液态金属柔性感知的人机交互软体机械手

doi:10.3969/j.issn.1004-132X.2021.12.011

中国机械工程 ›› 2021, Vol. 32 ›› Issue (12): 1470-1478.DOI: 10.3969/j.issn.1004-132X.2021.12.011

液态金属柔性感知的人机交互软体机械手

刘会聪1,2;杨梦柯1,2;袁鑫1,2;孙立宁1,2;金国庆1,2

1.苏州大学机电工程学院，苏州，215000
2.江苏省先进机器人技术重点实验室，苏州，215000

出版日期:2021-06-25 发布日期:2021-07-08
通讯作者: 金国庆（通信作者），男，1981年生，副教授。研究方向为软体机器人设计与制造、3D打印与数字化设计与制造。发表论文40余篇。E-mail:gqjin@suda.edu.cn。
作者简介:刘会聪，女，1982年生，教授、博士研究生导师。研究方向为智能感知与人机交互、柔性电子器件、微能源与自供能系统等。发表论文80余篇。E-mail:hcliu078@suda.edu.cn。

Liquid Metal Based Flexible Sensors for Soft Manipulator towards Human-Machine Interaction#br#

LIU Huicong1,2;YANG Mengke1,2;YUAN Xin1,2;SUN Lining1,2;JIN Guoqing1,2

1.School of Mechanical and Electrical Engineering,Soochow University,Suzhou,Jiangsu,215000
2.Jiangsu Provincial Laboratory of Advanced Robotics,Suzhou,Jiangsu,215000

Online:2021-06-25 Published:2021-07-08

摘要/Abstract

摘要： 利用3D打印技术制作了基于液态金属微流道的应变传感器和弯曲传感器，并将应变传感器集成至人体传感手套，用于人手的手势检测；将弯曲传感器集成至软体机械手，用作软体机械手的姿势及运动控制，通过传感手套控制软体机械手实现了人机交互。实验证明传感手套不仅能控制软体机械手的姿势，还能精确控制每根软体手指的弯曲程度。

关键词: 软体机械手, 液态金属, 柔性传感器, 人机交互

Abstract: Flexible strain and bending sensors based on liquid metal were designed by 3D printed micro-channel herein. Strain sensors were integrated into glove which was used to detect posture of human hands, and bending sensors were integrated into soft manipulator which was used to control posture of the soft manipulator. To realize soft manipulator with human-machine interaction, sensing glove with strain sensors and soft manipulator were combined. Experiments verify that the sensing glove may control the posture of the soft manipulator and the bending degree of each finger.

Key words: soft manipulator, liquid metal, flexible sensor, human-machine interaction

中图分类号:

TP24

刘会聪, 杨梦柯, 袁鑫, 孙立宁, 金国庆, . 液态金属柔性感知的人机交互软体机械手[J]. 中国机械工程, 2021, 32(12): 1470-1478.

LIU Huicong, YANG Mengke, YUAN Xin, SUN Lining, JIN Guoqing, . Liquid Metal Based Flexible Sensors for Soft Manipulator towards Human-Machine Interaction#br#[J]. China Mechanical Engineering, 2021, 32(12): 1470-1478.

