Bionic structure-perception integrated soft origami bending module with sequential rigidity adjusting function

Abstract

The invention provides a bionic structure-sensing integrated soft origami bending module with a sequential rigidity adjusting function, and belongs to the field of bionic soft body bending structures. The problem that flexible large deformation and sensitive sensing of an existing soft robot cannot be achieved at the same time is solved. The device comprises a soft paper folding actuator, a passive rigidity adjusting belt, a fiber limiting line, a strain sensing unit, a strain limiting layer, a signal line and an air pipe. The soft paper folding actuator is of a fiber-reinforced Jilin pattern type structure, and has double deformation of unfolding along creases and stretching of silica gel skin; the soft body module is divided into three sections in the axial direction, each section is subjected to flexible large deformation-passive sequential rigidity adjustment under single air pressure, and various bending structures can be achieved; piezoresistive flexible strain sensing units with the same material attribute as the soft paper folding actuator are discretely and seamlessly embedded into the bottom of the soft body module, and complex deformation of the module can be sensed. According to the invention, flexible large deformation and sensitive sensing can be realized, and the characteristic of passive sequence rigidity adjustment is also realized.

Description

technical field [0001] The invention belongs to the technical field of bionic soft body bending structures, and in particular relates to a bionic structure-sensing integrated soft origami bending module with a sequential stiffness adjustment function. Background technique [0002] At present, soft robots generally lack perception functions and cannot achieve closed-loop control. Existing proprioceptive solutions only realize the combination of drive and perception, and there is still the problem that flexible large deformation and sensitive perception cannot be achieved at the same time. Unstructured and dynamic environments require the coordination of flexible large-deformation actuation and sensitive perception of soft robots. [0003] Some scholars have studied the proprioception technology of soft robots, mainly by filling flexible substrates with carbon nanoparticles / filaments, liquid metals, ion conductors, etc., and they respond to external excitations to change elec...

AI Technical Summary

Problems solved by technology

Unreliable pasting is prone to the problem that the strain of the actuator is difficult to accurately transfer to the sensor, that is, the strain transfer coefficient is less than 1, which causes the loss of sensing accuracy

In summary, it is still a big challenge to realize the flexible, large-deformation actuation and sensitive proprioception of soft robots.

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