纺织学报 ›› 2024, Vol. 45 ›› Issue (05): 239-247.doi: 10.13475/j.fzxb.20230500702

• 综合述评 • 上一篇    下一篇

软体机器人在服装领域的应用进展

王建萍1,2,3,4, 朱妍西1,2, 沈津竹1,2, 张帆5, 姚晓凤1,2(), 于卓灵1   

  1. 1.东华大学 服装与艺术设计学院, 上海 200051
    2.东华大学 现代服装设计与技术教育部重点实验室, 上海 200051
    3.东华大学 上海市纺织智能制造与工程一带一路国际联合实验室, 上海 200051
    4.同济大学 上海国际设计创新研究院, 上海 200092
    5.苏州柔触机器人科技有限公司, 江苏 苏州 215600
  • 收稿日期:2023-05-04 修回日期:2023-10-11 出版日期:2024-05-15 发布日期:2024-05-31
  • 通讯作者: 姚晓凤(1988—),女,讲师,博士。主要研究方向为服装先进制造工程。E-mail:yxf@dhu.edu.cn。
  • 作者简介:王建萍(1962—),女,教授,博士。主要研究方向为服装先进制造技术。
  • 基金资助:
    张家港市科技计划项目(ZKYY2337);上海高校本科重点教改项目(SJG23-06);纺织之光高等教育教学改革项目(2021BKJGLX123)

Advances in application of soft robot in apparel field

WANG Jianping1,2,3,4, ZHU Yanxi1,2, SHEN Jinzhu1,2, ZHANG Fan5, YAO Xiaofeng1,2(), YU Zhuoling1   

  1. 1. College of Fashion and Art Design, Donghua University, Shanghai 200051, China
    2. Key Laboratory of Clothing Design and Technology, Ministry of Education, Donghua University, Shanghai 200051, China
    3. Shanghai Belt and Road Joint Laboratory of Textile Intelligent Manufacturing, Donghua University, Shanghai 200051, China
    4. Shanghai Institute of Design and Innovation, Tongji University, Shanghai 200092, China
    5. Suzhou Rochu Robotics Co., Ltd.,Suzhou, Jiangsu 215600, China
  • Received:2023-05-04 Revised:2023-10-11 Published:2024-05-15 Online:2024-05-31

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摘要：

软体机器人由可变形材料制成,具有柔顺性高、适应性强等优势,现已成为机器人领域的研究热点,并在加速服装智能化进程中发挥重要作用。为促进软体机器人技术与服装领域的融合发展,根据当前软体机器人的研究进展,聚焦于软体机器人关键技术,总结其在制作材料、制作方法、驱动方式及控制与建模4个方面的研究现状;对软体机器人在纺织面料抓取与转移、上肢辅助及下肢辅助服装上的应用情况进行综述。研究认为:可利用智能软材料和微加工技术实现控制元件微型化;结合织物性能特点提高面料自动抓取与落料精度;可穿戴软体机器人在优化设备技术性能的同时,要对整个人机系统进行持续评估和迭代开发,提高人机交互便捷性,以促进软体机器人行业与服装领域的深度融合。

关键词: 服装生产, 软体机器人, 纺织面料抓取, 智能服装, 驱动技术

Abstract:

Significance With the continuous progress of robotics and automatic control technology, robotics has been widely used in various fields such as medical treatment agriculture, and industry. China is a large producer of industrial robots, but the application of robotics in the apparel field is seriously lagging behind. Therefore, it is imperative to promote the combination of robotics with the apparel industry and enhance its application in automated apparel manufacturing and intelligent apparel. Soft robots are made from deformable materials, which have the advantages of high flexibility and adaptability compared with rigid robots and have now become a research hotspot in the field of robotics. The use of flexible materials enables soft robots to safely collaborate with users, which meets the requirement of co-integration in the apparel field and has great potential in accelerating the process of apparel intelligence.

Progress This paper reviews the research progress of soft robotics in the apparel field. The paper starts by focusing on the key technology of soft robot. Research status is summarized in four aspects, which are manufacturing materials, manufacturing methods, driving methods, control and modeling. The different driving methods are widely used in textile grasping and transferring, and medical-assisted garments, respectively. Among them, the soft body gripper represented by gas drive shows excellent application prospects in textile fabric gripping and transfer, and the combined gripper and multi-point layout model further simplifies the automated clothing transfer system. The soft robotic garments are divided into upper limb assisted garments and lower limb assisted garments. Hand function rehabilitation gloves in upper limb assistive devices mainly enhance hand muscle strength with the help of pneumatic artificial muscle or tendon drive. The other parts of the upper limb and lower limb assisted flexible robot garments are employed to reduce metabolic costs so as to improve motor performance by means of shape memory alloy fabric muscles, unpowered exoskeleton devices, and so on. It is also pointed out that the development of garment-assisted strategies should focus on the importance of the human-machine system.

Conclusion and Prospect In oder to address the shortcomings in the existing research, the driving method can be optimized with the help of smart materials, and the sensing and control elements can be reduced in combination with micromachining technology to improve the soft robot manufacturing efficiency and precise control. By analyzing the textile fabric characteristics, the accuracy of textile fabric gripping and dropping, and improve the versatility of fabric gripper to face the complicated fabric handling process are proposed for improvement. The research and development of intelligent garments should adhere to the principle of "human-centered" and optimize the performance of robot-assisted devices with the help of "human-in-the-loop" approach. The research of soft robots is still in its infant stage, and its use in the apparel field is of profound interdisciplinary and system complexity. It is necessary to further explore the industrial model of apparel smart manufacturing, and to integrate soft robotics with the apparel industry based on human needs.

Key words: apparel manufacturing, soft robot, textile fabric grasping, smart grament, drive technology

中图分类号: 

  • TP249

表1

软体机器人不同驱动方式的优缺点"

驱动方式 优势 不足 应用举例 参考文献
流体驱动 轻质、低成本、无污染;带载能力强,未来可以实现一体化设计 使用时需要额外配备附件,便捷性差;控制建模不精确 气动人工肌肉、软夹持器 [18,19,32]
智能材料驱动 SMA化学性质稳定,具有良好的热机械性能,适合纺织品材料;EAP质量轻、驱动效率高、抗震性能好 SMA响应速度慢、温度难以控制;EAP驱动需要较高的刺激电流,稳定性差 SMA人工肌肉、EAP驱动弹跳机器人 [20,21,49]
化学反应驱动 不需要外部链接装置,增加机器人的灵活度;可用于水下、悬崖等特殊环境,研究价值高 材料特殊,存在反应不可控的问题,通用性差 仿章鱼机器人 Octobot、折纸机器人 [2,15,22]
肌腱驱动 制造简单、形状任意,能够进行长距离传动 线性材料难以建立精确的数学模型,缺乏模块化解决方案 康复手套、软体机械臂 [5,18,23]

图1

软体夹持器"

图2

手功能康复手套"

图3

上肢辅助软体机器人服装"

图4

行走与跑步辅助可穿戴机器人"

图5

步态辅助可穿戴机器人"

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