Amalaphu e-Smart asebenzisa iintsinga zezihlunu ezenziweyo eziqhutywa lulwelo

Enkosi ngokundwendwela i-Nature.com.Usebenzisa uguqulelo lwebrawuza enenkxaso enyiniweyo yeCSS.Ngowona mava angcono, sicebisa ukuba usebenzise isikhangeli esihlaziyiweyo (okanye uvale iModi yokuThelela kwi-Internet Explorer).Ukongeza, ukuqinisekisa inkxaso eqhubekayo, sibonisa indawo ngaphandle kwezitayela kunye neJavaScript.
Ubonisa ikharawusi yezilayidi ezithathu ngaxeshanye.Sebenzisa amaqhosha angaphambili nalandelayo ukutyhutyha izilayidi ezithathu ngexesha, okanye sebenzisa amaqhosha esilayidi ekupheleni ukuya kwizilayidi ezithathu ngexesha.
Ukudibanisa amalaphu kunye nezihlunu ezenziweyo ukwenza amalaphu alumkileyo kutsala ingqalelo enkulu evela kuluntu lwezenzululwazi kunye nezoshishino.Amalaphu e-Smart abonelela ngeenzuzo ezininzi, kubandakanya intuthuzelo eguqukayo kunye nenqanaba eliphezulu lokuhambelana nezinto ngelixa ubonelela ngokusebenza okusebenzayo kwentshukumo kunye namandla afunekayo.Eli nqaku libonisa udidi olutsha lwamalaphu akrelekrele anokucwangciswa enziwe kusetyenziswa iindlela ezahlukeneyo zokuluka, ukuluka kunye nokuncamathelisa iintsinga zezihlunu ezenziweyo eziqhutywa lulwelo.Imodeli yemathematika yaphuhliswa ukuchaza umlinganiselo wamandla okwandisa kwamaphepha alukiweyo anithiweyo nalukiweyo, emva koko ukuba semthethweni kwawo kwavavanywa ngokomfuniselo.Ilaphu elitsha "elihlakaniphile" libonisa ukuguquguquka okuphezulu, ukuhambelana, kunye neprogramu yoomatshini, eyenza intshukumo yeemodyuli ezininzi kunye nesakhono sokuguqula uluhlu olubanzi lwezicelo.Iiprototypes ezahlukeneyo zamalaphu ahlakaniphile zidalwe ngokungqinisiswa komfuniselo, kubandakanywa iimeko ezahlukeneyo zokutshintsha imilo ezifana nobude (ukuya kuma-65%), ukwandiswa kwendawo (108%), ukwandiswa kweradial (25%), kunye nentshukumo yokugoba.Umbono wohlengahlengiso lwezihlunu zemveli ezingenzi nto zibe zizakhiwo ezisebenzayo zezakhiwo zokubunjwa kwe-biomimetic nazo ziyaphononongwa.Ilaphu elicetywayo elicetywayo kulindeleke ukuba liququzelele uphuhliso lwezinto ezinxitywayo ezikrelekrele, iinkqubo ze-haptic, iirobhothi ezithambileyo zebiomimetic, kunye ne-elektroniki enokunxitywa.
Iirobhothi eziqinileyo zisebenza kakuhle xa zisebenza kwiindawo ezicwangcisiweyo, kodwa zineengxaki ngomxholo ongaziwayo wokutshintsha iimeko, ezinciphisa ukusetyenziswa kwazo ekufuneni okanye ekuhloleni.Indalo iyaqhubeka ukumangalisa ngezicwangciso ezininzi zokuyila ukujongana nezinto zangaphandle kunye nokwahluka.Umzekelo, iitendril zezityalo ezinyukayo zenza iintshukumo ezininzi, njengokugoba kunye nokujikeleza, ukuphonononga indawo engaziwayo ekufuneni inkxaso efanelekileyo1.I-Venus flytrap (i-Dionaea muscipula) ineenwele ezibuthathaka kumagqabi ayo ezithi, xa zisenziwa, zingene endaweni ukuze zibambe ixhoba2.Kwiminyaka yakutshanje, ukuguqulwa okanye ukuguqulwa kwemizimba ukusuka kumacala amabini (2D) ukuya kwimilo ye-3-dimensional (3D) elinganisa izakhiwo zebhayoloji ibe sisihloko sophando esinomdla3,4.Olu lungelelwaniso oluthambileyo lwerobhothi lutshintsha ukumila ukuze luqhelane neemeko eziguqukayo, luvumela ukuhamba kwe-multimodal, kunye nokusebenzisa amandla ukwenza umsebenzi womatshini.Ukufikelela kwabo kuye kwandiswe kuluhlu olubanzi lwezicelo zerobhothi, kubandakanywa i-deployables5, iirobhothi ezinokuphinda ziqwalaselwe kwaye zizisonge ngokwazo6,7, izixhobo ze-biomedical8, izithuthi9,10 kunye ne-electronics eyandisiweyo11.
Uphando oluninzi lwenziwe ukuphuhlisa iipleyiti ezisicaba ezicwangcisekileyo ezithi, xa zivuliwe, zibe zizakhiwo ezintsonkothileyo ezine-dimensional3.Ingcamango elula yokudala izakhiwo ezinokukhubazeka kukudibanisa iileyile zezinto ezahlukeneyo eziguquguqukayo kunye nemibimbi xa zibonakaliswe kwi-stimuli12,13.UJanbaz et al.14 kunye noLi et al.I-15 ifezekise le ngcamango ukudala iirobhothi ezikhubazekayo ze-multimodal.Izakhiwo ezisekelwe kwi-Origami ezibandakanya i-stimulus-responsive elements ziye zasetyenziselwa ukudala izakhiwo eziyinkimbinkimbi ezintathu-dimensional16,17,18.Uphefumlelwe yi-morphogenesis yezakhiwo zebhayoloji, u-Emmanuel et al.I-elastomers eziguquguqukayo ngokwemilo zidalwe ngokuququzelela imijelo yomoya ngaphakathi kwendawo yerabha ethi, phantsi koxinzelelo, iguquke ibe ziimo ezintsonkothileyo, ezingaqondakaliyo ezine-dimensional.
