论文标题
作为可编程层的选举粘合剂辅助设备塞皮的皮肤，用于表现出色的外壳形状显示器
Electroadhesive Auxetics as Programmable Layer Jamming Skins for Formable Crust Shape Displays
论文作者
论文摘要
形状显示器是一类触觉设备，可实现3D表面的全手触觉探索。但是，它们的可伸缩性受到传统执行器阵列的机械复杂性和高成本的限制。在本文中，我们建议将Electroad Hissic辅助皮肤用作应变层的层，以在连续（“形成壳”）形状显示中创建可编程形状的变化。辅助皮肤是在每个辅助单位电池（AUC）上用介电式电极（AUC）的柔性印刷电路板制造的，它使用单片制造来降低成本和组装时间。通过将多个板分层并在随后的层之间施加电极之间的电压，Electroadhision将单个AUC锁定，实现最大的平面内刚度变化为7.6倍，功率消耗为50 UW/AUC。我们首先表征单个AUC，并将结果与运动学模型进行比较。然后，我们验证5x5 AUC阵列积极修改其自身轴向和横向刚度的能力。最后，我们以连续形状显示为应变的皮肤，以编程性调节充气LDPE袋的形状输出。与辅助设备相结合，可以为灵活的机器人系统的可扩展，低功能和低功率控制提供新的功能。
Shape displays are a class of haptic devices that enable whole-hand haptic exploration of 3D surfaces. However, their scalability is limited by the mechanical complexity and high cost of traditional actuator arrays. In this paper, we propose using electroadhesive auxetic skins as a strain-limiting layer to create programmable shape change in a continuous ("formable crust") shape display. Auxetic skins are manufactured as flexible printed circuit boards with dielectric-laminated electrodes on each auxetic unit cell (AUC), using monolithic fabrication to lower cost and assembly time. By layering multiple sheets and applying a voltage between electrodes on subsequent layers, electroadhesion locks individual AUCs, achieving a maximum in-plane stiffness variation of 7.6x with a power consumption of 50 uW/AUC. We first characterize an individual AUC and compare results to a kinematic model. We then validate the ability of a 5x5 AUC array to actively modify its own axial and transverse stiffness. Finally, we demonstrate this array in a continuous shape display as a strain-limiting skin to programmatically modulate the shape output of an inflatable LDPE pouch. Integrating electroadhesion with auxetics enables new capabilities for scalable, low-profile, and low-power control of flexible robotic systems.
