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Soft Robtics（英文原版）.pdf

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    Preface
    Contents
    Part I Outline
    1 Introduction
    2 Abstracts
    Part II Sensors and Actuators
    3 New Concepts for Distributed Actuators and Their Control
    3.1 Introduction
    3.2 Shape Memory Alloys as Flexible Actuators
    3.2.1 Basics
    3.2.2 Control Design
    3.2.3 Structural Integration
    3.3 Control and Feedback Control of Distributed Actuators
    3.4 Conclusions and Outlook
    3.5 References
    4 Artificial Muscles, Made of Dielectric Elastomer Actuators A Promising Solution for Inherently Compliant Future Robots
    4.1 Drawbacks of Prevailing Robotic Actuators
    4.2 Benefits of DEAs in Soft Robotics
    4.2.1 Capability of Energy Recuperation
    4.2.2 Intrinsic Compliance and Adaptability
    4.2.3 Outstanding Power-to-Weight Ratio
    4.2.4 Capability of Self-sensing
    4.2.5 Noiseless Actuation
    4.3 Current Research Efforts
    4.3.1 Manufacturing Artificial Muscles Based on DEA
    4.3.2 Lightweight Power Electronics
    4.4 Summary and Future Challenges
    4.5 References
    5 Musculoskeletal Robots and Wearable Devices on the Basis of Cable-driven Actuators
    5.1 Introduction
    5.2 Short State of the Art: From Musculoskeletal Robots to Wearable Devices
    5.3 The Myorobotics Toolkit
    5.3.1 Overview
    5.3.2 Design Primitives Library (DPL)
    5.4 Wearable Cable-Driven Robots
    5.4.1 Requirements and Structure of a Body Worn Lifting Aid
    5.4.2 Body Worn Lifting Aid
    5.5 References
    6 Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction
    6.1 Introduction
    6.2 Signal Processing and Feature Extraction
    6.2.1 Tracking
    6.2.2 Task and Environment Contexts for Feature Extraction
    6.3 Applications
    6.3.1 Proximity Servoing
    6.3.2 Preshaping
    6.3.3 Combined Haptic and Proximity-Based Exploration
    6.4 Conclusions and Future Work
    6.5 References
    Part III Modeling, Simulation and Control
    7 Perception of Deformable Objects and Compliant Manipulation for Service Robots
    7.1 Introduction
    7.2 Compliant Control for Service Robots
    7.2.1 Compliant Task-Space Control
    7.2.2 Applications of Compliant Control in Everyday Environments
    7.2.3 Public Demonstrations
    7.3 Object Manipulation Skill Transfer
    7.3.1 Efficient RGB-D Deformable Registration
    7.3.2 Skill Transfer through Shape Matching
    7.3.3 Results
    7.4 Conclusions
    7.5 References
    8 Soft Robot Control with a Behaviour-Based Architecture
    8.1 Introduction
    8.2 The Behaviour-based Architecture iB2C
    8.2.1 Design of Complex Behaviour Networks
    8.2.2 Oscillation Detection in Behaviour Networks
    8.2.3 Verification of Behaviour Networks
    8.3 Soft Control with the iB2C
    8.4 Conclusion and Future Work
    8.5 References
    9 Optimal Exploitation of Soft-Robot Dynamics
    9.1 Introduction
    9.2 Problem Formulation
    9.3 Optimal Controls for Constrained Deflection
    9.4 Experiments
    9.5 Conclusion
    9.6 References
    10 Simulation Technology for Soft Robotics Applications
    10.1 Introduction
    10.2 State of the Art
    10.2.1 Simulation in “Classical” Robotics
    10.2.2 Simulation in Soft Robotics
    10.3 The Basic Concepts of eRobotics
    10.3.1 3D Simulation-Based Development
    10.3.2 The Virtual Testbed Approach
    10.4 Integrating Simulation Algorithms
    10.4.1 Multi-Domain Modeling with Bond Graphs
    10.4.2 Multi-Domain Modeling by Integrating Single-Domain Tools
    10.5 Simulation of Actuated and Controlled Manipulators
    10.5.1 Simulation of Compliant Robots
    10.5.2 Generation of a Compliant Trajectory
    10.5.3 Torque-Based Tracking of the Compliant Trajectory
    10.5.4 Drive Train Modeling and Simulation
    10.5.5 Torque Control
    10.6 Applications
    10.6.1 FESTO Bionic Handling Assistant
    10.6.2 Soft Physical Human Robot Interaction
    10.6.3 Terramechanics
    10.7 Conclusions and Outlook
    10.8 References
    11 Concepts of Softness for Legged Locomotion and Their Assessment
    11.1 Biomechanics of Legged Locomotion
    11.2 Legged Locomotion in Robotics
    11.3 Biomechanical Concepts for Legged Locomotion
    11.4 Radial and Tangential Leg Function
    11.5 Leg Segmentation and Multi-Joint Structures
    11.6 From Biomechanical Concepts to Robots
    11.7 Assessment of Locomotor Function in Biomechanics and Robotics
    11.8 Outlook
    11.9 References
    12 Mechanics and Thermodynamics of Biological Muscle A Simple Model Approach
    12.1 The Biological Muscle Drives the Animal Motion
    12.2 The Biological Muscle’s Various Design Features
