首页    期刊浏览 2024年09月20日 星期五
登录注册

文章基本信息

  • 标题:Revealing bending and force in a soft body through a plant root inspired approach
  • 本地全文:下载
  • 作者:Chiara Lucarotti ; Massimo Totaro ; Ali Sadeghi
  • 期刊名称:Scientific Reports
  • 电子版ISSN:2045-2322
  • 出版年度:2015
  • 卷号:5
  • 期号:1
  • DOI:10.1038/srep08788
  • 语种:English
  • 出版社:Springer Nature
  • 摘要:An emerging challenge in soft robotics research is to reveal mechanical solicitations in a soft body. Nature provides amazing clues to develop unconventional components that are capable of compliant interactions with the environment and living beings, avoiding mechanical and algorithmic complexity of robotic design. We inspire from plant-root mechanoperception and develop a strategy able to reveal bending and applied force in a soft body with only two sensing elements of the same kind, and a null computational effort. The stretching processes that lead to opposite tissue deformations on the two sides of the root wall are emulated with two tactile sensing elements, made of soft and stretchable materials, which conform to reversible changes in the shape of the body they are built in and follow its deformations. Comparing the two sensory responses, we can discriminate the concave and the convex side of the bent body. Hence, we propose a new strategy to reveal in a soft body the maximum bending angle (or the maximum deflection) and the externally applied force according to the body's mechanical configuration.
国家哲学社会科学文献中心版权所有