机器人触觉用低滞后高可逆拓扑磁化弹性体

IF 4.1 2区综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES

iScience Pub Date : 2025-09-03 DOI:10.1016/j.isci.2025.113501

Ziyin Xiang , Shengbin Li , Yuanzhao Wu , Zhiyi Gao , Qi Zhang , Hongfei Hou , Jinyun Liu , Zidong He , Xiaohui Yi , Baoru Bian , Yiwei Liu , Jie Shang , Run-Wei Li

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引用次数: 0

摘要

弹性体是柔性触觉传感器必不可少的材料，但存在机械滞后和能量耗散等问题，限制了机器人的传感稳定性。我们利用拓扑磁化网络和3d打印的菱形十二面体结构开发了一种低滞后磁弹性体，利用磁斥力来增强性能。作为力磁转换介质，该材料的模量为0.1 MPa，能量损失系数为0.12（应变为70%），可逆性为98%。与传统弹性体相比，该传感器具有1.18%的迟滞（0-115 kPa）、最小的能量损失和优越的可逆性。集成到机器人手中，它可以实现稳定的静态抓取（5+ h），并在30,000+动态循环后保持信号精度。这项工作为持久和精确的机器人触觉感知提供了高性能弹性体设计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Low-hysteresis highly reversible topological magnetized elastomer for robotic tactile

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Low-hysteresis highly reversible topological magnetized elastomer for robotic tactile

Elastomers are essential for flexible tactile sensors but suffer from mechanical hysteresis and energy dissipation, limiting robotic sensing stability. We developed a low-hysteresis magnetic elastomer using a topologically magnetized network and 3D-printed rhombic dodecahedron structure, exploiting magnetic repulsion for enhanced performance. The material achieves 0.1 MPa modulus, 0.12 energy loss coefficient (70% strain), and 98% reversibility as a force-to-magnetic conversion medium. The resulting sensor exhibits 1.18% hysteresis (0–115 kPa), minimal energy loss, and superior reversibility compared to conventional elastomers. Integrated into robotic hands, it enables stable static gripping (5+ h) and maintains signal accuracy after 30,000+ dynamic cycles. This work provides a high-performance elastomer design for durable and precise robotic tactile perception.

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来源期刊

iScience Multidisciplinary-Multidisciplinary

CiteScore

7.20

自引率

1.70%

发文量

1972

审稿时长

6 weeks

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