软体机器人驱动研究现状

首先，介绍了软体机器人的发展和研究现状，重点综述了国内外关于软体机器人驱动方式和驱动机理的主要研究成果．然后，将软体机器人的驱动方式归纳为流体驱动、电活性聚合物驱动、磁流变弹性体（MRE）驱动、形状记忆合金（SMA）驱动和化学驱动等，对各驱动方式的科学原理和所对应的典型驱动结构进行了介绍，并梳理和分析了目前在软体机器人驱动技术发展中的瓶颈问题和关键科学问题．最后，尝试对软体机器人驱动研究领域中的挑战和未来发展趋势进行了展望．

Research Status of the Soft Robot Driving

Firstly, the development and research status of the soft robot is introduced with the emphasis on some main research achievements abroad and at home in the fields of soft robot driving mode and mechanism. Then, the driving modes of the soft robot are concluded as fluid driving, electroactive polymer driving, magnetic rheological elastomer driving, shape memory alloy driving and chemical driving, and so on. The scientific principle of each driving mode and the corresponding typical driving structures are introduced, and the current bottlenecks and the key scientific issues in the development of the soft robot driving technology are clarified and analyzed. Finally, we try to make an outlook to the challenges and development trends of the driving mode research of the soft robot.