrinkage rate is greatly improved, the shrinkage rate reaches 70% in reality, and the device has the advantages of being simple in structure, efficient and convenient.

The invention provides a multi-joint cooperative motion control method and system of a humanoid robot, and relates to the technical field of robot control, the gait phase data of the humanoid robot in different motion states are obtained, and the motion states comprise the walking state, the running state and the sudden stop state; according to the gait phase data, generating a gait phase migration matrix so as to determine a motion mode switching point, further determining a hysteresis compensation opportunity of the pneumatic artificial muscle, and performing hysteresis compensation processing on the pneumatic artificial muscle of each lower limb joint of the humanoid robot so as to obtain a joint motion state; analyzing an angle change rate and a motion acceleration parameter in the joint motion state, and generating a biological heuristic electric signal; according to the joint cooperation angle threshold value and the motion triggering moment of the biological heuristic electric signal, all the lower limb joints of the humanoid robot are driven to conduct cooperative motion, so that seamless switching of multi-mode motion is achieved, and the motion flexibility and stability are improved.

This invention discloses a micro-pneumatic artificial muscle based on a phase transition hydrogel actuator, its preparation method, and its application, belonging to the field of polymer functional materials technology. The method includes the following steps: (1) using octyl acrylate and acrylamide as monomers, dissolving the monomers, β-cyclodextrin, and crosslinking agent in a dimethylformamide dispersion of sea squirt cellulose nanocrystals, followed by the addition of a photoinitiator to obtain a prepolymer; the prepolymer is then photocured and solvent-replaced to obtain a tubular hydrogel; (2) connecting one end of the tubular hydrogel to an air cavity and sealing the other end to obtain a micro-pneumatic artificial muscle based on a phase transition hydrogel actuator. This method has the advantages of convenient processing, mild reaction, and readily available materials. The micro-pneumatic artificial muscle prepared by this method has adjustable mechanical properties independent of water permeability and fast driving speed, and has broad application prospects in miniaturized biomimetic soft robot devices.

The invention discloses a human body detection part appearance self-adaption fixing device for a nuclear magnetic resonance spectrometer, and relates to the field of medical instruments, the human body detection part appearance self-adaption fixing device comprises a flexible fixing cuff, cuff hook-and-loop fasteners, a rubber connecting pipe and a control host, the flexible fixing cuff is a core fixing part of the device, and the cuff hook-and-loop fasteners are arranged on the flexible fixing cuff. A plurality of inverse pneumatic artificial muscle natural latex rubber tubes are uniformly arranged at the inner cavity of the flexible fixed cuff at equal intervals, and are sleeved with inverse pneumatic artificial muscle constraint fibers; and a piezoelectric ceramic sensor is embedded between the lower-layer fabric of the flexible fixed cuff and the lower layer of the inflatable plastic plate. According to the invention, an independent inflatable IPAM array structure is adopted, a piezoelectric ceramic pressure feedback mechanism is combined, and the inflation state of each module is accurately controlled, so that flexible fitting and dynamic adaptation of human body detection parts with different sizes are realized; the problems of limb compression, unstable fixation, secondary injury and the like caused by'one-cutting 'type constraint in a traditional fixing mode are effectively solved.

The present invention relates to a flexible exoskeleton having a suit with one or more pneumatic artificial muscles, wherein the pneumatic artificial muscle comprises: a flexible membrane; internal rings spaced apart from one another and wrapped inside the flexible membrane; and external rings that are coupled to the internal rings from the outside of the flexible membrane. The rings and the clips may be manufactured, for example, by means of 3D printing and the membrane may be a thin plastic film or a fabric.

The invention provides a partitioned air pressure driven wearable breathing assisting robot which comprises a chest upper shell, a chest upper pressure suction cup film is arranged in the chest upper shell, and a right chest lower shell and a left chest lower shell are arranged below the chest upper shell. A left chest lower portion pressing suction cup film and a right chest lower portion pressing suction cup film are arranged in the left chest lower portion shell and the right chest lower portion shell respectively, and the left chest lower portion shell is connected with the chest upper portion shell through a left lateral driving air bag. The right thoracic cavity lower shell is connected with the thoracic cavity upper shell through a right lateral driving air bag; the left thoracic cavity lower shell and the right thoracic cavity lower shell are connected through a middle driving air bag; the abdomen structure comprises an abdomen driving air bag and pneumatic artificial muscles; according to the invention, more convenient, comfortable, efficient and safe treatment can be provided for clinical application, the external assisted respiratory rate can be improved, and the side effects and pains of patients can be reduced.

