【摘 要】
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Advances in development of artificial muscles have enabled creation of soft robots with biological dexterity and self-adaption in unstructured environments;however,production of scalable artificial muscles with multiple-mode actuations remains elusive.Ins
【机 构】
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State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 20024
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Advances in development of artificial muscles have enabled creation of soft robots with biological dexterity and self-adaption in unstructured environments;however,production of scalable artificial muscles with multiple-mode actuations remains elusive.Inspired by muscle-fiber arrays in muscular hydrostats,we present a class of versatile artificial muscles called MAIPAMs(muscle-fiber array inspired pneumatic artificial muscles),capable of multiple-mode actuations(such as parallel elongation-bending-spiraling actuations,10 parallel bending actuations and cascaded elongation-bending-spiraling actuations).Our MAIPAMs consist of active 3D elastomer-balloon arrays reinforced by a passive elastomer membrane,achieved through a planar design and one-step rolling fabrication approach.We introduce prototypical designs for the MAIPAMs and demonstrate their muscle-mimic structures and versatility,as well as their scalable ability to integrate flexible but non-stretchable layers for contraction and twisting actuation modes and compliant electrodes for self-sensing.We further demonstrate that this class of artificial muscles shows potential for versatile robotic applications,such as carrying a camera for recording videos,gripping or manipulating objects,and climbing a pipe-line.
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