机器人
软机器人
阻力
计算机科学
伺服电动机
模拟
人机交互
软质材料
控制工程
人工智能
工程类
纳米技术
材料科学
航空航天工程
作者
Shoulu Gong,Wenbo Li,Jiahao Wu,Bohan Feng,Zhiran Yi,Xinyu Guo,Wenming Zhang,Li Shao
标识
DOI:10.1002/advs.202308835
摘要
Abstract Soft material‐based robots, known for their safety and compliance, are expected to play an irreplaceable role in human‐robot collaboration. However, this expectation is far from real industrial applications due to their complex programmability and poor motion precision, brought by the super elasticity and large hysteresis of soft materials. Here, a soft collaborative robot (Soft Co‐bot) with intuitive and easy programming by contact‐based drag teaching, and also with exceptional motion repeatability (< 0.30% of body length) and ultra‐low hysteresis (< 2.0%) is reported. Such an unprecedented capability is achieved by a biomimetic antagonistic design within a pneumatic soft robot, in which cables are threaded to servo motors through tension sensors to form a self‐sensing system, thus providing both precise actuation and dragging‐aware collaboration. Hence, the Soft Co‐bots can be first taught by human drag and then precisely repeat various tasks on their own, such as electronics assembling, machine tool installation, etc. The proposed Soft Co‐bots exhibit a high potential for safe and intuitive human‐robot collaboration in unstructured environments, promoting the immediate practical application of soft robots.
科研通智能强力驱动
Strongly Powered by AbleSci AI