软体机器人离子/电响应驱动材料与结构进展

Advancements in Ionic/Electroactive Materials and Structures for Soft Robotics

  • 摘要: 介电弹性体和水凝胶这些软材料具有特殊的物理和化学特性,能够对外界刺激做出良好响应,使其成为新型软驱动器、可穿戴设备、医疗保健设备和人机交互机器人的重要组成部分。本文首先探讨了电子型电活性聚合物(介电弹性体材料)的应用前景和改良路径。讨论了硅橡胶类、聚氨酯类和丙烯酸酯类介电弹性体的性能和优缺点,阐述了该类材料在人工肌肉中的应用前景及局限性。进而提出了利用瓶刷式介电弹性体(BBE)以及互穿型网络结构(IPN)改良材料性能等解决方案。其次,介绍了电磁响应型、渗透压响应型以及光响应型水凝胶驱动器,并对其各自的工作原理和应用进行了全面的阐述。最后,总结了介电弹性体和水凝胶两类驱动材料与结构对软体机器人性能的影响,展示了这两大类驱动器在软体机器人、人工肌肉和智能传感器等领域的应用可能性,并提出了未来的一些研究方向。

     

    Abstract: Dielectric elastomers and hydrogels possess some special physical and chemical properties, and respond well to external stimuli, which make them important components of new soft actuators, wearable devices, medical healthcare equipment, and human-machine interactive robots. This article firstly explores the application prospects and improvement paths of electronic-type electroactive polymers, i.e. dielectric elastomer materials. By discussing the performance, advantages, and disadvantages of silicon rubber, polyurethane, and acrylic ester-based dielectric elastomers, the current application potential and limitations of these materials in artificial muscles are elucidated. Subsequently, some solutions are proposed, including the use of brush-like dielectric elastomers (BBE) and interpenetrating network structures (IPN) to enhance material performance. Secondly, electromagnetic-responsive, osmotic-pressure-responsive, and photo-responsive hydrogel actuators are introduced, providing comprehensive explanations of their respective working principles and applications. Finally, the impacts of both dielectric elastomers and hydrogels as two types of driving materials and structures on soft robotics performance are summarized, and the broad application potentials of these two types of actuators are showed in areas such as soft robotics, artificial muscles, and intelligent sensors, and some future research directions are suggested.

     

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