    12.2.1 The Biological Muscle’s Passive Mechanic Characteristics
    12.2.2 Active Muscle and Stability
    12.2.3 Mechanical Efficiency and Thermodynamic Enthalpy Rate
    12.3 Designing a Technical Actuator from the Biological Prototype
    12.4 Next Generation of Bio-inspired and Bio-like Actuators
    12.5 References
    Part IV Materials, Design and Manufacturing
    13 Nanostructured Materials for Soft Robotics – Sensors and Actuators
    13.1 Introduction
    13.2 Actuators
    13.3 Touch Sensors
    13.4 Conclusions and Perspectives
    13.5 References
    14 Fibrous Materials and Textiles for Soft Robotics
    14.1 Introduction
    14.2 Fibrous Materials: Properties and Architecture
    14.3 Functionalization Made Possible by New Textile Processing Technologies
    14.4 Light-Weight-Structures for Robots
    14.5 Adaptive and Intelligent Structures
    14.6 Soft Robot Surface Design and Surface Functionalization
    14.7 Conclusion
    15 Opportunities and Challenges for the Design of Inherently Safe Robots
    15.1 Introduction
    15.2 State of the Art in Soft Robotics
    15.3 Design of Soft Robots with Variable Stiffness
    15.4 Concepts
    15.5 Summary and Outlook
    15.6 References
    16 Aspects of Human Engineering – Bio-optimized Design of Wearable Machines
    16.1 Introduction
    16.1.1 The Challenge
    16.1.2 Prevalence
    16.2 Designing a Wearable Robot: State of the Art
    16.2.1 Different Types of Exoskeletons
    16.2.2 Power and Drives
    16.2.3 Detection of User Intention
    16.2.4 Human Anatomy
    16.3 Therapy and Rehabilitation
    16.4 Physical Prevention and Force Assistance
    16.5 Vision: Auxiliary Assistance
    16.6 References
    17 3D Printed Objects and Components Enabling Next Generation of True Soft Robotics
    17.1 Introduction
    17.1.1 Additive Manufacturing (AM) as a Manufacturing Technology forSoft-Robotic-Systems
    17.1.2 The Production Processes
    17.1.3 The Term Robot and its Newly Added Additive Components
    17.1.4 Integrated Functional Components
    17.1.5 Soft Actuator Systems
    17.1.6 Fabrication of Soft Objects Including Endless Fibers
    17.2 Discussion and Outlook
    17.3 References
    Part V Soft Robotic Applications
    18 Soft Hands for Reliable Grasping Strategies
    18.1 Introduction
    18.2 Exploiting Constraints
    18.3 Requirements to Hardware
    18.4 PneuFlex Actuators
    18.5 Anthropomorphic Soft Hand Prototype
    18.6 Example Implementation of a Grasping Strategy
    18.7 Used Interactions
    18.8 Limitations
    18.9 Discussion
    18.10 References
    19 Task-specific Design of Tubular Continuum Robots for Surgical Applications
    19.1 Introduction
    19.2 Continuum Robots with Tubular Structure
    19.2.1 Kinematic Structure
    19.2.2 Kinematic Modelling
    19.2.3 Component Tube Parameters
    19.3 Task-specific Design
    19.3.1 Design Heuristics
    19.4 Computational Design Optimization
    19.5 Discussion and Outlook
    19.6 References
    20 Soft Robotics with Variable Stiffness Actuators: Tough Robots for Soft Human Robot Interaction
    20.1 Introduction
    20.2 Compliant Actuation
    20.2.1 Floating Spring Joint (FSJ)
    20.2.2 Flexible Antagonistic Spring Element (FAS)
    20.2.3 Bidirectional Antagonism with Variable Stiffness (BAVS)
    20.3 Electronics and System Architecture
    20.4 Hand Design and Control
    20.5 Modeling Soft Robots
    20.6 Cartesian Stiffness Control
    20.6.1 Cartesian Impedance Control
    20.6.2 Independent Position and Stiffness Control
    20.7 Optimal Control
    20.8 Collision Detection and Reaction
    20.8.1 Reactions
    20.8.2 Reflexes
    20.9 Cyclic Motion Control
    20.10 Conclusion
    20.11 References
    21 Soft Robotics Research, Challenges, and Innovation Potential, Through Showcases
    21.1 Introduction: The Need for Soft Robots
    21.2 The Challenges for Soft Robotics, Through the Octopus Showcase
    21.2.1 Biological Insights
    21.2.2 Soft Actuation Technologies
    21.2.3 Soft Robot Modeling and Control
    21.2.4 Integration and Validation of an Octopus-like Robot
    21.3 Soft Robots at Work
    21.3.1 Biomedical Applications of Soft Robotics: Octopus-derived Technologies in Surgery
    21.3.2 Soft Robots in Explorations: An Octopus-like Underwater Robot
    21.3.3 Soft Grippers for Manufacturing
    21.4 Conclusions
    21.5 References
    22 Flexible Robot for Laser Phonomicrosurgery
    22.1 Introduction
    22.2 Phonomicrosurgery
    22.3 System Design
    22.3.1 Design Specifications and Constraints
    22.3.2 Flexible Sections, Actuation Unit, and Control
    22.4 Results
    22.5 Conclusions
    22.6 References
    23 Soft Components for Soft Robots
    23.1 Introduction: What Kind of Softness?