The invention discloses a micro pneumatic artificial muscle based on a phase transition hydrogel driver and a preparation method and application thereof, and belongs to the technical field of polymer functional materials. The method comprises the following steps: (1) taking octyl acrylate and acrylamide as monomers, dissolving the monomers, beta-cyclodextrin and a cross-linking agent in a dimethylformamide dispersion liquid of sea squirt cellulose nanocrystals, and then adding a photoinitiator to obtain a pre-polymerized liquid; carrying out light curing and solvent replacement on the pre-polymerized liquid to obtain hydrogel with a pipeline-shaped structure; and (2) connecting one end of the hydrogel with the pipeline-shaped structure with the air cavity, and sealing the other end of the hydrogel to obtain the micro pneumatic artificial muscle based on the phase change hydrogel driver. The method has the advantages of convenient process, mild reaction and wide and easy materials. The miniature pneumatic artificial muscle prepared based on the method has the characteristics of adjustable mechanical properties independent of water permeation and high driving speed, and has a wide application prospect in miniature bionic soft robot equipment.

The invention discloses a beneficial disturbance perception-oriented pneumatic artificial muscle manipulator control method and system, and belongs to the technical field of pneumatic system control, and the method comprises the following steps: constructing a nonlinear kinetic model of a pneumatic artificial muscle manipulator system according to a three-element model of pneumatic artificial muscle and a kinetic equation of a manipulator, defining an angle error and an angular velocity error when the manipulator moves; a nonlinear controller based on beneficial disturbance perception is constructed by taking the control targets that the motion angle of the manipulator reaches an expected position and the tracking angle error converges to 0 and considering unknown dynamic state and external disturbance in the system; and according to the angle, obtained through actual measurement, of the manipulator during movement, the constructed nonlinear controller is used for determining the input air pressure of the pneumatic artificial muscle so as to drive the manipulator to move. Accurate and efficient angle tracking control of the manipulator under external disturbance can be achieved, and stable and efficient operation of the system is guaranteed.

The invention provides a nested vacuum driving tension-enhanced pneumatic artificial muscle, and relates to the technical field of flexible actuators, the nested vacuum driving tension-enhanced pneumatic artificial muscle comprises a negative pressure collapse driving module and a positive pressure expansion driving module, and is provided with a first cavity and an air exhaust hole structure; the positive pressure expansion and contraction driving module is provided with a second cavity and a vent hole structure, and the second cavity is communicated with the external atmosphere through the vent hole structure; the positive pressure expansion and contraction driving module is embedded in the first cavity, the two axial ends of the positive pressure expansion and contraction driving module and the negative pressure collapse driving module are fixedly installed, an air cavity is formed between the positive pressure expansion and contraction driving module and the negative pressure collapse driving module, and the air cavity communicates with a vacuum pump through an air exhaust hole structure; the vacuum pump exhausts air in the air cavity through the air exhaust hole structure, so that the negative pressure collapsing driving module shrinks in the axial direction of the negative pressure collapsing driving module and the positive pressure collapsing driving module expands in the radial direction and shrinks in the axial direction of the positive pressure collapsing driving module; the output acting force of the pneumatic artificial muscle can be improved.

The invention discloses a pneumatic artificial muscle biped walking control method and system based on imitation learning, and the method comprises the steps: firstly collecting the walking posture data of a human body, and generating an expert track based on a Mujoo simulation platform; then training a strategy model by using an imitation learning algorithm, deploying the strategy model to an embedded controller, sending an action instruction to a PLC (Programmable Logic Controller) based on an action strategy, analyzing the action instruction by the PLC, generating a PWM (Pulse-Width Modulation) signal, and controlling the inflating and deflating time sequence of the lower limb pneumatic artificial muscle group; finally, lower limb joint angle and air pressure data are fed back in real time through a sensor, the PWM duty ratio is adjusted in a closed-loop mode, and the walking posture is optimized. The simulation learning algorithm and pneumatic artificial muscle driving are combined, the human walking mode is mapped, more natural and more stable bionic walking is achieved, and meanwhile the integration level and expandability of the system are improved. A PWM dynamic air pressure distribution mode is adopted, redundant energy loss is reduced, and the response speed and the control precision of the system are improved.

The present invention relates to a pelvic clamping device using pneumatic variable-stiffness bone needles. The device comprises a pneumatic variable-stiffness module, an affected-side ball-hinged support module, and a healthy-side clamping module. The pneumatic variable-stiffness module is driven by pneumatic artificial muscles that are staggered horizontally and vertically. The stiffness of the bone needles is actively regulated by controlling the air pressure of the pneumatic artificial muscles, thereby achieving stable clamping of the bone needles, improving intraoperative stress distribution, and avoiding uneven deformation or stress concentration between the two bone needles during surgery. The affected-side ball-hinged support module adopts a ball-hinged structure for connection to the pneumatic variable-stiffness clamping module. The healthy-side clamping module is used to clamp the bone needles inserted into the healthy-side pelvis. The present invention has significant advantages such as a compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

