标题： 一种软流体机器人的改造传感策略 显示英文标题

标题： A Retrofit Sensing Strategy for Soft Fluidic Robots

摘要： 软体机器人通过改变形状以响应与环境的相互作用力，本质上能够适应不同的环境。然而，为了实现更高级别的决策和自主性，仍然需要传感和反馈。大多数为软体机器人开发的传感技术涉及在软致动器中集成独立的传感元件，由于硬质和软质组件之间的界面以及组装的复杂性，这给软体机器人的制造和鲁棒性带来了相当大的挑战。为了克服这一点，我们在这里提出了一种通用的传感策略，可以无需设计更改即可安装到现有的软流体装置上。我们通过测量激活软致动器所需的流体输入，并将其与在与环境相互作用时的变形状态相关联来实现这一点。我们通过触觉传感物体的大小、形状、表面粗糙度和刚度来展示我们传感策略的通用性。此外，我们通过将该方法安装到一系列由正压和负压驱动的现有气动软致动器和夹具上来演示我们的方法。最后，我们在软夹具的闭环控制中展示了我们流体传感策略在实际应用（如分类、水果采摘和成熟度检测）中的鲁棒性。基于这些结果，我们得出结论，只要执行器与环境的相互作用导致间隔体积的形状变化，软体流体致动器就不需要嵌入式传感器和设计修改来实现有用的传感。我们认为，我们的传感策略相对简单、通用、广泛应用和鲁棒性将推动软交互设备和系统的新功能，从而加速软体机器人在现实世界应用中的使用。 显示英文摘要

摘要： Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and autonomy. Most sensing technologies developed for soft robots involve the integration of separate sensing elements in soft actuators, which presents a considerable challenge for both the fabrication and robustness of soft robots due to the interface between hard and soft components and the complexity of the assembly. To circumvent this, here we present a versatile sensing strategy that can be retrofitted to existing soft fluidic devices without the need for design changes. We achieve this by measuring the fluidic input that is required to activate a soft actuator and relating this input to its deformed state during interaction with the environment. We demonstrate the versatility of our sensing strategy by tactile sensing of the size, shape, surface roughness and stiffness of objects. Moreover, we demonstrate our approach by retrofitting it to a range of existing pneumatic soft actuators and grippers powered by positive and negative pressure. Finally, we show the robustness of our fluidic sensing strategy in closed-loop control of a soft gripper for practical applications such as sorting, fruit picking and ripeness detection. Based on these results, we conclude that as long as the interaction of the actuator with the environment results in a shape change of the interval volume, soft fluidic actuators require no embedded sensors and design modifications to implement useful sensing. We believe that the relative simplicity, versatility, broad applicability and robustness of our sensing strategy will catalyze new functionalities in soft interactive devices and systems, thereby accelerating the use of soft robotics in real world applications.