Vatsari: .  (1) Jorge Francisco Garcia-Samartın, Senthara ya Vumaki na Tirobhoti (UPM-CSIC), Yunivhesiti ya Polytechnic ya Madrid — Huvo ya le Henhla ya Vulavisisi bya Sayense, Jose Gutierrez Abascal 2, 28006 Madrid, Spain (jorge.gsamartin@upm.es);  (2) Adrian Rieker, Senthara ya Vumaki na Tirobhoti (UPM-CSIC), Yunivhesiti ya Polytechnic ya Madrid — Huvo ya le Henhla ya Vulavisisi bya Sayense, Jose Gutierrez Abascal 2, 28006 Madrid, Spain;  (3) Antonio Barrientos, Senthara ya Vumaki na Tirobhoti (UPM-CSIC), Yunivhesiti ya Polytechnic ya Madrid — Huvo ya le Henhla ya Vulavisisi bya Sayense, Jose Gutierrez Abascal 2, 28006 Madrid, Spain.  Tafula ra Swihlanganisi   Xitlhokovetselo na 1 Xingheniso  2 Mintirho leyi Fambelanaka na yona   2.1 Ku tirhisiwa ka moya   2.2 Mavoko ya Moya   2.3 Vulawuri bya Tirhoboto to Olova  3 PAUL: Ku Dizayina na Vumaki   3.1 Dizayini ya Tirhoboto   3.2 Ku Hlawula Switirhisiwa   3.3 Vumaki bya swilo   3.4 Bangi ya Matirhelo  4 Ku Kuma Data na Vulawuri bya Open-Loop   4.1 Ku vekiwa ka Hardware   4.2 Sisiteme yo Khoma Swivono   4.3 Ku tumbuluxiwa ka Dataset: Timodelo leti Sekeriweke eka Tafula   4.4 Vulawuri bya Open-Loop  5 Vuyelo bya kona   5.1 Vuhundzuluxi byo hetelela bya PAUL   5.2 Nxopaxopo wa Ndhawu ya Ntirho   5.3 Matirhelo ya Timodelo leti Sekeriweke eka Tafula   5.4 Swikambelo swa ku gombonyoka   5.5 Swikambelo swo Rhwala Ndzilo   6 Mahetelelo   Vuxokoxoko bya Mali   A. Swikambelo leswi Endliweke na Swikombo  2 Mintirho leyi Fambelanaka na yona  2.1 Ku tirhisiwa ka moya  Kuna swilo swotala leswinga endlekaka eka ku dizayina naku aka ti pneumatic actuators. Tani hileswi switolovelekeke eka ti robotic to olova, ti bio-inspired actuators ti kona. Eka [21], ku nyikeriwile actuator leyi hlanganisaka pneumatics na tendons ku tekelela na ku ringeta ku tekelela mahanyelo ya voko ra octopus. Leswi fanaka eka vuhandzuri byo hetelela, hambi leswi swi hlohloteriweke hi rintiho ra munhu, swi nga tekiwa tanihi ntirho wa [22]. Leswi swi vumbiwa hi ti valve tinharhu ta xiphemu xin’we leti pfimbaka, xisweswo ti tekelela ku famba ka ti phalanges.  Hambiswiritano, ti bio-inspired pneumatic actuators leti tolovelekeke swinene i Pneumatic Artificial Muscles (PAMs). Ti sekeriwe eka ku fikelela ku andzisiwa kumbe ku hunguteka ka kamara ra moya, ku fana ni ra misiha. Makhumbi ya kamara hi ntolovelo ya endliwe hi membrane yo olova swinene no olova, leyi olovisaka ku onhaka lokukulu loku nghenisiweke ku khuluka ka moya kutsongo [23]. Hambi leswi ti actuators tin’wana ti lehisaka longitudinally loko ti inflation [24], endlelo leri hangalakeke ri katsa ku tirhisa misiha ya McKibben, leyi vumbiwaka hi bladder leyi nghenisiweke eka braided mesh leyi pfanganisaka ku famba ka bladder loko yi ri karhi yi pfurha, leswi humesaka ku hunguteka ka hinkwaswo [25]. Voko ra swiphemu swimbirhi swa PAM ri endliwile no modeliwa eka [26].  