| 朱汉伟， 阮博涵， 冯亚洲， 王帆*.羧基化纤维素纳米纤维基软体驱动器构建及仿生手指应用[J].轻工机械,2025,43(4):19-26 |
| 羧基化纤维素纳米纤维基软体驱动器构建及仿生手指应用 |
| Construction and Bionic Finger Applications of Soft Actuator Based on Carboxylated Cellulose Nanofiber |
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| DOI：10.3969/j.issn.1005 2895.2025.04.003 |
| 中文关键词: 仿生手指 离子型软体驱动器 人机交互 羧基化纤维素纳米纤维 螺旋手指 |
| 英文关键词:bionic finger ionic soft actuator human computer interaction CCNF（Carboxylated Cellulose Nanofibers） spiral grippers |
| 基金项目:国家自然科学基金资助（52475035）。 |
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| 摘要点击次数: 1 |
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| 中文摘要: |
| 为了开发适用于人机交互的生物友好型仿生手指，课题组设计了一种基于羧基化纤维素纳米纤维（Carboxylated Cellulose Nanofibers，CCNF）的低压驱动离子型驱动器。通过加入离子液体和石墨烯纳米片作为填充物，采用聚(3,4 乙烯二氧噻吩) 聚苯乙烯磺酸盐（PEDOT[DK]∶PSS）导电聚合物作为电极，制备出具有高频响应的软体驱动结构；在此基础上构建了仿生手指，模仿人类手指制备仿生2、3、4指以及螺旋抓手进行实物抓取试验。研究结果表明：制备的软体驱动器在频率为0.1 Hz 、电压幅值为2.0 V下可实现最大25.00 mm的末端位移，相位延迟降低至0.3 rad，且在0.1~10.0 Hz宽频范围内保持稳定的弯曲响应等；构建的仿生手指成功实现触控交互功能，包括屏幕点击、滑动翻页及改变频率后的对抗交互演示；实物抓取实验中，性能较为优异的仿生螺旋抓手可以抓取自身质量60.98倍的实物，并能完成狭窄环境的抓取任务。 |
| 英文摘要: |
| In order to develop a bio friendly biomimetic finger suitable for human computer interaction, the research group designed a low voltage actuator ionic actuator based on Carboxylated Cellulose Nanofibers(CCNF). By adding ionic liquids and graphene nanosheets as fillers, Poly(3,4 ethylenedioxythiophene) poly(styrene sulfonate)(PEDOT[DK]∶PSS) conductive polymers were employed as electrodes, and a soft actuator structure with high frequency response was prepared. The bionic finger was constructed on the basis of this structure, and the bionic 2, 3, and 4 fingers as well as the spiral gripper were prepared to mimic the human fingers to carry out the physical grasping test. The research results show that: the prepared soft actuator can realize a maximum end displacement of 25.00 mm under the frequency of 0.1 Hz and voltage amplitude of 2.0 V, the phase delay is reduced to 0.3 rad, and maintains a stable bending response within a wide frequency range of 0.1~10.0 Hz; the constructed bionic finger successfully realizes the touch interaction function, including the screen clicking, sliding page flipping, and the confrontation interaction demonstration after changing the frequency; in the physical grasping experiment, the most important function is the touch interaction, including the screen clicking, sliding page flipping, and the confrontation interaction demonstration after changing the frequency. In the physical object grasping experiment, the bionic spiral gripper with excellent performance can grasp a physical object with 60.98 times of its own mass, and can accomplish grasping tasks in the narrow spaces. |
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