Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI:10.1109/LRA.2025.3579623

Brian Ye;Zhuonan Hao;Priya Shah;Mohammad Khalid Jawed

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引用次数: 0

Abstract

Peristalsis, a biologically inspired mechanism, plays a crucial role in locomotion and material transport in living systems. While extensively studied in nature, its application in soft robotics for handling and transporting objects has seen progress but remains limited. This study presents a pneumatic modular actuator, fabricated from silicone polymer, that is scalable, adaptable, and repairable in situ. The system integrates donut-shaped actuation modules capable of radial and axial inflation, coupled with real-time pressure feedback for synchronized control across multiple stacked modules. Experimental validation demonstrates the actuator's ability to grasp and transport objects with diameters as small as 0.4 times its inner diameter at a speed of

$2.08 \pm 0.07\ {\mathrm{mm/s}}$

. The system successfully handles a range of object materials, including deformable soft tubes, solid handheld levels, and irregularly shaped bundles of pens. This work advances peristaltic actuation on object transportation, enabling safe and reliable manipulation of deformable and irregularly shaped materials across various applications, such as underwater specimen delivery and field robotics operations.

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用于蠕动运输的仿生气动模块化执行器

蠕动是一种受生物学启发的机制，在生命系统的运动和物质运输中起着至关重要的作用。虽然在自然界中被广泛研究，但它在处理和运输物体的软机器人中的应用已经取得了进展，但仍然有限。本研究提出了一种气动模块化执行器，由有机硅聚合物制成，可扩展，适应性强，可原位修复。该系统集成了环状驱动模块，能够进行径向和轴向膨胀，并结合实时压力反馈，实现多个堆叠模块的同步控制。实验验证表明，该驱动器能够以2.08 \pm 0.07\ math {mm/s} $的速度抓取和传输直径小至其内径0.4倍的物体。该系统成功地处理了一系列物体材料，包括可变形的软管、固体手持水平和不规则形状的笔束。这项工作推进了物体运输的蠕动驱动，能够安全可靠地操纵各种应用中的可变形和不规则形状的材料，例如水下标本输送和现场机器人操作。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.