Ukudityaniswa kwamalaphu okanye amalaphu kwiirobhothi ezithambileyo ezinokukhubazeka yenye iprojekthi yengqiqo entsha evelise umdla obanzi.Imisonto zizinto ezithambileyo nezinwebekayo ezenziwe ngomsonto ngobuchule bokuluka obufana nokunitha, ukuluka, ukuphotha, okanye ukuluka amaqhina.Iimpawu ezimangalisayo zamalaphu, kubandakanya ukuguquguquka, ukufaneleka, ukuqina kunye nokuphefumla, zibenza badume kakhulu kuyo yonke into ukusuka kwimpahla ukuya kwizicelo zonyango20.Kukho iindlela ezintathu ezibanzi zokubandakanya iimpahla ezilukiweyo kwirobhothi21.Indlela yokuqala kukusebenzisa i-textile njenge-passive backing okanye isiseko samanye amacandelo.Kule meko, i-passive textiles ibonelela ngokufanelekileyo kumsebenzisi xa ephethe izinto eziqinileyo (iimotho, izinzwa, umbane).Uninzi lweerobhothi ezithambileyo ezinokunxiba okanye ii-exoskeletons ezithambileyo ziwela phantsi kwale ndlela.Umzekelo, ii-exoskeletons ezithambileyo ezinxitywayo zoncedo lokuhamba 22 kunye ne-elbow aids 23, 24, 25, iigloves ezithambileyo ezinokunxiba 26 zoncedo lwezandla kunye neminwe, kunye neerobhothi ezithambileyo ze-bionic 27.
Indlela yesibini kukusebenzisa amalaphu njengezinto ezingenziwayo nezinyiniweyo zezixhobo zerobhothi ezithambileyo.Ii-activators ezisekelwe kwi-textile ziwela kolu luhlu, apho ilaphu lihlala lakhiwe njengesikhongozeli sangaphandle ukuze siqulathe ithumbu elingaphakathi okanye igumbi, lenza i-actuator eyomeleziweyo yefiber ethambileyo.Xa ziphantsi komthombo wangaphandle we-pneumatic okanye we-hydraulic, ezi actuators ezithambileyo ziye zitshintshe kwimilo, kubandakanywa nobude, ukugoba okanye ukujija, ngokuxhomekeke kukwakheka kunye noqwalaselo lwazo.Ngokomzekelo, uTalman et al.Impahla ye-orthopedic ankle, ebandakanya uthotho lweepokotho zelaphu, iye yaziswa ukuze kube lula ukujikeleza kweplanta ukubuyisela ukuhamba28.Iingqimba ze-Textile ezinokwandiswa okuhlukeneyo zinokudibaniswa ukudala ukunyakaza kwe-anisotropic 29.I-OmniSkins - izikhumba zerobhothi ezithambileyo ezenziwe kwiintlobo ezahlukeneyo ze-actuator ezithambileyo kunye nezixhobo ze-substrate ziyakwazi ukuguqula izinto ezingabonakaliyo zibe iirobhothi ezisebenzayo ezinokuthi zenze iintshukumo ezininzi kunye nokuguqulwa kwezicelo ezahlukeneyo.UZhu et al.baye baphuhlisa i-liquid tissue muscle sheet31 enokuvelisa ubude, ukugoba, kunye neentshukumo ezahlukeneyo zokuguqulwa.Buckner et al.Hlanganisa iifiber ezisebenzayo kwizicubu eziqhelekileyo ukwenza izicubu ze-robotic ezinemisebenzi emininzi efana ne-actuation, i-sensor, kunye nokuqina okuguquguqukayo32.Ezinye iindlela kolu didi zinokufumaneka kula maphepha 21, 33, 34, 35.
Indlela yakutsha nje yokuqinisa iipropathi ezigqwesileyo zeempahla ezilukiweyo kwibala leerobhothi ezithambileyo kukusebenzisa iifilaments eziphendulayo okanye eziphendulayo ukwenza amalaphu alumkileyo kusetyenziswa iindlela zokwenziwa kwamalaphu esintu ezifana nokuluka, ukunitha kunye neendlela zokuluka21,36,37.Ngokuxhomekeke ekubunjweni kwezinto, intambo esebenzayo ibangela utshintsho kwimilo xa iphantsi kombane, i-thermal okanye inyathelo loxinzelelo, olukhokelela ekuguqulweni kwelaphu.Kule ndlela, apho i-textile yendabuko idityaniswe kwinkqubo ye-robotic ethambileyo, ukubunjwa kwakhona kwe-textile kwenzeka kuluhlu lwangaphakathi (umsonto) kunokuba lungaphandle.Ke ngoko, amalaphu ahlakaniphile abonelela ngokuphathwa okugqwesileyo ngokwentshukumo ye-multimodal, i-deformation enokucwangciswa, ukunwebeka, kunye nokukwazi ukulungisa ukuqina.Ngokomzekelo, ii-alloys zeememori zemilo (SMAs) kunye neepolymers zemilo yememori (SMPs) zinokudityaniswa kwiilaphu ukuze zilawule imilo yazo ngokuvuselela i-thermal, njenge-hemming38, ukususwa kwemibimbi36,39, i-tactile kunye ne-tactile feedback40,41, kunye nokulungelelanisa. iimpahla ezinxitywayo.izixhobo 42.Nangona kunjalo, ukusetyenziswa kwamandla okushisa ukufudumeza kunye nokupholisa kubangela ukusabela okucothayo kunye nokupholisa okunzima kunye nokulawula.Kutshanje, uHiramitsu et al.Izihlunu ezintle zikaMcKibben43,44, izihlunu ezenziweyo ze-pneumatic, zisetyenziswa njengeentambo ze-warp ukwenza iintlobo ezahlukeneyo zempahla esebenzayo ngokutshintsha i-weave structure45.Nangona le ndlela inikezela amandla aphezulu, ngenxa yobume be-McKibben muscle, izinga layo lokwandiswa lilinganiselwe (<50%) kunye nobukhulu obuncinci abunakufumaneka (ububanzi <0.9 mm).Ukongeza, bekunzima ukwenza iipateni ze-smart textile ezivela kwiindlela zokuluka ezifuna iikona ezibukhali.Ukwenza uluhlu olubanzi lwamalaphu ahlakaniphile, uMaziz et al.Amalaphu e-Electroactive wearable aphuhliswe ngokunitha kunye nokuluka imisonto ye-electrosensitive polymer46.
