EFRI C3 SoRo: 3-D surface control for object manipulation with stretchable materials

EFRI C3 SoRo：使用可拉伸材料进行物体操纵的 3D 表面控制

• 批准号: 1935294
• 负责人: Michael Posa
• 金额: $ 200万
• 依托单位: University of Pennsylvania
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-01-01 至 2024-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1935294&HistoricalAwards=false
• 关键词: EFRI; C3; SoRo; surface; control

This project will create knowledge to realize a new class of active soft robots that can dynamically evolve three-dimensional soft protuberances from a nominally planar surface. These moving shapes will be capable of gently and safely positioning and manipulating heavy but delicate objects that are resting on the surface. Soft robots are ideal for interactions with humans because they safely deform upon contact, much as biological soft tissue does. This project will enable active soft robotic surfaces able to track and manipulate human-sized objects in three-dimensional space without high contact forces. In 2018 patient handling injuries accounted for 25% of healthcare-related worker's comp claims and back injuries to workers cost the US healthcare industry $8.6 billion. The results of this project will advance the goal of assisting the safe and comfortable handling of patients, to enhance the quality of healthcare and reduce injuries in the nursing workforce. By preventing injury and reducing nurses' work load this project will address the grand challenge of providing care to our aging population. The project will promote an educational program to build the cross-disciplinary literacy of engineering and nursing students, by giving each experience in the other?s work domain and deepening their understanding of current healthcare capabilities and challenges.This research project will make fundamental advances to soft robotic capabilities through three innovations: 1. electrically addressable polymers that modulate the stiffness of inflated elastomers, 2. real-time shape sensing, contact detection, and shape prediction using Gaussian curvature, and 3. a hierarchical control policy that, rather than attempting precise control of the deformable robot, achieves desired motion of the manipulated object through contact points. This project builds from strengths of the assembled team to overcome fundamental challenges in soft robotics research, including shape-controlled actuation with high strain and large forces, soft robotic sensing and proprioception, modeling and estimating the infinite dimensional state of stretchable materials while interacting with external objects, and control strategies to manipulate external objects with continuous, compliant, and re-configurable elastomeric surfaces.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目将创造知识来实现​​新型主动软机器人，该机器人可以从名义上的平面动态演化出三维软突起。这些移动的形状将能够轻柔、安全地定位和操纵放置在表面上的沉重但精致的物体。软机器人非常适合与人类互动，因为它们在接触时会安全变形，就像生物软组织一样。该项目将使主动软机器人表面能够在三维空间中跟踪和操纵人类大小的物体，而无需高接触力。 2018 年，患者处理伤害占医疗保健相关工作人员赔偿索赔的 25%，而工作人员背部受伤给美国医疗保健行业造成了 86 亿美元的损失。该项目的结果将推进协助安全、舒适地处理患者、提高医疗质量并减少护理人员受伤的目标。通过防止伤害和减少护士的工作量，该项目将解决为老龄化人口提供护理的巨大挑战。该项目将促进一项教育计划，通过给予彼此工作领域的经验并加深他们对当前医疗保健能力和挑战的理解，培养工程和护理专业学生的跨学科素养。该研究项目将在以下方面取得根本性进展：通过三项创新来实现软机器人功能：1. 调节膨胀弹性体刚度的电可寻址聚合物，2. 使用高斯曲率的实时形状传感、接触检测和形状预测，以及 3. 分层控制策略，而不是尝试精确控制可变形机器人的，通过接触点实现被操纵物体的所需运动。该项目充分发挥团队的优势，克服软体机器人研究中的基本挑战，包括高应变和大力的形状控制驱动、软体机器人传感和本体感觉、建模和估计可拉伸材料在与外部交互时的无限维状态。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Predicting the Electrical, Mechanical, and Geometric Contributions to Soft Electroadhesives through Fracture Mechanics

通过断裂力学预测软电粘合剂的电气、机械和几何贡献

• DOI: 10.1021/acsami.3c03392
• 发表时间: 2023-06
• 期刊: ACS Applied Materials & Interfaces
• 影响因子: 9.5
• 作者: Thomas, Elayne M.;McBride, Matthew K.;Lee, Owen A.;Hayward, Ryan C.;Crosby, Alfred J.
• 通讯作者: Crosby, Alfred J.

Multimodal Proximity and Visuotactile Sensing With a Selectively Transmissive Soft Membrane

使用选择性透射软膜的多模式接近和视觉触觉传感

• DOI: 10.1109/robosoft54090.2022.9762091
• 发表时间: 2022-04
• 期刊: 022 IEEE 5th International Conference on Soft Robotics (RoboSoft
• 作者: Yin, Jessica;Campbell, Gregory M.;Pikul, James;Yim, Mark
• 通讯作者: Yim, Mark

A Low‐Voltage, High‐Force Capacity Electroadhesive Clutch Based on Ionoelastomer Heterojunctions

一种基于离子弹性体异质结的低压、高力容量电粘附离合器

• DOI: 10.1002/adma.202304455
• 发表时间: 2023-09
• 期刊: Advanced Materials
• 影响因子: 29.4
• 作者: Levine, D. J.;Lee, O. A.;Campbell, G. M.;McBride, M. K.;Kim, H. J.;Turner, K. T.;Hayward, R. C.;Pikul, J. H.
• 通讯作者: Pikul, J. H.

Real-Time Multi-Contact Model Predictive Control via ADMM

通过 ADMM 进行实时多接触模型预测控制

• DOI: 10.1109/icra46639.2022.9811957
• 发表时间: 2022-05
• 期刊: 2022 IEEE International Conference on Robotics and Automation (ICRA
• 作者: Aydinoglu, Alp;Posa, Michael
• 通讯作者: Posa, Michael