Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their capabilities as human-safe, adaptable manipulators. However, incorporation of distributed sensors onto soft growing robots is challenging because it requires an interface between stiff and soft materials, and the sensor network needs to undergo significant strain. In this work, we present a method for adding sensors to soft growing robots that uses flexible printed circuit boards with self-contained units of microcontrollers and sensors encased in a laminate armor that protects them from unsafe curvatures. We demonstrate the ability of this system to relay directional temperature and humidity information in hard-to-access spaces. We also demonstrate and characterize a method for sensing the growing robot shape using inertial measurement units deployed along its length, and develop a mathematical model to predict its accuracy. This work advances the capabilities of soft growing robots, as well as the field of soft robot sensing.
翻译:然而,将分布式传感器纳入软生长的机器人是具有挑战性的,因为它需要硬材料和软材料之间的接口,传感器网络需要经受巨大的压力。在这项工作中,我们提出了一个方法,用于将传感器添加到软生长的机器人中,这些机器人使用软生长的印刷电路板,并配有自成一体的微控制器和装在衬垫装甲中的传感器,保护它们不受不安全的曲线影响。我们展示了这个系统在难以进入的空间中传递方向温度和湿度信息的能力。我们还演示和描述一种方法,利用沿其长度部署的惯性测量仪来感测不断增长的机器人形状,并开发一种预测其准确性的模式。这项工作提高了软生长的机器人的能力,以及软机器人感测领域。