Kwiminyaka yakutshanje, uhlobo olutsha lwe-thermosensitive artificial muscle luye lwavela, lwakhiwe kwi-polymer fibers ephothiweyo kakhulu, engabizi kakhulu47,48.Ezi fayibha ziyafumaneka kurhwebo kwaye zidityaniswa ngokulula ekulukeni okanye ekulukeni ukuvelisa iimpahla ezintle ezifikelelekayo.Ngaphandle kwenkqubela phambili, la malaphu matsha angevani nobushushu anamaxesha alinganiselweyo okuphendula ngenxa yesidingo sokufudumeza nokupholisa (umz. ilaphu elilukiweyo elilawulwa bubushushu) okanye ubunzima bokwenza iipateni ezinithiweyo nezilukiweyo ezinokucwangciswa ukwenza ukonakala okufunwayo kunye neentshukumo. .Imizekelo ibandakanya ukwandiswa kweradial, i-2D ukuya kwi-3D yokuguqulwa kwemilo, okanye ukwandiswa kwe-bi-directional, esikunika apha.
Ukoyisa ezi ngxaki zikhankanyiweyo ngasentla, eli nqaku linikezela ngelaphu elitsha eliqhutywa lulwelo elenziwe kwimicu yethu yemisipha ethambileyo esanda kwaziswa (AMF)49,50,51.Ii-AMFs zibhetyebhetye kakhulu, ziyakwazi ukuncitshiswa zibe yi-0.8 mm nobude obukhulu (ubuncinci be-5000 mm), zibonelela ngomlinganiselo ophezulu (ubude ukuya kwidayamitha) kunye nobude obuphezulu (ubuncinci be-245%), amandla aphezulu. ukusebenza kakuhle, ngaphantsi kwe-20Hz impendulo ekhawulezayo).Ukwenza amalaphu alumkileyo, sisebenzisa i-AMF njengomsonto osebenzayo ukwenza iileya zezihlunu ezisebenzayo ze-2D ngokunitha kunye neendlela zokuluka.Siye safunda ngobungakanani izinga lokwandiswa kunye namandla okucutha kwezi zicubu "ezihlakaniphile" ngokubhekiselele kumthamo wolwelo kunye noxinzelelo olunikezelweyo.Imifuziselo yohlalutyo iphuhlisiwe ukuseka ubudlelwane bamandla obude bamashiti athuthiweyo nalukiweyo.Sikwachaza iindlela ezininzi zobuchwephesha bokucwangciswa kwamalaphu ahlakaniphileyo entshukumo ye-multimodal, kubandakanya ukongezwa kwe-bi-directional, ukugoba, ukwandiswa kweradial, kunye nokukwazi ukutshintsha ukusuka kwi-2D ukuya kwi-3D.Ukubonisa amandla endlela yethu, siya kudibanisa i-AMF kwiilaphu zorhwebo okanye i-textiles ukuguqula ukucwangciswa kwazo ukusuka kwi-passive ukuya kwizakhiwo ezisebenzayo ezibangela ukuguqulwa okwahlukeneyo.Sikwayibonisile le ngcamango kwiibhentshi zovavanyo ezininzi, kubandakanywa ukugoba okucwangcisekileyo kwemisonto ukuvelisa oonobumba abafunekayo kunye nezakhiwo zebhayoloji eziguqukayo zibe kwimilo yezinto ezifana namabhabhathane, izinto ezinamacala amane kunye neentyatyambo.
Imisonto zizinto eziguquguqukayo ezine-dimensional eziyilwe kwimisonto ephothiweyo enedimensional enye enje ngemisonto, imisonto kunye nemisonto.I-textile yenye yezona teknoloji zakudala zoluntu kwaye isetyenziswa ngokubanzi kuzo zonke iinkalo zobomi ngenxa yokukhululeka kwayo, ukuguquguquka, ukuphefumla, ubuhle kunye nokukhusela.Amalaphu e-Smart (ekwabizwa ngokuba ziimpahla ezikrelekrele okanye amalaphu erobhothi) aya ngokuya esetyenziswa kuphando ngenxa yesakhono sazo kwizicelo zerobhothi20,52.I-Smart textiles ithembisa ukuphucula amava omntu okunxibelelana nezinto ezithambileyo, ukungenisa kwi-paradigm shift kwintsimi apho ukuhamba kunye nemikhosi yengubo encinci, eguquguqukayo inokulawulwa ukwenza imisebenzi ethile.Kweli phepha, siphonononga iindlela ezimbini zokuveliswa kwamalaphu ahlakaniphileyo asekelwe kwi-AMF49 yethu yakutshanje: (1) sebenzisa i-AMF njengomsonto osebenzayo ukwenza amalaphu alumkileyo kusetyenziswa ubugcisa bokuvelisa ilaphu eliqhelekileyo;(2) faka i-AMF ngokuthe ngqo kwiilaphu zendabuko ukuvuselela ukunyakaza okufunwayo kunye nokuguqulwa.
