Mechanics of Morphological Compensation, and its Application to Sensing and Control of Soft Robots

形态补偿力学及其在软体机器人传感与控制中的应用

• 批准号: 21H01287
• 负责人: Ho Anhvan
• 金额: $ 11.07万
• 依托单位: Japan Advanced Institute of Science and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2021
• 资助国家: 日本
• 起止时间: 2021-04-01 至 2024-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-21H01287/
• 关键词: 形態による補正; ソフトセンシング; ソフトな形態の変形; ダメージ; Morphology; Soft sensing; Compensation; MR fluids; Topological change; Whiskered sensor; Wrinkled sensor; Corona discharge; Micro pattern; ソフトロボット; Soft Robot; 形態補佐; 有限要素法

In the second year, overall, proposed research topics were accelerated with fruitful achievement:1) Ho group has extensively elaborated the morphological compensation strategy for a soft whisker sensor upon being trimmed partly on other task, such as tactile exploration. We demonstrate that changing the morphology of the whisker again helps to reduce mismatching between prior knowledge in the frequency/time domain of the sensory signal. This allows the sensory whisker to recover the tactile perception on texture discrimination after the whisker is partially damaged. In addition, several interactive models on SOFA platforms have been built toward construction of topological change-allowed program, such as cutting/trimming.2) Shibuya and Ho have investigated design feasibility of several soft tactile sensing systems that can change their morphology, especially the magnetorheological (MR) fluid-based soft interfaces with efficient setup. Such systems are suitable for further investigation of morphological compensation.3) Miyako and Ho succeeded in implementation novel actuation for Materially Engineered Flying Object (MEFO)system using corona-discharge phenomenon, which ignites movement of bio- materials in the air.4) Takamura and Ho succeeded on fabrication of patterned structures that morphologically changeable that enhances the tribological properties of soft structures under walking process.

第二年，总体而言，提出的研究课题加速推进，取得了丰硕的成果：1）Ho课题组广泛阐述了软晶须传感器在触觉探索等其他任务上进行部分修剪后的形态补偿策略。我们证明，改变晶须的形态再次有助于减少感知信号频域/时域中先验知识之间的不匹配。这使得感官胡须在胡须部分受损后能够恢复纹理辨别的触觉感知。此外，还建立了 SOFA 平台上的几个交互模型，以构建允许拓扑变化的程序，例如切割/修剪。 2) Shibuya 和 Ho 研究了几种可以改变其形态的软触觉传感系统的设计可行性，特别是基于磁流变 (MR) 流体的软接口，具有高效的设置。这样的系统适合进一步研究形态补偿。3) Miyako 和 Ho 成功地利用电晕放电现象实现了材料工程飞行物体 (MEFO) 系统的新颖驱动，从而点燃了空气中生物材料的运动。4) Takamura Ho 成功地制造了形态可变的图案结构，增强了软结构在行走过程中的摩擦学性能。

项目成果

Workshop on Soft Sensing at RoboSoft 2022

RoboSoft 2022 软传感研讨会

ガリウムの相変化を利用した柔軟触覚センサの開発

利用镓相变开发柔性触觉传感器

• 发表时间: 2022
• 作者: 渋谷恒司

Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain

具有触觉感知的蛇形机器人在大面积具有挑战性的地形上导航

• DOI: 10.48550/arxiv.2312.03225
• 发表时间: 2023-12-06
• 期刊: ArXiv
• 作者: Shuo Jiang;Adarsh Salagame;Alireza Ramezani;Lawson Wong
• 通讯作者: Lawson Wong

Automated Paper-Based Femtogram Sensing Device for Competitive Enzyme-Linked Immunosorbent Assay of Aflatoxin B Using Submicroliter Samples

用于使用亚微升样品对黄曲霉毒素 B 进行竞争性酶联免疫吸附测定的自动纸基飞克传感装置

• DOI: 10.1021/acs.analchem.1c05401
• 发表时间: 2022
• 影响因子: 7.4
• 作者: Charernchai Sumamal;Chikae Miyuki;Phan Tue Trong;Wonsawat Wanida;Hirose Daisuke;Takamura Yuzuru
• 通讯作者: Takamura Yuzuru

Mechanics and Morphological Compensation Strategy for Trimmed Soft Whisker Sensor

修剪软晶须传感器的力学和形态补偿策略

• DOI: 10.1089/soro.2020.0056
• 发表时间: 2021-01-18
• 期刊: Soft Robotics
• 影响因子: 7.9
• 作者: Nhan Huu Nguyen;V. A. Ho
• 通讯作者: V. A. Ho