论文标题
软机器人模特：用于变形控制的设计和算法
Soft Robotic Mannequin: Design and Algorithm for Deformation Control
论文作者
论文摘要
本文提出了一种新型的软机器人系统，用于可变形的人体模型，该系统可用于实际实现不同人体的3D几何形状。通过使用气动驱动来使几个弯曲的腔室充气，使人体模型上的软膜变形。通过调节不同腔室中气动启动来控制软膜的自由形表面具有挑战性，因为膜的形状通常取决于所有腔室之间的相互作用。使用基于结构化的3D扫描仪提供的视觉反馈，我们开发了一种有效的算法来计算所有腔室的优化驱动，这些算盘可能会驱动软膜以变形为不同目标形状的最佳近似。我们的算法通过在优化循环中包括姿势估计来迅速收敛。在可能的情况下，使用Broyden更新，可以避免在可变形膜上评估衍生物的耗时步骤。在实验中已经验证了具有控制变形的软机器人模特的有效性。
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved chambers using pneumatic actuation. Controlling the freeform surface of a soft membrane by adjusting the pneumatic actuation in different chambers is challenging as the membrane's shape is commonly determined by the interaction between all chambers. Using vision feedback provided by a structured-light based 3D scanner, we developed an efficient algorithm to compute the optimized actuation of all chambers which could drive the soft membrane to deform into the best approximation of different target shapes. Our algorithm converges quickly by including pose estimation in the loop of optimization. The time-consuming step of evaluating derivatives on the deformable membrane is avoided by using the Broyden update when possible. The effectiveness of our soft robotic mannequin with controlled deformation has been verified in experiments.