I-AMF iqulethe ityhubhu ye-silicone yangaphakathi ukubonelela amandla ombane kunye ne-coil ye-helical yangaphandle ukukhawulela ukwandiswa kwe-radial.Ngaloo ndlela, ii-AMF zolulela ubude xa uxinzelelo lusetyenziswa kwaye emva koko zibonise amandla ekhontrakthi ukuze zibuyele kubude bazo bokuqala xa uxinzelelo lukhutshwa.Zineepropati ezifana neentambo zendabuko, kubandakanywa ukuguquguquka, ububanzi obuncinci kunye nobude obude.Nangona kunjalo, i-AMF isebenza ngakumbi kwaye ilawulwa ngokwemiqathango yokuhamba kunye namandla kunabalingane bayo abaqhelekileyo.Sikhuthazwa yinkqubela yamva nje ekhawulezileyo yelaphu elilukiweyo, apha sibonisa iindlela ezine eziphambili zokuvelisa amalaphu ahlakaniphileyo ngokusebenzisa i-AMF kwiteknoloji yokuvelisa ilaphu ekudala isekiwe (Umfanekiso 1).
Indlela yokuqala kukuluka.Sisebenzisa itekhnoloji yokunitha i-weft ukuvelisa ilaphu elinithiweyo elisebenzayo elityhileka kwicala elinye xa i-hydraulically actuated.Amashiti anithiweyo ayolule kakhulu kwaye anoluleka kodwa athanda ukuqhambuka lula kunamashiti alukiweyo.Ngokuxhomekeke kwindlela yokulawula, i-AMF inokwenza imiqolo nganye okanye iimveliso ezipheleleyo.Ukongeza kumaphepha acwebileyo, iipateni zokunitha ii-tubular nazo zifanelekile ukwenziwa kwezakhiwo ezingenanto ze-AMF.Indlela yesibini kukuluka, apho sisebenzisa ii-AMF ezimbini njenge-warp kunye ne-weft ukwenza iphepha elilukiweyo elinguxande elinokwandisa ngokuzimeleyo kumacala amabini.Amaphepha alukiweyo abonelela ngolawulo ngakumbi (kumacala omabini) kunamashiti anithiweyo.Sikwaluke i-AMF ngomsonto wesintu ukwenza icwecwe elilukiweyo elilula elinokukhululwa kuphela kwicala elinye.Indlela yesithathu - ukwandiswa kweradial - kukwahluka kobuchule bokuluka, apho ii-AMPs zingekho kwixande, kodwa kwi-spiral, kwaye iintambo zibonelela ngomqobo we-radial.Kule meko, i-braid iyanda ngokukhawuleza phantsi koxinzelelo lokungena.Indlela yesine kukuncamathisela i-AMF kwiphepha lelaphu elingenziwanga ukwenza intshukumo yokugoba kwicala elifunekayo.Siye sayilungisa kwakhona ibhodi yokuqhafaza kwibhodi esebenzayo ngokuqhuba i-AMF ecaleni kwayo.Olu didi lwenkqubo lwe-AMF luvula amathuba angenakubalwa kwi-bio-inspired shape-transforming structures ethambileyo apho sinokuthi sijike izinto ezingenzi nto zibe zisebenzayo.Le ndlela ilula, ilula, kwaye iyakhawuleza, kodwa inokubeka esichengeni ubomi obude beprototype.Umfundi ubhekiswa kwezinye iindlela kuncwadi oluchaza amandla kunye nobuthathaka bepropathi nganye yethishu21,33,34,35.
Uninzi lwemisonto okanye imisonto esetyenziselwa ukwenza amalaphu esintu aqulathe izinto ezingenziwayo.Kulo msebenzi, sisebenzisa i-AMF yethu ebiphuhliswe ngaphambili, enokufikelela kubude beemitha kunye ne-submillimeter diameters, ukuze ithathe indawo ye-AFM yelaphu ye-passive yesiqhelo yokudala amalaphu akrelekrele nasebenzayo kuluhlu olubanzi lwezicelo.La macandelo alandelayo achaza iindlela ezineenkcukacha zokwenza iiprototypes ze-smart textile kwaye zibonise imisebenzi yazo ephambili kunye nokuziphatha.
Senze ngesandla iijezi ze-AMF ezintathu sisebenzisa ubuchule bokunitha be-weft (Umfanekiso 2A).Ukukhethwa kwezinto eziphathekayo kunye neenkcukacha ezicacileyo ze-AMF kunye neeprototypes zinokufumaneka kwicandelo leNdlela.I-AMF nganye ilandela indlela emajiko-jiko (ekwabizwa ngokuba yindlela) eyenza iluphu elinganayo.Izikhonkwane zomqolo ngamnye ziqiniswe ngeelophu zemiqolo engentla nangaphantsi kwazo.Iindandatho zekholamu enye i-perpendicular kwikhosi idibaniswe kwi-shaft.Umzobo wethu onithiweyo unemiqolo emithathu yezititshi ezisixhenxe (okanye izititshi ezisixhenxe) kumqolo ngamnye.Amakhonkco aphezulu kunye nezantsi azilungiswanga, ngoko sinokuzinamathisela kwiintonga zetsimbi ezihambelanayo.Iiprototypes ezinithiweyo zityhilwe ngokulula ngakumbi kunamalaphu athungiweyo aqhelekileyo ngenxa yokuqina okuphezulu kwe-AMF xa kuthelekiswa nemisonto yesiqhelo.Ngoko ke, sibophe izikhonkwane zemiqolo ekufutshane kunye neentambo ezincinci ze-elastic.
Iiprototypes ezahlukeneyo zamalaphu ahlakaniphile ziyaphunyezwa ngolungelelwaniso olwahlukileyo lwe-AMF.(A) Ishiti elinithiweyo elenziwe ngee-AMF ezintathu.(B) Iphepha elilukiweyo elinee-AMF ezimbini.C(D) Ulwakhiwo olwandiswa ngokukhawuleza ngeAMF enye kunye nomsonto womqhaphu njengomqobo weradial.Iinkcukacha ezineenkcukacha zinokufumaneka kwicandelo leeNdlela.
