磁性可程序化之軟性手指驅動器設計與製造

Abstract

軟性驅動器，一種以軟性材料組成並以柔性結構來做為關節用以克服一般驅動器因剛性材料以及須與動力源相連接，使其在應用於生物組織或是軟性物體上受到限制，且容易造成損傷。這些軟性驅動器能輕易在軟組織上實現非常流暢的運動性，或者執行折疊，滾動和彎曲等運動。但軟性驅動器多以氣動為動力源，因此在需要高精度、快速響應、遠程控制和多自由度（DOF）的操控時受到局限。為了解決這些限制，我們開發了一種使用磁性微粒複合材料的軟性驅動器，以四個手指作為驅動的和一個支撐用的軟性材料組成，每個手指具有兩截指骨和彈性關節。指骨內嵌有釹鐵硼顆粒，而彈性關節則由柔韌性高的矽膠薄膜製成。而且，指骨內的釹鐵硼顆粒可以透過施以外在磁場的方式將這些能夠產生磁矩的磁性微粒重新排列，使嵌有磁性微粒的指骨在施以36mT的垂直磁場時得以產生85度彎曲的變形，進而抓取比其自身更大的目標物體。此外，微驅動器由三軸電磁系統磁驅動，可完成抓取的運動，該運動能夠以3.6倍的體重抓握和包裹物體，並能以操縱磁場的方式實現如偏航和搖擺之類等機器人運動。簡而言之，我們的論文提出了一種具有可編程磁性微粒的磁能軟性驅動器，該驅動器顯示出高精度的驅動和敏捷的操縱能力，並且具有能抓取、移動比自身更重、更大的物體。這些結果也顯示驅動器不受環境的限制，仍舊能精準地運行，也證明了我們開發的軟性驅動器深具外科手術的潛力。

Soft microactuators, which can achieve high motility onto soft tissue, or implement simple motions of folding, rolling and bending to deliver object with no joints, are usually designed to overcome the tasks that rigid microactuators can barely perform. However, because mostly pneumatically actuated, they are limited when high accuracy, rapid response, remote control and multiple degree-of-freedom (DOF) manipulation is required. To address these limitations, we develop a magnetic soft microactuator, which are made of soft materials, with four actuating fingers and a support. Each finger are composed of two phalanges and a compliant joint, while the phalanges are made of composite material embedded with NdFeB particles and the joint is made of silicone film with high compliance. Moreover, the NdFeB particles in the phalanges that generate magnetic moment can be rearranged by applying an external magnetic field, so that the finger can be deformed by 85 degrees when a 36mT perpendicular magnetic field is applied. And thus make it able to hold soft object bigger than itself. Further, the microactuators are magnetically driven by a three-axis electromagnetic manipulation system allows motility like bending motion that is capable to grasp and enclose an object with 3.6 times body weight, and conduct robotic locomotion such as yaw and roll by manipulate the magnetic field. For short, our thesis proposed a magnetically driven soft actuator with programmable magnetic particle. The actuator show high accuracy actuation and agile manipulation, which make it capable to grasp and manipulate objects that is several times heavier and bigger. These results also show that the device is untethered to the environment but with high precision, and it also reveals that the soft actuator has the potential for surgery.