48 results about "Soft actuator" patented technology

The invention provides a multi-modal motion asymmetric soft actuator and application thereof, and belongs to the technical field of soft robots. The present invention comprises: at least one bending chamber for converting air pressure energy into directional bending motion; the at least one torsion chamber and the bending chamber are physically separated to form an independent bending chamber and an independent torsion chamber, and the bending chamber and the torsion chamber are respectively connected with an independent gas circuit; an asymmetric structure is arranged in the torsion chamber and is used for directly converting air pressure energy into rotating torque around the central axis of the module; by independently controlling air pressure input of the torsion chamber and the bending chamber which are asymmetrically arranged, torsion and bending motion can be independently achieved in a single module. According to the invention, an asymmetric structure is adopted as a whole, independent driving chambers with special functions and physical isolation are integrated in a single module, a mode of indirectly synthesizing torsion through motion coupling of a plurality of symmetrical chambers is abandoned, torsion motion in a target direction is directly output, and a driving source and control logic are simplified.

The present application relates to a kind of variable stiffness fiber reinforced programmable soft actuator unit, including flexible matrix and controllable module, flexible matrix is pipeline-like, and controllable module is fixed on the outer layer of flexible matrix distribution;Controllable module uses single-layer module or the multi-layer module arranged inside and outside;Each layer of controllable module is wound by at least one variable stiffness fiber according to certain angle and direction;The control line of connection controllable module is distributed in the inner cavity of flexible matrix, and is connected with external control system;The two ends of the inner cavity of flexible matrix are blocked and leave medium filling and discharging mouth, and fluid medium is filled in the inner cavity;Controllable module state is two kinds of flexible state and rigid state, when carrying out the deformation control of soft actuator unit, by controlling part variable stiffness fiber to be rigid state, another part variable stiffness fiber is flexible state, realizes the deformation control of soft actuator unit.

The application discloses a frog tongue-imitating soft actuator and belongs to the field of soft robots, comprising a paper folding module, a connecting piece one and a movable block; two ends of the connecting piece one are fixedly connected with one movable block; the connecting piece one and the movable block are internally provided with a cavity one in communication; an electrostatic adsorption unit, comprising a positive electrode and a negative electrode; wherein the connecting piece one is fixedly installed with the electrostatic adsorption unit on one side close to each other; two electrostatic adsorption units are fixedly connected; compared with the prior art, the application utilizes the excellent unfolding / contraction ratio of double paper folding, the actuator body can realize larger unfolding movement under the premise of compact and light small volume, which is helpful for imitating the contraction and expansion activities of the chameleon tongue during the hunting process, and the front end of the actuator has the ability to operate / grasp fragile, light and planar objects through slight contact through the electrostatic adsorption structure.

The invention provides a pneumatic bionic finger integrated with a mixed-line-diameter fiber blocking variable-stiffness module, which belongs to the technical field of variable stiffness of soft robots and manipulators and comprises a rigid framework, a pneumatic driver, a one-way stretchable fabric layer, the mixed-line-diameter fiber blocking variable-stiffness module and a vacuum pipeline. The mixed-wire-diameter fiber blocking variable-stiffness modules are arranged in groove cavities of the rigid framework, are of negative pressure driving blocking structures, are arranged in a segmented mode in the length direction of the pneumatic bionic finger and are connected with a vacuum source through a vacuum pipeline; a pneumatic driver is arranged above the mixed-line-diameter fiber blocking variable-stiffness module, the pneumatic driver is a soft actuator driven by positive pressure, the pneumatic driver is connected with a positive-pressure gas circuit, the pneumatic driver and the vacuum pipeline are arranged independently, and a one-way stretchable fabric layer is arranged above the pneumatic driver. According to the method, the designable redistribution of the variable stiffness module performance is realized under the shape and filling constraint.