Nangona i-zigzag loops ye-knit inokolulela kumacala ahlukeneyo, iprototype knit yethu iyanda ikakhulu kwicala le-loop phantsi koxinzelelo ngenxa yothintelo kwicala lokuhamba.Ukwandiswa kwe-AMF nganye kunegalelo ekwandiseni indawo epheleleyo yeshiti elinithiweyo.Ngokuxhomekeke kwiimfuno ezithile, sinokulawula ii-AMF ezintathu ngokuzimeleyo kwimithombo emithathu eyahlukeneyo yamanzi (Umfanekiso 2A) okanye ngaxeshanye ukusuka kumthombo omnye wamanzi ngokusebenzisa i-1-to-3 yokusabalalisa ulwelo.Kwikhiwane.I-2A ibonisa umzekelo weprototype enithiweyo, indawo yokuqala enyuke nge-35% ngelixa ifaka uxinzelelo kwii-AMPs ezintathu (1.2 MPa).Okuqaphelekayo, i-AMF ifikelela kubude obuphezulu obungama-250% ubuncinane bobude bayo bokuqala49 ukuze amaphepha athuthiweyo akwazi ukolula nangaphezulu kuneenguqulelo zangoku.
Siphinde sakha amashiti okuluka amabini avela kwii-AMF ezimbini sisebenzisa ubuchule bokuluka (Figure 2B).I-AMF warp kunye ne-weft zidibene kwii-engile ezichanekileyo, zenza ipateni elula ye-criss-cross.Iprototype weave yethu yahlelwa njengolungelelwano olulukiweyo olulukiweyo ngenxa yokuba yomibini imisonto yokuluka kunye neye weft yenziwe yasuka kubukhulu obufanayo bomsonto (jonga icandelo leNdlela ukuze ufumane iinkcukacha).Ngokungafaniyo nemisonto eqhelekileyo enokwenza imiphetho ebukhali, i-AMF esetyenzisiweyo idinga iradiyasi ethile yokugoba xa ibuyela komnye umsonto wepateni yokuluka.Ke ngoko, amashiti alukiweyo enziwe kwi-AMP anoxinano olusezantsi xa kuthelekiswa nempahla elukiweyo eqhelekileyo.I-AMF-uhlobo lwe-S (i-diameter yangaphandle 1.49 mm) inomlinganiselo omncinci wokugoba we-1.5 mm.Umzekelo, i-prototype weave esiyibonisayo kweli nqaku inepateni ye-7 × 7 yentambo apho ukudibana ngakunye kuzinziswe ngeqhina lentambo ebhityileyo.Ukusebenzisa ubuchule obufanayo bokuluka, unokufumana iintambo ezininzi.
Xa i-AMF ehambelanayo ifumana uxinzelelo lwe-fluid, iphepha elilukiweyo liyandisa indawo yalo kwi-warp okanye kwi-weft direction.Ngoko ke, silawule imilinganiselo yephepha eliphothiweyo (ubude kunye nobubanzi) ngokuzimeleyo ngokutshintsha inani loxinzelelo lokungena olufakwe kwii-AMPs ezimbini.Kwikhiwane.I-2B ibonisa iprototype elukiweyo eyandiswe ukuya kwi-44% yendawo yayo yokuqala ngelixa ifaka uxinzelelo kwi-AMP enye (1.3 MPa).Ngesenzo saxeshanye soxinzelelo kwii-AMF ezimbini, indawo yanda nge-108%.
Senze nelaphu elilukiweyo elingaqhelekanga elivela kwi-AMF enye ene-warp kunye ne-acrylic yarns njenge-weft (Figure 2C).Ii-AMFs zicwangciswe ngokwemiqolo esixhenxe ye-zigzag kwaye imisonto iluka le miqolo yee-AMF kunye yenze icwecwe lelaphu elinguxande.Lo mzobo ulukiweyo wawushinyene ngakumbi kunomfanekiso 2B, enkosi kwimisonto ethambileyo ye-acrylic ezalise iphepha lonke ngokulula.Ngenxa yokuba sisebenzisa i-AMF enye kuphela njenge-warp, iphepha elilukiweyo linokwandisa kuphela ukuya kwi-warp phantsi koxinzelelo.Umzobo 2C ubonisa umzekelo weprototype elukiweyo indawo yayo yokuqala inyuka ngama-65% ngoxinzelelo olukhulayo (1.3 MPa).Ukongezelela, esi siqwenga esilukiweyo (ubunzima be-2.6 grams) sinokuphakamisa umthwalo we-500 grams, okuyi-192 amaxesha amaninzi.
Endaweni yokulungelelanisa i-AMF ngendlela egoso-goso ukwenza iphepha elilukiweyo elinguxande, senze imilo engqukuva ecaba ye-AMF, eyathi ke ngoko yanyanzelwa ngomsonto womqhaphu ukwenza iphepha elilukiweyo elingqukuva (Figure 2D).Ubunzima obuphezulu be-AMF bunciphisa ukuzaliswa kommandla ophakathi kakhulu weplate.Nangona kunjalo, le padding inokwenziwa ngemisonto elastiki okanye ilaphu elastiki.Emva kokufumana uxinzelelo lwe-hydraulic, i-AMP iguqula i-longitudinal elongation ibe kukwandiswa kwe-radial yephepha.Kwakhona kuyafaneleka ukuba uqaphele ukuba zombini i-diameters yangaphandle nangaphakathi ye-spiral shape iyanda ngenxa yokunciphisa i-radial ye-filaments.Umzobo we-2D ubonisa ukuba ngoxinzelelo olusetyenzisiweyo lwe-hydraulic ye-MPa eyi-1, imilo yephepha elijikelezileyo iyanda ukuya kwi-25% yendawo yayo yasekuqaleni.