    23.2 Actuators for Soft Robots
    23.2.1 Actuators for Multi-DoF Designs
    23.2.2 Pneumatic Artificial Muscles (PAMs)
    23.2.3 Smart Material-Based Actuators
    23.3 Soft Sensors
    23.3.1 Soft Geometry for “Hard” Conductor
    23.3.2 Conductive Material
    23.3.3 Discrete Sensors in Soft Matrix for Distributed Sensing
    23.4 Conclusions
    23.5 References
    24 Soft Robotics for Bio-mimicry of Esophageal Swallowing
    24.1 Introduction
    24.2 Interdisciplinary Specifications
    24.3 Actuator Design and Manufacture
    24.4 Experimental Characterization
    24.4.1 Manometry Method and Findings
    24.4.2 Articulography Method and Findings
    24.5 Discussion and Conclusion
    24.6 References
    Soft Robotics
    Alexander Verl • Alin Albu-Schäffer • Oliver Brock Annika Raatz (Eds.) Soft Robotics Transferring Theory to Application 123
    Editors Alexander Verl Fraunhofer IPA Stuttgart, Germany Oliver Brock TU Berlin Berlin, Germany Alin Albu-Schäffer DLR Institute of Robotics and Mechatronics Oberpfaffenhofen, Germany Annika Raatz Leibniz Universität Hannover Hannover, Germany ISBN 978-3-662-44505-1 DOI 10.1007/978-3-662-44506-8 ISBN 978-3-662-44506-8 (eBook) Library of Congress Control Number: 2015931376 Springer © Springer-Verlag Berlin Heidelberg 2015 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifi cally the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfi lms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publica- tion does not imply, even in the absence of a specifi c statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper Springer is a brand of Springer Berlin Heidelberg Springer Berlin Heidelberg is part of Springer Science+Business Media (www.springer.com)
    V Preface For about the last ten years, the scientific world of robotics has been influenced by worldwide innovative stimuli from research inspired by biological processes. In- stead of rigid structures, the trend is now towards the use of soft, pliable organic structures, materials, and surfaces. In doing so, scientists obtain their inspiration from diverse biological organisms such as humans, vertebrates, caterpillars, snakes, octopuses, starfish and plant roots. They try to understand natural mecha- nisms and use this information to develop a new generation of robots – “soft ro- bots”. This new class of robot may be utilized in unsafe, dynamic task environ- ments, to grip and manipulate unknown objects, move around in rough terrain, interact with humans in top security situations and even be capable of the vision- ary research topic of self-repair. In numerous initiatives, especially in the USA, Japan, Italy and Switzerland, but also in Germany, some of these technologies have already been transferred to initial applications. In view of this already advanced pioneering work, in the spring of 2014 we came to the conclusion that there is an urgent need to gain an overview of the state of research in selected European institutions. To do this, we organized a symposium that was held at Fraunhofer IPA in Stuttgart in Germany on 23rd and 24th June 2014. There, over the course of three plenary sessions and four forums, 30 scientists gave their assessment of the situation and reported on their first successes in the promising research field of »soft robotics«. We took the opportunity, offered by such a positive response to the event, to ask speakers to contribute towards this book by submitting details of their pro- jects. Among other things, the geographic locations of the authors also showed that quite a few universities are taking different approaches as they explore this new field of research. We were always aware of the fact that this has only given us a glimpse of the situation and highlighted merely a handful of representative research concepts. The 22 contributions to the book are intended not only to intensify people’s indi- vidual research efforts but also to encourage more interdisciplinarity. That’s be- cause we’re only just beginning to develop the in-depth cooperations that are needed between engineers, biologists, material scientists, medical doctors, chem- ists and mathematicians to turn promising new ideas into radical innovations. As well as the 77 authors, a few scientists were also particularly involved in completing the book. The editors would like to take this opportunity to thank them for their commitment. We would also like to express our thanks to he German Ac- ademic Society for Assembly, Handling and Industrial Robotics (MHI) and its president Bernd Kuhlenkötter as well as the directors Jörg Franke and Thorsten Schüppstuhl for their kind support in realizing the symposium and in planning this book.