The invention discloses a humidity-driven soft actuator and a preparation method thereof, the actuator takes a patterned black polyimide (PI) film as a substrate, and the substrate is compounded with two-dimensional transition metal carbide Ti3C2Tx (MXene) / amylopectin amp; a functional layer is formed by Amylose / carbon nanotubes (CNTs), when the functional layer absorbs moisture and expands, the actuator is bent towards the PI side, and when the functional layer is dehumidified and contracts, the actuator is bent reversely; the bending response direction is defined through the substrate gap direction of nanosecond laser machining, and the initial curvature and the bending degree are regulated and controlled through vacuum hot pressing treatment. The components cooperate to endow the actuator with rapid humidity response capability and excellent mechanical stability. The technical problems that an existing humidity driving actuator is poor in programmability and an interface is prone to stripping are solved, an external driving source is not needed, the technology is simple, convenient and controllable, and the potential application value in the fields of soft robots, flexible intelligent equipment and the like is shown.

The application discloses a kind of based on soft driver's lung profile one-way deformation control structure of soft robot of simulation lung, the circumferential of central fixed seat is evenly distributed with pneu-net soft driver connected by connector;Between each connector and central fixed seat, one bellows driver is fixedly connected;Trachea is communicated with pneu-net soft driver and bellows driver;Control structure is shown by the radial telescopic characteristics of the radial deformation of lung and the boundary curvature of lung quality of lung by the bending characteristics of the lung of the bellows driver and the pneu-net soft driver respectively by applying air pressure to bellows driver.It is effectively simulated by the driving mode of the above control structure pneumatics when the profile of lung one-way deformation, by multiple different structure parameters this kind of soft driver constitutes complete soft robot of simulation lung, on the basis of being able to accurately control model deformation, be applied to the deformation prediction of lung deformation and accurately predict lung tumor movement space.

The invention discloses a social robot based on pneumatic driving and an interaction system thereof. The social robot comprises a shell, a body software actuator, a head actuator, a hand reinforced fiber actuator, a sensing module and a sound module. According to the social robot, interaction state information between a user and the robot is obtained through the sensing module, the control and drive module can generate rhythm parameters according to the interaction state information, the body software actuator and the head actuator can generate deformation actions synchronous with respiratory rhythm according to the rhythm parameters, and meanwhile, the motion of the user is controlled to be more stable. The sound module can modulate the envelope and intensity of sound output according to the rhythm parameters, so that the tactile feedback and the auditory feedback are consistent in time, the tactile feedback, the sound feedback and the breathing mechanism are combined, in addition, the hand reinforcing fiber actuator can attract a user to interact with the robot, and the user experience is improved. In this way, the user can obtain stable, continuous and perceptible breathing experience without excessive active operation or continuous attention, and pressure can be better relieved for the user.

The invention provides a deformable variable-rigidity soft body driver, which comprises a soft body driving unit, a sealing outer film and a communicating piece, the soft body driving unit comprises a flexible substrate layer and at least one flexible scale layer superposed on the flexible substrate layer, and the contact surfaces of the flexible substrate layer and the flexible scale layer are provided with mutually matched preset surface configurations; the sealing outer film completely wraps and seals the soft driving unit through a flexible airtight material; the communicating piece is communicated with the soft body driving unit, and the closed space is in butt joint with an external negative pressure air source; a sensing sensor is arranged on the sealing outer film; and when negative pressure is applied to the closed space through the communicating piece, the preset surface configurations of the flexible substrate layer and the flexible scale layer are mutually engaged and locked, so that the whole soft driver deforms into a preset three-dimensional shape, and a rigid supporting structure is formed. Through integration of the soft driving unit, the sealing outer film and the communicating piece, the problem of system complexity caused by separation of variable stiffness and a shape driving module in the prior art is solved.

The application provides a design method of a soft grabbing robot, which comprises the following steps: firstly, different hybrid variable stiffness mechanisms are designed, and corresponding hybrid variable stiffness soft actuators are prepared; then, a pneumatic driving test platform and a variable stiffness performance test platform are built; then, the bending performance test and the stiffness test are performed on each hybrid variable stiffness soft actuator; finally, the bending performance and the variable stiffness capacity of the hybrid variable stiffness soft actuators are compared and analyzed, and the hybrid variable stiffness soft actuator with the best comprehensive performance is selected. Three different actuators are prepared, the pneumatic driving test platform and the variable stiffness performance test platform are built, and the bending performance test and the stiffness test are performed on the three prepared hybrid variable stiffness soft actuators, so that the bending performance and the variable stiffness performance are simultaneously considered.