Sibonisa apha indlela yesibini yokwenza amalaphu alumkileyo apho sincamathelisa i-AMF kwisiqwenga esisicaba selaphu kwaye siyilungise kwakhona ukusuka kwi-passive ukuya kwisakhiwo esilawulwa ngokusebenzayo.Umzobo woyilo wedrayivu yokugoba uboniswe kumkhiwane.I-3A, apho i-AMP isongelwe phantsi embindini kwaye incamathele kumcu welaphu elingenakwandiswa (ilaphu le-cotton muslin) kusetyenziswa iteyiphu enamacala amabini njengento yokuncamathelisa.Nje ukuba itywinwe, umphezulu we-AMF ukhululekile ukwandisa, ngelixa i-bottom ikhawulelwe yi-tape kunye nelaphu, ibangela ukuba umtya ugobe ngokubhekiselele kwilaphu.Sinokuyicima nayiphi na indawo ye-actuator yokugoba naphi na ngokuncamathisela umcu weteyiphu kuyo.Icandelo elivaliweyo alinakushukuma kwaye libe licandelo lokwenziwa.
Amalaphu ahlengahlengiswa ngokutsha ngokuncamathelisa i-AMF kumalaphu emveli.(A) Ingcamango yokuyila i-drive yokugoba eyenziwe ngokuncamathisela i-AMF esongiweyo kwilaphu elingenakwandiswa.(B) Ukugotywa kweprototype ye actuator.(C) Ukuhlengahlengiswa kwelaphu elixande kwirobhothi esebenzayo enemilenze emine.Ilaphu elinelastic: ijezi yomqhaphu.Ilaphu elilula: i-polyester.Iinkcukacha ezineenkcukacha zinokufumaneka kwicandelo leeNdlela.
Senze ii-actuator ezininzi zokugoba zobude obahlukeneyo kwaye sizicinezele nge-hydraulics ukwenza intshukumo yokugoba (Figure 3B).Okubalulekileyo, i-AMF inokubekwa kumgca othe tye okanye isongwe ukwenza imisonto emininzi kwaye emva koko incamathele kwilaphu ukwenza i-drive yokugoba kunye nenani elifanelekileyo leentambo.Siphinde saguqula i-tissue ye-passive kwisakhiwo se-tetrapod esebenzayo (Umfanekiso we-3C), apho sasebenzisa i-AMF ukuhambisa imida ye-rectangular engenakulinganiswa (i-cotton muslin fabric).I-AMP ifakwe kwilaphu kunye neqhekeza le-tape enamacala amabini.Umbindi wongqameko ngalunye uyacofwa ukuze ube yinto yokwenziwa, ngelixa iikona ezine zihlala zisebenza.Ilaphu elingaphezulu kwesigqubuthelo esingaphezulu (i-polyester) sinokuzikhethela.Iikona ezine zelaphu ligoba (likhangeleka njengemilenze) xa licinezelwe.
Sakhe ibhentshi yovavanyo ukuze sifunde ngokobungakanani iipropathi zeempahla eziphuhlisiwe ezilukiweyo (jonga icandelo leeNdlela kunye noMzobo owoNgezelelweyo S1).Ekubeni zonke iisampulu zenziwe nge-AMF, umgangatho oqhelekileyo weziphumo zovavanyo (umzobo 4) uhambelana neempawu eziphambili ze-AMF, ezizezi, uxinzelelo lwe-inlet luhambelana ngokuthe ngqo kwi-outlet elongation kunye ne-inversely proportional ku-compression force.Nangona kunjalo, ezi zindwangu zihlakaniphile zineempawu ezizodwa ezibonisa ukucwangciswa kwazo ezithile.
Ifaka uqwalaselo lwe-smart textile.(A, B) Iigophe ze-hysteresis zoxinzelelo lokungena kunye nobude be-outlet kunye nokunyanzeliswa kwamashiti alukiweyo.(C) Ukwandiswa kwendawo yeshiti elukiweyo.(D,E) Ubudlelwane phakathi koxinzelelo lwegalelo kunye nokwandiswa kwemveliso kunye nokunyanzeliswa kwempahla yokunitha.(F) Ukwandiswa kwendawo yolwakhiwo olunwebekayo.(G) Ukugoba ii-engile zobude obuthathu obahlukeneyo beedrive zokugoba.
I-AMF nganye yephepha elilukiweyo yayiphantsi koxinzelelo lwe-inlet ye-1 MPa ukuvelisa malunga ne-30% elongation (Fig. 4A).Sikhethe lo mqobo walo lonke uvavanyo ngenxa yezizathu ezininzi: (1) ukwenza ulwandiso olubalulekileyo (malunga ne-30%) ukugxininisa i-hysteresis curves yabo, (2) ukuthintela ukuhamba ngebhayisikile kwiimvavanyo ezahlukeneyo kunye neeprototypes ezisebenzisekayo ezikhokelela kumonakalo ngengozi okanye ukungaphumeleli..phantsi koxinzelelo oluphezulu lwe-fluid.Indawo efileyo ibonakala ngokucacileyo, kwaye i-braid ihlala ingashukumi kuze kube yilapho uxinzelelo lwe-inlet lufikelela kwi-0.3 MPa.Iploti ye-hysteresis ye-pressure elongation ibonisa umsantsa omkhulu phakathi kwezigaba zokumpompa kunye nokukhulula, ebonisa ukuba kukho ilahleko enkulu yamandla xa ishidi elilukiweyo litshintsha ukuhamba kwalo ukusuka ekwandiseni ukuya kwi-contraction.(Umfanekiso 4A).Emva kokufumana uxinzelelo lwe-inlet ye-MPa ye-1, ishidi elilukiweyo linokusebenzisa amandla okunciphisa i-5.6 N (Umfanekiso 4B).Iploti ye-hysteresis yoxinzelelo-force ikwabonisa ukuba ijika lokuseta ngokutsha liphantse ligqithe kunye ne-curve build-up curve.Ukwandiswa kwendawo yephepha elilukiweyo kuxhomekeke kubungakanani boxinzelelo olusetyenzisiweyo kwi-AMF nganye yee-AMF ezimbini, njengoko kuboniswe kwiplani ye-3D yomhlaba (Umfanekiso 4C).Iimvavanyo zikwabonisa ukuba ishidi elilukiweyo linokuvelisa ukwandiswa kwendawo ye-66% xa i-warp kunye ne-weft ye-AMFs ifakwe ngaxeshanye phantsi koxinzelelo lwe-hydraulic ye-1 MPa.