Ndlela yin’wana leyi nga kuma nkoka wo hlawuleka eka malembe ya sweswinyana i switirhisiwa swa muxaka wa Pneunet, leswi nghenisiweke ro sungula eka [27]. Ti manipulators leti tirhisaka muxaka lowu wa xiendlo ti vumbiwa hi xivumbeko xa muxaka wa finned beam naswona, eka swiyimo swin’wana, swilo swin’wana swa ku tiya loku hambaneke. Yi tirhisiwile ngopfu eka swikhomela [28, 29], magilavu yo olova [30] na ku modela swirho swa miri wa munhu [31].  Vatsari vo hambana va ringanyete ku hundzuka eka xivumbeko lexi. Ku antswisiwa ka geometry ku endliwa eka [32], kasi [33] yi humesa PneuFlex actuator, leyi nga hluvukisa mhaka ya Pneunet hi ku endla leswaku beam yi va na xiphemu xo tsemakanya lexi cinca-cincaka. Hi hala tlhelo, mintirho ya [34] na [35] yi kombisa hilaha swi kotekaka hakona ku dizayina swiphemu swa moya leswi sekeriweke eka xitirhisiwa lexi hi ku gombonyoka ka matlhelo mambirhi.  Jamming, ekusunguleni ayi tirhisiwa eka ti soft grippers [36] yinga tlhela yitirhisiwa ku tumbuluxa ti manipulators hi xivumbeko xa ti beams [37]. Ntirho wa tona wu hambanile na wa ti pneumatics: eka xiyimo xa tona xa ntumbuluko ti govekile naswona, loko ku tirhisiwa ntshikelelo wo biha, ta tsana. Eka [38], xiphemu lexi kandziyisiweke hi TPU lexi eka xona ku nga tirhisiwaka ntshikelelo kumbe vacuum, ku nghenisiwile.  2.2 Mavoko ya Moya  Ku engetela eka ku endliwa ka ti actuators, ti pneumatic soft robotics tifanele ku langutana na ntlhontlho wa ku hlanganisiwa ka tona eka ku akiwa ka matlhari lawa yanga na ti degree to hambana hambana ta ntshunxeko. Loko yin’wana ya mintirho ya khale, yo fana na [26], yi vumba matlhari lamatsongo, ku endliwile tindlela tin’wana to hlayanyana to aka switirhisiwa swo cinca-cinca.  Nhlawulo wosungula i maendlelo ya hybrid, laha ku hlanganisiwaka swiaki leswi tiyeke na leswi olovaka ntsena, leswi endlaka leswaku swi koteka ku kuma endlelo leri tiyeke swinene hi ndlela yo olova. Xikombiso xa leswi xi nga kumeka eka ntirho [39], laha ku tirhisiwaka mimpatswa ya PAM leyi tirhisiwaka hi ndlela yo lwisana ku fambisa voko ra rigid beam leri nga na tidigri ta nkombo ta ntshunxeko. Endlelo leri fanaka swinene ri landzeriwa eka [40]. Leswaku robot leyi yi nga vavisi vanhu, ku engeteriwa mavoko lama pfurhaka evokweni.  Eka [41], ku tumbuluxiwile xiphemu xa moya lexi nga na masungulo yo tiya. Leswi swivumbiwa hi ti tubes ta tsevu leti, hikokwalaho ka geometry ya tona, loko ti pfurha hi mintlawa ya tinharhu, ti pfumelela nhlengeletano kuva yi rhendzeleka eka axis perpendicular eka bases. Hambileswi voko hinkwaro ra roboti ri nga endliwiki hi ndlela yoleyo, kambe ku nga xiphemu xa digri yin’we ya ntshunxeko ntsena, ri hlanganisiwe ri va voko ra roboti leri olovaka hi ku helela. Vatsari lava fanaka khale a va endle voko ra roboto ra tidigri ta tsevu ta ntshunxeko ku suka eka swiphemu swo leha 85 cm, leri kotaka ku tlakusa ndzhwalo wo fika eka 3 kg [42].  