Directional Shape Morphing Transparent Walking Soft Robot

被引：68

作者：

Lee, Habeom ^{[1
]}

Kim, Hyeonseok ^{[2
]}

Ha, Inho ^{[2
]}

Jung, Jinwook ^{[2
]}

Won, Phillip ^{[2
]}

Cho, Hyunmin ^{[2
]}

Yeo, Junyeob ^{[3
]}

Hong, Sukjoon ^{[4
]}

Han, Seungyong ^{[5
]}

Kwon, Jinhyeong ^{[6
]}

Cho, Kyu-Jin ^{[2
]}

Ko, Seung Hwan ^{[2
,7
,8
]}

机构：

[1] Pusan Natl Univ, Sch Mech Engn, Busan, South Korea

[2] Seoul Natl Univ, Dept Mech Engn, Seoul, South Korea

[3] Kyungpook Natl Univ, Dept Phys, Daegu, South Korea

[4] Hanyang Univ, Dept Mech Engn, Ansan, South Korea

[5] Ajou Univ, Dept Mech Engn, Suwon, South Korea

[6] Korea Inst Ind Technol, Mfg Syst R&D Grp, Chungcheongnam Do, Cheonan, South Korea

[7] Seoul Natl Univ, IAMD, SNU, Seoul, South Korea

[8] Seoul Natl Univ, Inst Engn Res, Seoul, South Korea

来源：

SOFT ROBOTICS | 2019年 / 6卷 / 06期

基金：

新加坡国家研究基金会;

关键词：

Ag nanowire percolation network; transparent actuator; directional actuator; soft robot; low temperature; directional thermal expansion; ACTUATOR; CONDUCTOR; GRAPHENE; NETWORK; DESIGN;

D O I：

10.1089/soro.2018.0164

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Transparency in electronics can provide extra functionality and esthetic impression. Transparency plays an important role in accurate soft robot control because one can directly observe target surface condition that is usually blocked by a robot's body. Nowadays, demand for soft actuators has been rapidly increasing because soft robots have attracted much attention recently. However, conventional soft actuators are usually nontransparent with simple isotropic bending, limited performance, and limited functionality. To overcome such limitations of current soft robots, we developed a novel soft shape morphing thin film actuator with new functionalities such as high transparency and unique directional responses to allow complex behavior by integrating a transparent metal nanowire heater. A figure of merit was developed to evaluate the performance and derive an optimum design configuration for the transparent actuator with enhanced performance. As a proof of concept, various transparent soft robots such as transparent gripper, Venus flytrap, and transparent walking robot were demonstrated. Such transparent directional shape morphing actuator is expected to open new application fields and functionalities overcoming limitations of current soft robots.

引用

页码：760 / 767

页数：8

共 30 条

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