• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

用于建筑与施工的改进型拟人机器人手：将预应力机制与自修复弹性体相结合。

Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers.

作者信息

Kim Mijin, Yaesmin Rubaya, Seo Hyungtak, Yi Hwang

机构信息

Architectural Research of Technology & Scientific Design (ARTS) Lab, Seoul 02841, Republic of Korea.

Department of Architecture, College of Engineering, Korea University, Seoul 02841, Republic of Korea.

出版信息

Biomimetics (Basel). 2025 May 1;10(5):284. doi: 10.3390/biomimetics10050284.

DOI:10.3390/biomimetics10050284
PMID:40422114
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12108625/
Abstract

Soft pneumatic robot-arm end-effectors can facilitate adaptive architectural fabrication and building construction. However, conventional pneumatic grippers often suffer from air leakage and tear, particularly under prolonged grasping and inflation-induced stress. To address these challenges, this study suggests an enhanced anthropomorphic gripper by integrating a pre-stressed reversible mechanism (PSRM) and a novel self-healing material (SHM) polyborosiloxane-Ecoflex™ hybrid polymer (PEHP) developed by the authors. The results demonstrate that PSRM finger grippers can hold various objects without external pressure input (12 mm displacement under a 1.2 N applied), and the SHM assists with recovery of mechanical properties upon external damage. The proposed robotic hand was evaluated through real-world construction tasks, including wall painting, floor plastering, and block stacking, showcasing its durability and functional performance. These findings contribute to promoting the cost-effective deployment of soft robotic hands in robotic construction.

摘要

柔软的气动机器人手臂末端执行器可促进适应性建筑制造和建筑施工。然而，传统的气动夹具经常存在漏气和撕裂问题，尤其是在长时间抓取和充气引起的应力作用下。为应对这些挑战，本研究提出了一种增强型拟人化夹具，它集成了一种预应力可逆机制（PSRM）和作者开发的一种新型自愈材料（SHM）聚硼硅氧烷-Ecoflex™ 混合聚合物（PEHP）。结果表明，PSRM手指夹具无需外部压力输入就能夹持各种物体（在施加1.2 N力时位移为12 mm），并且SHM有助于在外部损坏后恢复机械性能。通过实际施工任务对所提出的机器人手进行了评估，包括墙面喷漆、地面抹灰和砌块堆叠，展示了其耐用性和功能性能。这些发现有助于推动软机器人手在机器人施工中实现经济高效的应用。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/eab5e6980d7d/biomimetics-10-00284-g022a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/0fe8576a55dc/biomimetics-10-00284-g0A1.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/6104c0115fa1/biomimetics-10-00284-g0A2a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/fd97a0f91a7c/biomimetics-10-00284-g0A3.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/2964395ab31a/biomimetics-10-00284-g0A4.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/d5e686adedbf/biomimetics-10-00284-g0A5.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/b1e398505b7e/biomimetics-10-00284-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/4420fd69ff53/biomimetics-10-00284-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/c71253703602/biomimetics-10-00284-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/f600044f8445/biomimetics-10-00284-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/5c783280f4ef/biomimetics-10-00284-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/7a92c6bc4c58/biomimetics-10-00284-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/aca75b72a11a/biomimetics-10-00284-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/be5f71a8499e/biomimetics-10-00284-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/1ff303e4e155/biomimetics-10-00284-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/ecd11a8c703c/biomimetics-10-00284-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/c82a0f46350d/biomimetics-10-00284-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/5ce63b7a0a1c/biomimetics-10-00284-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/90e87266d65c/biomimetics-10-00284-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/d10a563b86ad/biomimetics-10-00284-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/93e13cc7518e/biomimetics-10-00284-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/55d9f648fd34/biomimetics-10-00284-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/f4a55741ee31/biomimetics-10-00284-g017.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/4e7941e29c72/biomimetics-10-00284-g018.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/47440a266bda/biomimetics-10-00284-g019.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/c293222b62a3/biomimetics-10-00284-g020.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/9213345f6fbc/biomimetics-10-00284-g021.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/eab5e6980d7d/biomimetics-10-00284-g022a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/0fe8576a55dc/biomimetics-10-00284-g0A1.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/6104c0115fa1/biomimetics-10-00284-g0A2a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/fd97a0f91a7c/biomimetics-10-00284-g0A3.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/2964395ab31a/biomimetics-10-00284-g0A4.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/d5e686adedbf/biomimetics-10-00284-g0A5.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/b1e398505b7e/biomimetics-10-00284-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/4420fd69ff53/biomimetics-10-00284-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/c71253703602/biomimetics-10-00284-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/f600044f8445/biomimetics-10-00284-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/5c783280f4ef/biomimetics-10-00284-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/7a92c6bc4c58/biomimetics-10-00284-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/aca75b72a11a/biomimetics-10-00284-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/be5f71a8499e/biomimetics-10-00284-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/1ff303e4e155/biomimetics-10-00284-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/ecd11a8c703c/biomimetics-10-00284-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/c82a0f46350d/biomimetics-10-00284-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/5ce63b7a0a1c/biomimetics-10-00284-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/90e87266d65c/biomimetics-10-00284-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/d10a563b86ad/biomimetics-10-00284-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/93e13cc7518e/biomimetics-10-00284-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/55d9f648fd34/biomimetics-10-00284-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/f4a55741ee31/biomimetics-10-00284-g017.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/4e7941e29c72/biomimetics-10-00284-g018.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/47440a266bda/biomimetics-10-00284-g019.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/c293222b62a3/biomimetics-10-00284-g020.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/9213345f6fbc/biomimetics-10-00284-g021.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/dc6d/12108625/eab5e6980d7d/biomimetics-10-00284-g022a.jpg

