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Reconfigurable modular soft robots with modulating stiffness; versatile task capabilities
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AI
DOI：10.1088/1361-665X/ad4d35.png)
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Abstract
En 中文
Soft robots have revolutionized machine interactions with humans;
the environment to enable safe operations. The fixed morphology of these soft robots dictates their mechanical performance, including strength;
stiffness, which limits their task range;
applications. Proposed here are modular, reconfigurable soft robots with the capabilities of changing their morphology;
adjusting their stiffness to perform versatile object h;
ling;
planar or spatial operational tasks. The reconfiguration;
tunable interconnectivity between the elemental soft, pneumatically driven actuation units is made possible through integrated permanent magnets with coils. The proposed concept of attaching/detaching actuators enables these robots to be easily rearranged in various configurations to change the morphology of the system. While the potential for these actuators allows for arbitrary reconfiguration through parallel or serial connection on their four sides, we demonstrate here a configuration called ManusBot. ManusBot is a h;
-like structure with digits;
palm capable of individual actuation. The capabilities of this system are demonstrated through specific examples of stiffness modulation, variable payload capacity,;
structure forming for enhanced;
versatile object manipulation;
operations. The proposed modular, soft robotic system with interconnecting capabilities significantly exp;
s the versatility of operational tasks as well as the adaptability of h;
ling objects of various shapes, sizes,;
weights using a single system.
Keywords:
stiffness modulation
grasping
permanent magnets with coils
attachable
detachable actuators
reconfigurations
modular robots
soft robots