Iziphumo zovavanyo zephepha elinithiweyo zibonisa ipateni efanayo kwiphepha elilukiweyo, kubandakanywa umsantsa obanzi we-hysteresis kwidayagram yoxinzelelo loxinzelelo kunye namagophe oxinzelelo olungaphaya.Ishiti elinithiweyo libonisa ukunyuswa kwe-30%, emva koko amandla oxinzelelo ayeyi-9 N kwixinzelelo lokungena kwe-1 MPa (Umfanekiso 4D, E).
Kwimeko yephepha elilukiweyo elijikelezileyo, indawo yalo yokuqala yanda nge-25% xa kuthelekiswa nommandla wokuqala emva kokuvezwa koxinzelelo lwamanzi lwe-1 MPa (umzobo 4F).Ngaphambi kokuba isampuli iqale ukwanda, kukho indawo enkulu yokufa yoxinzelelo lokungena ukuya kuthi ga kwi-0.7 MPa.Lo mmandla mkhulu ofileyo wawulindelwe njengoko iisampulu zenziwe kwii-AMF ezinkulu ezazifuna uxinzelelo oluphezulu ukuze boyise uxinzelelo lwabo lokuqala.Kwikhiwane.I-4F ibonisa kwakhona ukuba i-curve yokukhululwa iphantse ihambelane ne-curve yokunyusa uxinzelelo, ebonisa ukulahlekelwa kwamandla amancinci xa i-disc movement iguqulwa.
Iziphumo zovavanyo ze-actuator ezintathu zokugoba (ukulungiswa kwakhona kwezicubu) zibonisa ukuba iijika zabo ze-hysteresis zinepateni efanayo (Umfanekiso we-4G), apho bafumana indawo yokufa yoxinzelelo lwe-inlet ukuya kwi-0.2 MPa ngaphambi kokuphakamisa.Sasebenzisa umthamo ofanayo wolwelo (0.035 ml) kwiidrive ezintathu zokugoba (L20, L30 kunye ne-L50 mm).Nangona kunjalo, i-actuator nganye ifumene iincopho zoxinzelelo ezahlukeneyo kwaye yaphuhlisa ii-engile zokugoba ezahlukeneyo.I-actuator ye-L20 kunye ne-L30 mm ifumene uxinzelelo lwe-inlet ye-0.72 kunye ne-0.67 MPa, ifikelela kwii-angles zokugoba ze-167 ° kunye ne-194 ° ngokulandelanayo.I-drive yokugoba ende kakhulu (ubude be-50 mm) imelana noxinzelelo lwe-0.61 MPa kwaye ifikelele kwi-angle yokugoba ephezulu ye-236 °.Iiplani ze-angle yoxinzelelo lwe-hysteresis nazo ziveze izithuba ezinkulu phakathi koxinzelelo kunye nokukhulula iigophe kuzo zontathu iidrive zokugoba.
Ubudlelwane phakathi komthamo wegalelo kunye nemveliso yemveliso (ubude, amandla, ukwandiswa kwendawo, i-engile yokugoba) kolu lungelelwaniso lwe-smart textile olungentla lunokufumaneka kuMfanekiso owoNgezelelweyo S2.
Iziphumo zovavanyo kwicandelo langaphambili zibonisa ngokucacileyo ubudlelwane obulinganayo phakathi koxinzelelo lokungena olusetyenzisiweyo kunye nokwandiswa kokuphuma kweesampulu ze-AMF.Okukhona i-AMB inamandla ngakumbi, kokukhona ikhula ikhula kwaye iqokelela amandla anwebekayo.Yiyo loo nto inamandla ocinezelo ewasebenzisayo.Iziphumo zabonisa kwakhona ukuba imizekelo ifikelele kumandla abo aphezulu oxinzelelo xa uxinzelelo lokungena lususwe ngokupheleleyo.Eli candelo lijolise ekusekeni unxulumano oluthe ngqo phakathi kobude kunye nobuninzi bokucutheka kwamandla wamaphepha athuthiweyo nalukiweyo ngokwenziwa kohlalutyo kunye novavanyo lokuqinisekisa.
Awona mandla aphezulu ekhontrakthi Fout (kuxinzelelo lwe-inlet P = 0) ye-AMF enye yanikwa kwireferensi ye-49 kwaye yaphinda yaziswa ngolu hlobo lulandelayo:
Phakathi kwazo, i-α, i-E, kunye ne-A0 yinto eyolulayo, i-modulus ye-Young, kunye ne-cross-sectional area ye-tube ye-silicone, ngokulandelanayo;k yi-coefficient yokuqina kwe-spiral coil;x kunye ne-li zi-offset kunye nobude bokuqala.AMP, ngokulandelelanayo.
inxaki eyiyo.(1) Thatha amaphepha aphothiweyo kunye nolukiweyo njengomzekelo (Umfanekiso 5A, B).Amandla okuncipha kwemveliso enithiweyo ye-Fkv kunye nemveliso elukiweyo i-Fwh ibonakaliswe nge-equation (2) kunye (3), ngokulandelanayo.
apho i-mk linani le-loops, i-φp yi-angle ye-loop yelaphu elinithiweyo ngexesha lokutofa (umzobo 5A), mh linani leentambo, i-θhp yi-angle yokudibana yelaphu elinithiweyo ngexesha lokutofa (Umfanekiso 5B), εkv εwh lishiti elinithiweyo kunye nokuguqulwa kweshiti elukiweyo, F0 luxinzelelo lokuqala lwekhoyili ejikelezayo.Ukutsalwa ngokweenkcukacha kwinxaki.(2) kunye (3) inokufumaneka kwingcaciso exhasayo.