This invention relates to the technical field of soft robots, and more specifically, to a soft finger with adjustable grasping force, a soft gripper, and a method for manufacturing the same. The soft finger includes a soft actuator and a fingertip. The soft actuator has a cavity, and the fingertip is fixedly mounted at one end of the soft actuator. The other end of the soft actuator has an air passage communicating with the cavity. The outer wall of the soft actuator has several protrusions, with grooves formed between adjacent protrusions. The inner wall of the soft actuator has a bendable and lockable first blocking structure, and the outer wall of the soft actuator has a retractable and lockable second blocking structure. The second blocking structure is wavy and can engage with the grooves on the outer wall of the soft actuator. The second blocking structure can cooperate with the first blocking structure to lock the soft actuator. This invention allows for pre-grasping by bending the soft finger, then fixing the fingertip position and adjusting the grasping force, making it suitable for non-damaging grasping of fragile items.

A soft pneumatic pulsating method for milking at least one teat of a plurality of livestock and a soft pneumatic pulsating device thereof are developed. The pulsating device comprises at least one soft pneumatic pulsating teat cup comprises at least two soft actuators, at least one separator ring, at least one pneumatic system, a self-healing polymer hydrogel, and a semi-liquid polymer gel. The soft pneumatic pulsating device is used in the dairy, livestock, and veterinary industries which cause a better and more stable performance compared to the conventional vacuum milking machines.

A soft haptic device and a local control method are disclosed. The soft haptic device includes a soft actuator. The soft actuator includes an electroactive polymer film, a patterned electrode, and a dielectric liquid injected between the electroactive polymer film and the patterned electrode. The soft actuator generates a reconfigurable shape such that a form of an output shape and a number of outputtable shapes are changed depending on the number of electrodes constituting the patterned electrode, a shape of the electrodes, and an arrangement of the electrodes.

The present application relates to the field of automatic control technology, and further relates to an adaptive thermal control radiator control method for a radio frequency microwave front end, comprising the following steps: registering a digital pre-distortion tap and an envelope tracking voltage rail as a soft actuator, and registering a controllable non-condensing gas plug heat pipe gas plug driving unit as a hard actuator; during continuous operation of a service waveform, a system controller performs the following closed-loop operation based on frame data collection within a control window of each service frame: within the control window, a synthesized baseband sequence, a rail voltage sequence and an operation sequence are respectively sent to a transmitting link, an envelope tracking power supply and a gas plug driving unit for execution. The present application can actively intervene before thermal stress is formed, quickly reduce the peak envelope ratio and output power through the soft actuator, reduce instantaneous power consumption from the signal domain, and simultaneously reconstruct a heat passage through the hard actuator to guide heat to an area with higher heat dissipation efficiency, thereby avoiding local overheating.

This invention discloses a method for preparing and applying a dynamic pH / light-responsive bilayer programmable hydrogel, belonging to the field of hydrogel materials technology. The purpose of this invention is to address the problems of existing hydrogel materials, such as single crosslinking structure, irreversible crosslinking, difficulty in simultaneously achieving mechanical and responsive properties, single response mode, and insufficient programmable controllability. The method involves: 1. Preparing a borate ester crosslinked PVA-B-O-PVA hydrogel; 2. Preparing a pH / light-responsive bilayer hydrogel. This hydrogel can achieve swelling regulation through reversible breaking and recombination of borate ester bonds under varying acidic and alkaline conditions. Under light irradiation, it achieves photochromism and deformation response through the SP / MC structural transformation of spiropyran molecules. Furthermore, it achieves bending, folding, and programmable motion behavior through the synergistic effect of different functional layers in the bilayer structure. It can be applied to flexible actuators, programmable soft actuators, and environmental response sensors in complex environments.

The application discloses a kind of based on the iterative learning model predictive control method of gas-driven soft robot of Koopman, including steps: system initialization and initial model construction;Model predictive control calculation based on predictive model;System response acquisition and tracking error calculation;Input based on iterative learning control and model correction;Model updating and iterative predictive control execution.The above-mentioned method, model predictive control is combined with iterative learning mechanism, and a unified prediction modeling framework is constructed by introducing Koopman operator, so that the control method can gradually compensate control error and maintain stable predictive control performance in the repeated operation process under the condition of system model uncertainty and parameter time-varying, suitable for the control application of pneumatic soft actuator and related flexible robot system.