The present invention discloses a hybrid drive power-assisted exoskeleton device and method, which relates to the technical field of power-assisted robots, including a hip joint module and a sensor assembly, wherein the hip joint module is rotatably connected to both sides of the back body, the hip joint module is connected to a pneumatic artificial muscle and a joint motor, and the pneumatic artificial muscle and the joint motor are connected to a control assembly; the sensor assembly includes a pressure sensor, an inclination sensor, and a gyroscope, wherein the pressure sensor is used to obtain the state of the pneumatic artificial muscle, and the inclination sensor and the gyroscope are used to detect the inclination angle, so that the control assembly controls the pneumatic artificial muscle or the joint motor to work according to the inclination angle of the human body. The present invention adopts pneumatic drive when extracting and putting down objects, and adopts motor drive during walking and carrying objects, so as to improve the object carrying efficiency and extend the service life of the device.

The application discloses a kind of multi-mode dynamic loading control system and control method for microgravity environment waist protection equipment, comprising: wearing module, loading module and control module;Wearing module includes shoulder strap, waistband and leg belt, for fixing system to human body trunk;Loading module includes four independently controlled pneumatic artificial muscles, the upper end of each pneumatic artificial muscle is connected with shoulder strap by connecting piece, and the lower end is connected with waistband by connecting piece;Control module includes micro air pump, proportional pressure valve, single-chip microcomputer and power supply;Micro air pump as gas source;Multiple proportional pressure valves, the number is same with the number of pneumatic artificial muscle, the gas inlet of each proportional pressure valve is communicated with the gas outlet of micro air pump, and the gas outlet of each proportional pressure valve is communicated with the gas inlet of a corresponding pneumatic artificial muscle;Proportional pressure valve is built-in with air pressure sensor, for real-time measurement output air pressure and generating feedback voltage signal;Single-chip microcomputer is electrically connected with micro air pump, the control end and feedback end of multiple proportional pressure valves.The application can meet the environment of space station light weight, low noise, high reliability requirement.

A wearable soft robot device (100) for shoulder joint assistance. The wearable soft robot device (100) comprises a protective garment (10) made of textile; an anchoring assembly (20); and a pneumatic artificial muscle assembly (30), the pneumatic artificial muscle assembly (30) being fixed on the protective garment (10) by means of the anchoring assembly (20) for driving the lifting of the arms.

The present disclosure provides a chameleon-like self-growing throat swab sampling robot, comprising: a robot body, formed by pneumatic self-growth of flexible material, with an internal channel connected to the atmosphere formed therein, which grasps and releases the throat swab according to the change in the gripping length of the throat swab through this internal channel; a drive storage mechanism connected to the front end of the robot body, which is used to store the flexible material required for the growth of the robot body and provide power for its growth and recovery; a pneumatic artificial muscle located on the surface of the robot body, which is used to control the position of the robot end; and an end actuator located at the end of the robot body, which includes a recovery structure and a data acquisition module. The recovery structure guides the flexible material through rolling friction to assist in the recovery of the robot body. The present disclosure imitates the chameleon's "aim-launch-swallow-withdraw" hunting process and fully utilizes the flexibility and transmission characteristics of the self-growing robot to achieve rapid and safe collection of throat swabs.

The present application relates to the field of automated logistics equipment, in particular to a kind of material automated stacking device and method thereof;Including: the construction of the multi-field coupling end effector containing particle block layer and reverse prestressed air chamber;Flexible covering amorphous material is utilized by pneumatic artificial muscle;Rigid casting effect is generated by vacuumizing inner cavity and inflating outer cavity coupling, and the form of material is locked;High-speed trajectory conveying is executed, and release is completed based on the pulse airflow of pneumatic impedance feedback adjustment.This application effectively eliminates the internal rheology of soft packaging material, crosses uneven area through stiffness compensation mechanism, and solves the problem of sliding and stacking collapse caused by center of gravity change.

The present application relates to a kind of lumbar vertebrae power-assisted rehabilitation exoskeleton robot, comprising: variable stiffness pneumatic artificial muscle actuator and structure consistent upper waist adjustable restraint and lower waist adjustable restraint;Variable stiffness pneumatic artificial muscle actuator is connected between the upper waist adjustable restraint and lower waist adjustable restraint.This application adopts the driving mode of pneumatic, and the stiffness of actuator can be changed by inputting different size high-pressure gas into pneumatic artificial muscle actuator, and variable stiffness pneumatic artificial muscle actuator can have stretching function and contraction function, the combination of the two forces is the output force of the variable stiffness pneumatic artificial muscle actuator;Variable stiffness pneumatic artificial muscle actuator fitted on the two sides of human body can drive human body waist to bend to left and right sides rehabilitation power-assisted training, and variable stiffness pneumatic artificial muscle actuator on the back of human body can drive human body waist to bend forward and backward rehabilitation power-assisted training, and can play the role of supporting human waist.