A Monolithic Force-Proprioception Soft Acutuator Enabled by Single-Material 3D printing

2026-09-21

AI Summary

本文提出了一种单材料3D打印的集成力-本体感知软执行器设计与制造方法，解决了现有方法中的组装误差和应力集中问题。

Abstract

Pneumatic proprioceptive actuators integrate actuation and sensing for soft robots that attract interest due to functional potential. Existing approaches often suffer from assembly errors or stress concentrations caused by heterogeneous materials. In this work, we propose the Monolithic Force-Proprioception Soft (MFPS) design and fabrication method that integrates an Asymmetric Origami Bending (AOB) chamber and a Force-Proprioception Soft (FPS) sensor with single material through one-step Fused Deposition Modeling (FDM) fabrication. Based on the resistance response to strain of conductive thermoplastic polyurethane (TPU), we design and analyze the structure of the FPS sensor, and conduct parametric analysis on the sensing characteristics. The FDM fabrication parameters of the MFPS actuator are analyzed, followed by actuator fabrication and characterization of the actuation and proprioception performance. Experimental results show that the MFPS actuator achieves a bending angle of 40°, an output force of 12.5 N, and a resistance change of 26.9% as the applied external force increased from 0 to 45 N. A two-finger force-proprioception gripper is developed based on the MFPS actuator. The grasping and force-proprioception capabilities are experimentally validated, proving that the MFPS design method provides a new approach for the development of self-sensing actuators.

Problem

• pneumatic proprioceptive actuators
• assembly errors
• stress concentrations
• heterogeneous materials

Innovation

• Monolithic Force-Proprioception Soft Actuator
• Single-Material 3D Printing
• Fused Deposition Modeling (FDM)
• Asymmetric Origami Bending (AOB)