School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China.
School of Computer Engineering and Science, Shanghai University, Shanghai, 200444, China.
Adv Sci (Weinh). 2024 Nov;11(41):e2405051. doi: 10.1002/advs.202405051. Epub 2024 Sep 12.
Soft robots spark a revolution in human-machine interaction. However, developing high-performance soft actuators remains challenging due to trade-offs among output force, driving distance, control precision, safety, and compliance. Here, addressing the lack of long-distance, high-precision flexible linear actuators, an innovative pneumatic flexible linear actuator (PFLA) is introduced, inspired by the smooth and controlled process observed in snakes ingesting sizable food, such as eggs. This PFLA combines a soft tube, emulating the snake's body cavity, with a pneumatically driven piston. Through the joint modulation of moving resistance and driving force by pneumatic pressure, the PFLA exhibits exceptional motion control capabilities, including self-holding without pressure supply, smooth low-speed motion (down to 0.004 m s), high-speed motion (up to 5.6 m s) with low air pressure demand, and a self-protection mechanism. Highlighting its adaptability and versatility, the PFLA finds applications in various settings, including a wearable assistive devices, a manipulator capable of precise path tracking and positioning, and rapid transportation in diverse environments for pipeline inspection and firefighting. This PFLA combines biomimetic principles with sophisticated fluidic actuation to achieve long-distance, flexible, precise, and safe actuation, offering a more adaptive solution for force/motion transmission, particularly in challenging environments.
软体机器人引发人机交互的革命。然而，由于输出力、驱动距离、控制精度、安全性和顺应性之间的权衡，开发高性能的软体执行器仍然具有挑战性。在这里，针对缺乏长距离、高精度柔性线性致动器的问题，我们引入了一种创新的气动柔性线性致动器（PFLA），其灵感来自于蛇类吞食如鸡蛋等大型食物时观察到的平滑且受控的过程。该 PFLA 将一个软管所构成的类似蛇体腔的结构与气动驱动活塞相结合。通过气压对移动阻力和驱动力的联合调节，PFLA 展现出了出色的运动控制能力，包括无需气压供应即可自锁、平滑的低速运动（低至 0.004 m s）、高速运动（高达 5.6 m s）且对气压需求低，以及自保护机制。该 PFLA 具有适应性强和多功能性的特点，可应用于各种场景，包括可穿戴辅助设备、能够进行精确路径跟踪和定位的操纵器，以及在不同环境中的快速运输，用于管道检测和消防。该 PFLA 将仿生原理与复杂的流体致动相结合，实现了长距离、柔性、精确和安全的致动，为力/运动传递提供了更具适应性的解决方案，特别是在具有挑战性的环境中。