The invention provides a shape memory polymer-based bimodal deformation actuator, a preparation method and a control method, the shape memory polymer-based bimodal deformation actuator comprises an actuator main body made of a shape memory polymer Verocelar, the actuator main body is coated with a coating layer, and the actuator main body is connected with a rope through a plurality of rope knots sleeving the actuator main body, so that the shape memory polymer-based bimodal deformation actuator is formed. An electric heating element used for heating the actuator body is further arranged in the actuator body. The shape memory polymer is adopted as the main body material of the actuator, and the temperature regulation design of the embedded electric heating element is combined, so that the switching of two deformation modes of spiral and bending can be realized without modular assembly, and the problems of unstable interface and complicated manufacturing of the traditional multi-mode actuator are solved; under the two deformation modes, after the actuator is cooled to the room temperature, the modulus of the shape memory polymer rises, and the load capacity can reach 70 times of the self weight at most, so that the bearing capacity of the flexible actuator is improved, and the problem that an existing soft actuator is low in load capacity is solved.

This invention discloses an inflatable, jellyfish-inspired, entanglement-like gripper robot device, comprising a disc-shaped body, several helical soft actuators, a quick-connect air hose, and a drive control system. The helical soft actuators are connected to the quick-connect air hose via 3D-printed sealing connectors and are evenly distributed around the disc-shaped body, arranged in two groups: internal and external. Each actuator uses a highly elastic rubber tube as an expansion carrier, covered by a double-helical woven fiber mesh. Additional fibers are added in the helical direction outside the mesh, forming three sets of fiber-encircling constraint structures. The drive control system controls inflation and deflation via a controller, relays, and solenoid valves. This invention achieves helical winding deformation solely through air pressure, eliminating the need for complex sensors and algorithms. It can non-destructively grasp irregular, fragile, or high-speed targets. With its simple structure, good flexibility, and high modularity, it is suitable for aerospace, industrial sorting, and medical assistance fields.

Aspects of the present disclosure provide a surgical robot (10) deployed in a body lumen inside a human or animal subject, the robot comprising: an inflatable frame (12) having a folded state for delivery to a target site in the lumen and an inflated state in which the frame defines an open cavity (18); a manipulator (14) movable within the cavity for operating a medical device; and a soft actuator (16) operable by fluid pressure to move the manipulator (14) by applying force between the frame (12) and the manipulator, the frame (12) being positioned around the soft actuator (16) to provide protection between the soft actuator and the body lumen.

The invention relates to a functional material and device technology, and aims to provide a preparation method of a double-layer soft driver based on a metal-organic framework material. The method comprises the following steps: casting a composite ionic membrane by taking a metal-organic framework material and an ionic solution as raw materials, cutting the composite ionic membrane, and attaching the composite ionic membrane to an ionic solution EN membrane to obtain a double-layer ionic membrane with a Janus structure; and uniformly coating the upper and lower surfaces of the double-layer ionic membrane with the same amount of C / P electrode mixed liquid, and drying to form upper and lower electrodes, thereby finally obtaining the double-layer soft driver. A solution method is adopted for preparation, high-temperature and high-pressure process conditions are not involved, and precise and complex processing equipment does not need to be used; the preparation process is simple, mild and safe, the product is easy to obtain, the energy consumption is low, and the cost is low; the double-layer film interface can simultaneously realize effective stress transfer, modulus mismatch limits upper-layer expansion, upward bending is amplified through a leverage effect, so that the response time is shortened, and bending deformation is remarkably improved; and the method has excellent driving performance and huge application potential.