    VI Hannover Aachen Bonn onn Darmstadt BerlinB Chemnitz Kaiserslautern Karlsruhe K l h Erlangen Erl Stuttgart Stuttgg W Wessling Denkendorf De Lausanne Pisa Fig. 1 Geographic locations of the authors We would especially like to thank Mr. Hans-Friedrich Jacobi for his input and cooperation and for managing the overall coordination of the various contributions to the book, as well as Mr. Landherr for preparing the book for print. We would also like to thank Mrs. Hestermann-Beyerle and Mrs. Kollmar- Thoni from Springer Verlag for their excellent advice and encouraging support. Alexander Verl Alin Albu-Schäffer Oliver Brock Annika Raatz
    VII Contents Preface ................................................................................................................... V Contents .............................................................................................................. VII Part I Outline ......................................................................................................... 1 Introduction............................................................................................... 3 Abstracts ................................................................................................... 5 1 2 3 4 Part II Sensors and Actuators ............................................................................ 17 New Concepts for Distributed Actuators and Their Control ................... 19 Artificial Muscles, Made of Dielectric Elastomer Actuators - A Promising Solution for Inherently Compliant Future Robots ................. 33 5 Musculoskeletal Robots and Wearable Devices on the Basis of Cable- driven Actuators ...................................................................................... 42 Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction 54 6 Part III Modeling, Simulation and Control ...................................................... 67 7 Perception of Deformable Objects and Compliant Manipulation for Service Robots ........................................................................................ 69 8 Soft Robot Control with a Behaviour-Based Architecture...................... 81 9 Optimal Exploitation of Soft-Robot Dynamics ...................................... 92 10 Simulation Technology for Soft Robotics Applications ....................... 100 11 Concepts of Softness for Legged Locomotion and Their Assessment .. 120 12 Mechanics and Thermodynamics of Biological Muscle - A Simple Model Approach .............................................................................................. 134 Part IV Materials, Design and Manufacturing ............................................... 145 13 Nanostructured Materials for Soft Robotics – Sensors and Actuators .. 147 14 Fibrous Materials and Textiles for Soft Robotics ................................. 157 15 Opportunities and Challenges for the Design of Inherently Safe Robots ................................................................................................... 173 16 Aspects of Human Engineering – Bio-optimized Design of Wearable 17 Machines ............................................................................................... 184 3D Printed Objects and Components Enabling Next Generation of True Soft Robotics ........................................................................................ 198 Part V Soft Robotic Applications ..................................................................... 209 18 Soft Hands for Reliable Grasping Strategies ........................................ 211
    VIII 19 Task-specific Design of Tubular Continuum Robots for Surgical Applications .......................................................................................... 222 20 Soft Robotics with Variable Stiffness Actuators: Tough Robots for Soft Human Robot Interaction ..................................................................... 231 21 Soft Robotics Research, Challenges, and Innovation Potential, Through Showcases ............................................................................................. 255 22 Flexible Robot for Laser Phonomicrosurgery ....................................... 265 23 Soft Components for Soft Robots ......................................................... 272 24 Soft Robotics for Bio-mimicry of Esophageal Swallowing .................. 282
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