Abstract
Reconfigurable morphing surfaces provide new opportunities for advanced human-machine interfaces and bio-inspired robotics. Morphing into arbitrary surfaces on demand requires a device with a sufficiently large number of actuators and an inverse control strategy that can calculate the actuator stimulation necessary to achieve a target surface. The programmability of a morphing surface can be improved by increasing the number of independent actuators, but this increases the complexity of the control system. Thus, developing compact and efficient control interfaces and control algorithms is a crucial knowledge gap for the adoption of morphing surfaces in broad applications. In this work, we describe a passively addressed robotic morphing surface (PARMS) composed of matrix-arranged ionic actuators. To reduce the complexity of the physical control interface, we introduce passive matrix addressing. Matrix addressing allows the control of independent actuators using only 2N control inputs, which is significantly lower than control inputs required for traditional direct addressing. Our control algorithm is based on machine learning using finite element simulations as the training data. This machine learning approach allows both forward and inverse control with high precision in real time. Inverse control demonstrations show that the PARMS can dynamically morph into arbitrary pre-defined surfaces on demand. These innovations in actuator matrix control may enable future implementation of PARMS in wearables, haptics, and augmented reality/virtual reality (AR/VR).
Abstract (translated)
可重构的变形表面为高级人机接口和生物启发型机器人提供了新的机会。要求变形为任意表面需要拥有足够数量的驱动元件和一种能够计算达到目标表面所需的驱动刺激的逆控制策略。变形表面的编程可扩展性可以通过增加独立的驱动元件数量来实现,但这会增加控制系统的复杂性。因此,开发紧凑高效的控制接口和控制算法是广泛应用中采用变形表面的关键知识缺口。在本文中,我们描述了一种 passively addressed 机器人变形表面 (PARMS),其由矩阵 arrange 的离子驱动单元组成。为了降低物理控制接口的复杂性,我们引入了 passive matrix addressing。矩阵 addressing 允许使用仅 2N control inputs 来控制独立的驱动元件,这比传统的直接 addressing 所需的控制输入更低。我们的控制算法基于机器学习,使用有限元模拟作为训练数据。这种方法可以实现实时的前向和逆控制。逆控制演示表明,PARMS 可以动态地按需morph into 任意预先定义的表面上。这些驱动矩阵控制的创新可能会使PARMS 在穿戴设备、触觉和增强现实/虚拟现实(AR/VR)中未来的实现更加容易。
URL
https://arxiv.org/abs/2301.13284