The invention discloses a composite soft actuator with a spiral driving and layered variable stiffness structure and a surface modification method of the composite soft actuator, and relates to the technical field of medical instruments and soft robots. The composite soft actuator comprises an elastic body, a layered variable stiffness assembly and a spiral pneumatic cavity, and a central cavity is formed in the central axis of the elastic body; a layered variable stiffness assembly is mounted in the central cavity and is used for improving the flexural rigidity and torsional rigidity of the actuator; the spiral pneumatic cavity is arranged in the elastomer body; the arc periphery of the elastomer body is provided with an elastomer packaging layer, and one end of the elastomer body is provided with a front end round blunt end; through the arrangement of the two groups of spiral pneumatic cavities, the expansion and the torsion of the actuator are realized by controlling the pressure supply or the pressure relief of the spiral pneumatic cavities, so that the spiral precession movement of the front end is conveniently realized, and the layered variable stiffness assembly is arranged in the central cavity of the elastomer body, so that efficient torsion-resistant support is provided for a torsion load generated by spiral driving.

The invention discloses a soft material-based bionic circular soft actuator and rectum model design and manufacturing method, which specifically comprises the following steps: (1) designing a rectum model based on 3D modeling, simulating the form of a natural rectum, and respectively arranging bionic circular soft actuators CMA which are sequentially connected along the axial direction on the upper section, the middle section and the lower section of the rectum model; (2) manufacturing a CMA shell and a mold for printing the rectum by adopting PLA, and manufacturing a CMA and rectum model by adopting a silicon elastomer; and (3) the CMA inner layer silicon elastomer and the outer layer PLA are combined through embedded injection molding, so that the radial contraction uniformity is ensured, and the radial contraction of rectum ring muscle is simulated. According to the invention, the hysteresis effect of traditional driving is effectively avoided by using the distributed force transmission characteristic generated by uniform expansion; and the driving structure and the control logic are simplified. And motion incoordination is avoided through an annular contraction mode, the problems of leakage risk and uneven pressure of a connecting part are solved, and seamless integration of the two parts is achieved.

The present application relates to a kind of robot flexible joints, including two fixed seats, multiple soft actuators and damper.Multiple soft actuators are located between two fixed seats, and the two ends of each soft actuator are respectively connected at the edge of two fixed seats;Damper is located between multiple soft actuators, and the two ends of damper are respectively connected with two fixed seats.The above-mentioned robot flexible joint can realize the one-way movement or combined movement of robot in multiple degrees of freedom.Because soft actuator is usually made of soft material such as rubber, therefore the rigidity of soft actuator is largely dependent on the actual state of soft actuator, the robot flexible joint is provided with damper between two fixed seats, which enhances the anti-interference ability and stability of structure, and the strength is higher, so that robot flexible joint can play better movement and control effect.

The embodiment of the invention provides a software actuator control method and device, equipment and a storage medium, and relates to the technical field of software mechanical control. According to the method, generalized force of the software actuator is obtained at least based on geometric parameters and pressure parameters, axial strain parameters are obtained at least based on the geometric parameters, strain energy of the software actuator is obtained according to the axial strain parameters and the geometric parameters, and equivalent mass of the actuator in an execution environment is obtained. Gravitational potential energy and kinetic energy of the software actuator are obtained based on the equivalent mass, total potential energy is obtained by subtracting the strain energy and the gravitational potential energy from the kinetic energy, an initial Lagrangian model is constructed according to the total potential energy and generalized force, the initial Lagrangian model is simplified based on Taylor series expansion, and an equivalent Lagrangian model is obtained; and performing numerical solution on the equivalent Lagrange model according to a preset boundary condition to obtain control parameters of the software actuator. The model is simplified, the calculation efficiency is improved, and the motion control accuracy and real-time control are realized.

The invention discloses a preparation method of a body sensing soft driver. The body sensing soft driver comprises a driver body. The driver body comprises an optical waveguide and a plurality of driving cavity structures; the method comprises the steps that printing parameters are obtained; the printing parameters comprise one or more of the wall thickness of the driving cavity, the printing layer height, the nozzle temperature, the printing speed, the extrusion line width, the extrusion flow, the filling angle, the printing path of the driving cavity structure and the printing path of the optical waveguide; according to the printing parameters, a single printing material is used for integrally printing the driver body; wherein the printing material has flexibility, light transmission and meltability. Integrated manufacturing of the body sensing soft driver is achieved on low-cost additive manufacturing equipment by means of a single printing material.

