The invention discloses a soft body actuator for sensing a torsion paper folding structure through a body, and belongs to the field of soft body robots. A soft body actuator of a body sensing torsion paper folding structure comprises a top structure and a bottom structure which are distributed up and down, a side face structure is arranged between the top structure and the bottom structure, and a sealing cavity is formed. A crease is preset on each side face of the side face structure, the top structure is connected with a gas guide pipe, and the gas guide pipe communicates with the sealing cavity and is connected with a gas pump to control the pressure of the sealing cavity, so that the soft body actuator is twisted along the crease; the side surface structure is provided with a torsion sensor, the torsion sensor is prepared from a conductive elastomer, and the conductive elastomer is prepared from a composite material of thermoplastic polyurethane and carbon black with a piezoresistive effect; the top end and the bottom end of the torsion sensor respectively extend to form a lead to be connected to the resistance meter.

    本发明公开一种本体感知扭转折纸结构的软体执行器,属于软体机器人领域;一种本体感知扭转折纸结构的软体执行器,包括呈上下分布的顶部结构和底部结构,顶部结构和底部结构之间设置有侧面结构,并形成密封腔;侧面结构的每个侧面上预设有折痕,顶部结构连接有气体导管,气体导管与密封腔连通,且与气泵连接,来控制密封腔的压力大小,使软体执行器沿着折痕发生扭转;所述侧面结构上设置有扭转传感器,扭转传感器由导电弹性体制备得到,导电弹性体由热塑性聚氨酯与具有压阻效应的碳黑的复合材料制作而成;扭转传感器的顶端和底端各延伸出一根导线连接至电阻计。


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    Title :

    Soft body actuator with body sensing torsion paper folding structure


    Additional title:

    一种本体感知扭转折纸结构的软体执行器


    Contributors:
    YANG YANG (author) / YAN SHAOYANG (author) / XIE YUAN (author)

    Publication date :

    2023-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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