具有外体和本体感知能力智能蠕动模块

生物蚯蚓具有感受外界接触信号的外体感受器和感知其内在运动的本体感受器,仿生智能微型蠕动机器人应同样具备相应的外体接触和内部运动的感知能力.由于PVDF(polyvinylidene fluoride)膜具有良好的柔软性和高灵敏度,它成为本研究仿生传感器的敏感元件.孔化后的PVDF膜植入微型蠕动机器人的被动执行器"皮肤"--硅橡胶中.实验表明,基于PVDF膜的传感器的蠕动模块,如同真正的生物蚯蚓,具备检测外在接触信号和感知内在运动状态的能力.

Peristaltic Module Imitating ExteroceptiOn and PrOpriOception

Biomimetic minirobot should be endowed with the ability of detection the external contact (exteroception) and feeling the internal actions (proprioception) like its animal counterpart. One PVDF (polyvinylidene fluoride) film chose as sensing element because of its highly flexibility and sensibility. Perforated PVDF narrow strips were integrated into the silicone shell of mobile module of a crawling minirobot. Experiments show the biomimetic sensor can detect the both external contact and internal actions, thus imitating exteroceptive and proprioceptive sensing capabilities of real earthworm.