参考文献

［1］曹玉君, 尚建忠, 梁科山, 等. 软体机器人研究现状综述［J］. 机械工程学报, 2012, 48(3):25-33.
CAO Yujun, SHANG Jianzhong, LIANG Keshan, et al. A Summary of the Research Status of Soft Robots［J］. Journal of Mechanical Engineering, 2012, 48(3):25-33.
［2］王成军,李帅.软体机器人研究现状［J］.微纳电子技术, 2019, 56(12):948-955.
WANG Chengjun, LI Shuai. Research Status of Soft Robots［J］. Micronanoelectronic Technology, 2019, 56(12):948-955.
［3］KANG R, BRANSON D T, GUGLIELMINO E, et al. Dynamic Modeling and Control of an Octopus Inspired Multiple Continuum Arm Robot［J］. Computers & Mathematics with Applications, 2012, 64(5):1004-1016.
［4］DEIMEL R, BROCK O. A Novel Type of Compliant and Underactuated Robotic Hand for Dexterous Grasping［J］. International Journal of Robotics Research, 2016, 35(1/3):161-185.
［5］胡兵兵,金国庆.一种仿虎甲幼虫的多驱动器软体机器人的设计与制造［J］. 机器人, 2018, 40(5):626-633.
HU Bingbing, JIN Guoqing. Design and Fabrication of a Multi-actuator Soft Robot Inspired by Young Tiger Beetle［J］. Robot, 2018, 40(5):626-633.
［6］POLYGERINOS P, WANG Z, GALLOWAY K C, et al. Soft Robotic Glove for Combined Assistance and At-home Rehabilitation［J］. Robotics and Autonomous Systems, 2014, 73:135-143.
［7］荆泓玮,朱延河,赵思恺,等.外肢体机器人研究现状及发展趋势［J］. 机械工程学报, 2020, 56(7):1-9.
JING Hongwei, ZHU Yanhe, ZHAO Sikai, et al. Research Status and Development Trend of Supernumerary Robotic Limbs［J］. Journal of Mechanical Engineering, 2020, 56(7):1-9.
［8］梁旭,王卫群,侯增广,等.康复机器人的人机交互控制方法［J］.中国科学:信息科学, 2018, 48(1):24-46.
LIANG Xu, WANG Weiqun, HOU Zengguang, et al. Human-computer Interaction Control Method of Rehabilitation Robot［J］. Scientia Sinica:Informationis, 2018, 48(1):24-46.
［9］PARIETTI F, ASADA H. Supernumerary Robotic Limbs for Human Body Support［J］. IEEE Transactions on Robotics, 2016, 32(2):301-311.
［10］LEIGH S W, MAES P. Body Integrated Programmable Joints Interface［C］∥The 2016 CHI Conference. San Jose, 2016:936-940.
［11］HAO Yufei, GONG Zheyuan, XIE Zhexin, et al. Universal Soft Pneumatic Robotic Gripper with Variable Effective Length ［C］∥35th Chinese Control Conference. Chengdu, 2016:1050-1055.
［12］WANG H, TOTARO M, BECCAI L. Toward Perceptive Soft Robots:Progress and Challenges［J］. Advanced Science, 2018, 5(9):1800541.
［13］FARROW N, CORRELL N. A Soft Pneumatic Actuator that Can Sense Grasp and Touch［C］∥2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg, 2015:2317-2323.
［14］BILODEAU R A, WHITE E L, KRAMER R K. Monolithic Fabrication of Sensors and Actuators in a Soft Robotic Gripper［C］∥2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg, 2015:2324-2329.
［15］LEE H K, CHUNG J, CHANG S I, et al. Normal and Shear Force Measurement Using a Flexible Polymer Tactile Sensor with Embedded Multiple Capacitors［J］. Journal of Microelectromechanical Systems, 2008, 17(4):934-942.
［16］MORLEY N B, BURRIS J, CADWALLADER L C, et al. GaInSn Usage in the Research Laboratory［J］. Review of Scientific Instruments, 2008, 79(5):056107-056107-3.
［17］费燕琼,庞武,于文博.气压驱动软体机器人运动研究［J］. 机械工程学报, 2017, 53(13):14-18.
FEI Yanqiong, PANG Wu, YU Wenbo. Movement of Air-driven Soft Robot［J］. Journal of Mechanical Engineering, 2017, 53(13):14-18.

[1]	姚建涛;陈新博;陈俊涛;魏纯杰;张帅;李海利;赵永生. 软体机械手遥操作系统的设计与分析[J]. 中国机械工程, 2020, 31(16): 1968-1977.
[2]	刘敏洋1，2;黄艳群1;张大卫1. 基于绩效激励机制的数控机床人机交互系统创新设计[J]. 中国机械工程, 2019, 30(21): 2554-2559.
[3]	杨林;李文锋;段莹;罗云;杨文超. 工业物联网环境下隐式人机交互消息传播方法[J]. 中国机械工程, 2018, 29(04): 463-470.
[4]	扈静;钱佩伦;刘明周;张淼;郑达. 基于肌肉生理信号的操纵舒适性评价[J]. 中国机械工程, 2018, 29(02): 200-204.
[5]	张宝, 丁敏, 李燕杰. 基于视觉感知强度的人机交互界面优化设计[J]. 中国机械工程, 2016, 27(16): 2196-2202.
[6]	杨文珍, 吴新丽, 余岭, 祝盼飞. 基于视嗅觉认知的虚拟嗅觉生成装置[J]. 中国机械工程, 2015, 26(22): 3051-3056,3063.
[7]	彭涛, 李世其, 徐迟, 刘洋. 面向航天器舱体的智能装配系统研究 [J]. 中国机械工程, 2010, 21(05): 545-549.

液态金属柔性感知的人机交互软体机械手

Liquid Metal Based Flexible Sensors for Soft Manipulator towards Human-Machine Interaction#br#

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 7

编辑推荐

Metrics