A rope-driven soft actuator platform for driving soft base body movement and a control method thereof, the control method comprising: collecting input and deformation state data pairs of the soft base body and inputting them into a nonlinear physical information neural network to generate optimized input and deformation state data pairs and train a proxy model; using Koopman operator theory, converting the trained proxy model into a linear state space model through an extended dynamic mode decomposition method, extracting state space model parameters and dimensionality increasing functions; designing a model predictive controller to solve optimal control variables on-line and complete driving of a servo motor; and feeding back system states in real time through a data feedback sensor and feeding back to the model predictive controller after Kalman filter estimation to constitute a closed-loop optimal control and realize tracking of a desired trajectory of the soft base body and disturbance suppression of the soft base body under movement along a rotating shaft. The application has high control precision and provides a feasible control scheme for research on soft robots.

Disclosed is a method for fixing a soft actuator to a base, the soft actuator including a cylinder that includes a flange at an end in an axial direction, the cylinder being elastic in the axial direction and in a circumferential direction; and a coil that is wound around the cylinder in a spiral shape, suppresses a diameter expansion of the cylinder, and extends and contracts in the axial direction in accordance with an extension and contraction of the cylinder in the axial direction due to an increase and decrease in pressure within the cylinder, the base having a recess that has a groove, the method including engaging the flange and the groove with each other to fix the soft actuator to the base.

The invention discloses a rope-driven software actuator platform for driving a software matrix to move and a control method thereof, and the control method comprises the steps: collecting an input and deformation state data pair of the software matrix, inputting the input and deformation state data pair into a nonlinear physical information neural network, generating an optimized input and deformation state data pair, and training an agent model; converting the trained proxy model into a linear state space model through an extended dynamic mode decomposition method by utilizing a Koopman operator theory, and extracting state space model parameters and a dimension raising function; a model prediction controller is designed, the optimal control quantity is solved in an online rolling mode, and driving of the servo motor is completed; a system state is fed back in real time through a data feedback sensor and is fed back to a model prediction controller after being estimated by a Kalman filter, closed-loop optimization control is formed, and tracking of an expected track of the soft matrix and disturbance suppression of the soft matrix moving along a rotating shaft are achieved. The method is high in control precision, and a feasible control scheme is provided for researching the soft robot.

This invention discloses a closed-loop control method for hand rehabilitation based on sEMG signals and pneumatic feedback, belonging to the field of rehabilitation medical devices and intelligent control technology. The method is applied to a system including a wearable flexible soft glove, a surface electromyography (sEMG) sensor, a curvature sensor, a pneumatic drive and control unit, and a host computer control unit. The method includes: acquiring and identifying the patient's active movement intention through the sEMG sensor to generate movement intention commands; planning a target movement trajectory based on the intention commands and driving a pneumatic soft actuator to perform auxiliary movements in the fingers; acquiring the actual movement state in real time as a feedback signal through the curvature sensor; comparing the feedback signal with the target trajectory, and adjusting the air pressure output in real time according to the movement deviation to form a closed-loop control. This method achieves a combination of active and passive, precise, safe, and personalized adaptive rehabilitation training, and can be combined with game interaction to improve patient compliance.

The invention relates to the technical field of automatic control, in particular to a self-adaptive thermal control radiator control method for a radio frequency microwave front end, which comprises the following steps of: registering a digital pre-distortion tap and an envelope tracking voltage rail as soft actuators, and registering an air plug driving unit of a controllable non-condensation air plug heat pipe as a hard actuator; and during the continuous operation period of the service waveform, the system controller executes the following closed-loop operation based on the current frame acquisition data in the control window of each service frame: in the control window, respectively issuing the synthesized baseband sequence, rail pressure sequence and operation sequence to a transmitting link, an envelope tracking power supply and an air plug driving unit for execution. Active intervention can be achieved before thermal tension is formed, the peak envelope ratio and the output power are rapidly reduced through the soft actuator, instantaneous power consumption is reduced from a signal domain, meanwhile, a thermal path is reconstructed through the hard actuator, heat is guided to an area with higher heat dissipation efficiency, and local overheating is avoided.