论文标题
折叠的气动人造肌肉（FOLDPAM）：通过末端几何形状进行程序化和控制
The Folded Pneumatic Artificial Muscle (foldPAM): Towards Programmability and Control via End Geometry
论文作者
论文摘要
软气动执行器已经在许多软机器人系统中看到了应用，其压力驱动的性质提出了控制其运动的独特挑战和机会。在这项工作中，我们提出了一个新概念：通过末端几何形状设计和控制气动执行器。我们演示了一个新颖的执行器类，称为折叠的气动人造肌肉（foldpam），该肌肉具有薄纤维的气袋，在每一侧都对称折叠。改变执行器的折叠部分，改变了最终约束，并因此改变了力 - 应变关系。我们通过测量具有各种长度和折叠量的单个foldpam单元的力 - 晶体关系来研究这一变化。除静态几何单元外，驱动的FOLDPAM设备还设计用于产生末端几何形状的连续，按需调整，从而实现闭环位置控制，同时保持恒定压力。使用设备的实验表明几何控制允许访问力 - 应变平面上的不同区域，并且闭环几何控制可以在驱动范围的0.5％以内实现误差。
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and controlling pneumatic actuators via end geometry. We demonstrate a novel actuator class, named the folded Pneumatic Artificial Muscle (foldPAM), which features a thin-filmed air pouch that is symmetrically folded on each side. Varying the folded portion of the actuator changes the end constraints and, hence, the force-strain relationships. We investigated this change experimentally by measuring the force-strain relationship of individual foldPAM units with various lengths and amounts of folding. In addition to static-geometry units, an actuated foldPAM device was designed to produce continuous, on-demand adjustment of the end geometry, enabling closed-loop position control while maintaining constant pressure. Experiments with the device indicate that geometry control allows access to different areas on the force-strain plane and that closed-loop geometry control can achieve errors within 0.5% of the actuation range.