Ntirho wa [43], hi hala tlhelo, wu humesa voko ra roboti ra origami leri endliweke hi TPU. Leswi swi pfurha no humesiwa hi pneumatic actuation, kambe ndzhawu ya yona yi lawuriwa hi ti tendons leti, hambi leswi ti hungutaka sisiteme, ti endlaka leswaku yi kongoma swinene. Exikarhi ka tirhoboto leti kandziyisiweke hi 3D, [44] u humesa xiphemu xa tidigri tinharhu ta ntshunxeko, lexi ku famba ka xona ku fikeleriwa hi ku pfurhetela kumbe ku hunguta moya wun’we kumbe ku tlula eka tiphayiphi ta tona tinharhu ta moya. Yitlhela yiva na ti cable leti tlangaka xiphemu xa antagonist naswona ti tiyisisa ku famba ka manipulator. Nsinya wa yona wa nawu wa ntirho wu fana swinene na wa ntirho wa [1].  Nakambe hi ku ya hi filosofi ya tirhoboto leti kandziyisiwaka na leti nga tirhisiwaka, [45, 46] ti humesa voko ra Honeycomb Pneumatic Network (HPN). Yi akiwile hiku hlanganisa swivumbeko swa TPU honeycomb, xin’wana na xin’wana xiri na airbag endzeni. Ti prototypes to hlaya ti nyikeriwile eka phepha, yin’wana ya tona yinga fika eka ku leha ka 600 mm endzhaku ko hlanganisa swiphemu swa mune swin’we. Loko ku xopaxopiwa swin’wana swa swipfuno swa yona, swi tisa xiphiqo xa leswaku ntiko wa yona, handle ko hundzeleta, wu le henhla: voko, loko hi tekela enhlokweni ti tubes hinkwato, ri tika 4.4 kg.  Robhoti ya [47] yi na swiphemu swimbirhi, xin’wana na xin’wana xi na tiphayiphi tinharhu ta moya. Hambi leswi leswi hi tlhelo ra thiyori swiyi nyikaka tidigri ta tsevu ta ntshunxeko, valawuri va na vutihlamuleri ntsena eka modula yale henhla, leyi ayi pfumeleli swiyimo hinkwaswo na ti orientations kuva swi lulamisiwa hiku ntshunxeka.  Xitirhisiwa xa STIFF-FLOP xi nghenisiwile eka [48]. Leswi swivumbiwa hi cylinder ya elastomeric leyingana nxaxamelo wa ti pneumatic chambers endzeni, inflation na deflation ya yona swivanga deformation ya cylinder xikan’we naku famba famba ka robot. Ku vuyeleriwa ko hambana ka dizayini leyi ku kona, ku fana na xiphemu xa STIFF-FLOP lexi nga na ti tendons to tiya leti kombisiweke eka [31].  Eka layini leyi, SoPrA, leyi nyikeriweke eka [49], yi endliwile hi ku hlanganisa swiphemu swinharhu swa silicone leswi tiyisisiweke hi fibre, xin’wana na xin’wana xi vumbiwile ku fana na xirhabyani xa conical, leswaku makumu ya robot ya va ya koma swinene ku tlula xisekelo. Hambi leswi xivumbeko xa cone lexi tsemiweke xi pfunaka hikuva, hilaha vatsari va kombisaka hakona, swiphemu swa le henhla swi lava torque yo tala naswona swi khoma tiphayiphi to tala endzeni ka swona, endlelo ro endla leri tirhisiwaka ku fikelela taper ri sivela swiphemu leswintshwa ku engeteriwa hi ku olova eka robot.  Eka [50], voko ra swiphemu swa 3 ri akiwile hi ku tirhisa rhaba ya silicone. Xiphemu xin’wana na xin’wana xi lehe 110 mm, xina diameter ya 45 mm naswona, kuhambana na xivumbeko xa ndhavuko xa STIFF-FLOP, xi hlomisiwile hi mune wa ti inflatable cavities. Leswi swivula ku tlakuka ka ntiko xikan’we naku tika ka vulawuri, tani hileswi redundancy yi engeteriwaka loko ku pimanyisiwa na kuva na ti degree tinharhu ntsena ta ntshunxeko hi xiphemu.  Phepha leri ri   ehansi ka layisense ya CC BY-NC-SA 4.0 DEED. kumeka eka arxiv

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