相似文献

1
Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers.用于建筑与施工的改进型拟人机器人手：将预应力机制与自修复弹性体相结合。
Biomimetics (Basel). 2025 May 1;10(5):284. doi: 10.3390/biomimetics10050284.
2
Adaptive Variable Stiffness Particle Phalange for Robust and Durable Robotic Grasping.用于稳健且持久机器人抓取的自适应可变刚度颗粒指骨
Soft Robot. 2020 Dec;7(6):743-757. doi: 10.1089/soro.2019.0089. Epub 2020 Apr 22.
3
Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers.超越柔软的手：使用非拟人化软夹爪实现高效抓取
Front Robot AI. 2021 Jul 7;8:632006. doi: 10.3389/frobt.2021.632006. eCollection 2021.
4
Employing Pneumatic, Telescopic Actuators for the Development of Soft and Hybrid Robotic Grippers.采用气动伸缩式致动器开发柔软及混合式机器人夹具。
Front Robot AI. 2020 Nov 11;7:601274. doi: 10.3389/frobt.2020.601274. eCollection 2020.
5
Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation.用于精细组织操作的可定制软机器人气动夹爪装置的基于杆的制造。
J Vis Exp. 2016 Aug 2(114):54175. doi: 10.3791/54175.
6
Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints.通过三维打印多功能屈曲关节提高软体机器人夹爪、手和爬行机器人的多功能性和性能。
Soft Robot. 2024 Oct;11(5):741-754. doi: 10.1089/soro.2023.0111. Epub 2024 Feb 22.
7
Octopus-Inspired Underwater Soft Robotic Gripper with Crawling and Swimming Capabilities.具有爬行和游泳能力的仿章鱼水下软机器人抓手
Research (Wash D C). 2024 Aug 28;7:0456. doi: 10.34133/research.0456. eCollection 2024.
8
Combining Sensors Information to Enhance Pneumatic Grippers Performance.结合传感器信息以提高气动夹爪的性能。
Sensors (Basel). 2021 Jul 24;21(15):5020. doi: 10.3390/s21155020.
9
Multi-Degree-of-Freedom Force Sensor Incorporated into Soft Robotic Gripper for Improved Grasping Stability.集成于软机器人夹具中的多自由度力传感器，用于提高抓取稳定性。
Soft Robot. 2024 Aug;11(4):628-638. doi: 10.1089/soro.2023.0068. Epub 2024 Apr 1.
10
Hybrid-Driven Origami Gripper with Variable Stiffness and Finger Length.具有可变刚度和手指长度的混合驱动折纸夹爪
Cyborg Bionic Syst. 2024 Apr 9;5:0103. doi: 10.34133/cbsystems.0103. eCollection 2024.

本文引用的文献

1
Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation.基于能量获取和耗散的指掌协同软体夹爪的动态抓取
Nat Commun. 2022 Dec 13;13(1):7700. doi: 10.1038/s41467-022-35479-9.
2
An open-source anthropomorphic robot hand system: HRI hand.一种开源拟人化机器人手系统：HRI手。
HardwareX. 2020 Feb 24;7:e00100. doi: 10.1016/j.ohx.2020.e00100. eCollection 2020 Apr.
3
Stiffness-Tunable Soft Gripper with Soft-Rigid Hybrid Actuation for Versatile Manipulations.具有软-硬混合驱动的刚度可调软夹爪，用于多功能操作。
Soft Robot. 2022 Dec;9(6):1108-1119. doi: 10.1089/soro.2021.0025. Epub 2022 Feb 16.
4
A 3D Printed Modular Soft Gripper Integrated With Metamaterials for Conformal Grasping.一种集成超材料用于保形抓取的3D打印模块化软夹爪。
Front Robot AI. 2022 Jan 7;8:799230. doi: 10.3389/frobt.2021.799230. eCollection 2021.
5
Integrated linkage-driven dexterous anthropomorphic robotic hand.集成联动驱动的灵巧仿人机器人手。
Nat Commun. 2021 Dec 14;12(1):7177. doi: 10.1038/s41467-021-27261-0.
6
Critical Hazard Factors in the Risk Assessments of Industrial Robots: Causal Analysis and Case Studies.工业机器人风险评估中的关键危险因素：因果分析与案例研究
Saf Health Work. 2021 Dec;12(4):496-504. doi: 10.1016/j.shaw.2021.07.010. Epub 2021 Jul 22.
7
Skin-inspired quadruple tactile sensors integrated on a robot hand enable object recognition.皮肤启发式四触觉传感器集成在机器人手上，实现了物体识别。
Sci Robot. 2020 Dec 16;5(49). doi: 10.1126/scirobotics.abc8134.
8
Leveraging elastic instabilities for amplified performance: Spine-inspired high-speed and high-force soft robots.利用弹性不稳定性实现性能增强：受脊柱启发的高速高力软体机器人。
Sci Adv. 2020 May 8;6(19):eaaz6912. doi: 10.1126/sciadv.aaz6912. eCollection 2020 May.
9
Additive Manufacturing for Self-Healing Soft Robots.用于自修复软机器人的增材制造
Soft Robot. 2020 Dec;7(6):711-723. doi: 10.1089/soro.2019.0081. Epub 2020 Mar 10.
10
Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots.预充气压软驱动器及其在无系绳软机器人中的应用。
Soft Robot. 2018 Oct;5(5):567-575. doi: 10.1089/soro.2017.0090. Epub 2018 Jun 20.