Yenza imodeli yohlalutyo yobudlelwane be-elongation-force.(A,B) Imodeli yohlahlelo lwemifanekiso yamaphepha alukiweyo nalukiweyo, ngokulandelelanayo.(C,D) Ukuthelekiswa kweemodeli zohlalutyo kunye nedatha yovavanyo yamaphepha anithiweyo nalukiweyo.I-RMSE Root ithetha impazamo yesikwere.
Ukuvavanya imodeli ephuhlisiweyo, senze imifuniselo yokwandisa sisebenzisa iipateni ezinithiweyo kwi-Fig. 2A kunye neesampuli eziphothiweyo kwi-Fig. 2B.Amandla okunciphisa alinganiselwa nge-5% yonyuso kulwandiso ngalunye olutshixiweyo ukusuka kwi-0% ukuya kwi-50%.Intsingiselo kunye nomgangatho wokutenxa kwezilingo ezintlanu zinikezelwe kuMfanekiso 5C (uthungelwano) kunye noMzobo 5D (ohlangeneyo).Iigophe zemodeli yohlalutyo zichazwe ngokulinganisa.Iiparamitha (2) kunye (3) zinikwe kwiThebhile.1. Iziphumo zibonisa ukuba imodeli yokuhlalutya ihambelana kakuhle nedatha yovavanyo phezu koluhlu olubanzi lwe-elongation kunye neengcambu zempazamo yesikwere (RMSE) ye-0.34 N ye-knitwear, i-0.21 N ye-AMF elukiweyo (i-horizontal direction) kunye ne-0.17 N. yeAMF elukiweyo .V (ulwalathiso oluthe nkqo).
Ukongeza kwiintshukumo ezisisiseko, amalaphu acetywayo anobuchule anokucwangciswa ngoomatshini ukuze abonelele ngeentshukumo ezintsonkothileyo ezifana ne-S-bend, i-radial contraction, kunye ne-2D ukuya kwi-3D deformation.Sibonisa apha iindlela ezininzi zokucwangcisa ilaphu elisicaba elikrelekrele kwizakhiwo ezinqwenelekayo.
Ukongeza ekwandiseni i-domain kwi-linear direction, amaphepha adibeneyo adibeneyo anokucwangciswa ngomatshini ukuze enze ukunyakaza kwe-multimodal (Umfanekiso 6A).Siphinde silungise ukwandiswa kwephepha eliphothiweyo njengentshukumo yokugoba, ukunyanzelisa enye yobuso bayo (phezulu okanye ezantsi) ngomsonto wokuthunga.Amaphepha avame ukugoba ngokubhekiselele kumphezulu wokubopha phantsi koxinzelelo.Kwikhiwane.U-6A ubonisa imizekelo emibini yeepaneli ezilukiweyo ezimila njengo-S xa esinye isiqingatha sicuthene kwicala eliphezulu size esinye sicuthene kwicala elingezantsi.Kungenjalo, unokwenza intshukumo yokugoba ejikelezayo apho kuphela ubuso bonke bunyanzelwa.I-unidirectional ephothiweyo ishidi nayo ingenziwa kwi-sleeve yoxinzelelo ngokudibanisa iziphelo zayo ezimbini kwisakhiwo se-tubular (Umfanekiso 6B).Umkhono unxitywa phezu komnwe wesalathisi somntu ukunika ucinezelo, uhlobo lonyango lokuphulula intlungu okanye ukuphucula ukuhamba kwegazi.Inokulinganiswa ukuze ilingane namanye amalungu omzimba afana neengalo, isinqe kunye nemilenze.
Ukukwazi ukuluka amaphepha kwicala elinye.(A) Ukwenziwa kwezakhiwo ezinokukhubazeka ngenxa yokucwangciswa kobume bemisonto yokuthunga.(B) Umkhono wokucinezela iminwe.(C) Olunye uguqulelo lwephepha eliphothiweyo kunye nokuphunyezwa kwalo njengomkhono wokunyanzeliswa kwe-forearm.DIinkcukacha ezineenkcukacha zinokufumaneka kwicandelo leeNdlela.
Umzobo we-6C ubonisa omnye umzekelo wephepha elilukiweyo elingaqhelekanga elenziwe kwi-AMF enye kunye nomsonto womqhaphu.Iphepha lingakhula nge-45% kwindawo (kwi-1.2 MPa) okanye ibangele ukunyakaza kwesetyhula phantsi koxinzelelo.Siphinde safaka ishidi ukwenza umkhono woxinzelelo lwe-forearm ngokufaka iintambo zemagneti ekupheleni kwephepha.Enye iprototype forearm compression sleeve iboniswe kwiFig. 6D, apho amaphepha adityanisiweyo adityanisiweyo enziwe nge-Unidirectional AMF (bona IiNdlela) kunye nemisonto ye-acrylic ukuvelisa amandla oxinzelelo olunamandla.Sixhobise iziphelo zamaphepha ngeentambo zeVelcro zokuncamathisela lula kunye nobukhulu bezandla ezahlukeneyo.
Ubuchwephesha bokuthintela, obuguqula ukwandiswa komgca ube sisindululo sokugoba, bukwasebenza kushicilelo olulukiweyo oluphindwe kabini.Siluke imisonto yomqhaphu kwelinye icala le-warp kunye ne-weft elukiweyo amaphepha ukuze angandi (Fig. 7A).Ke, xa ii-AMF ezimbini zifumana uxinzelelo lwehydraulic ngokuzimeleyo enye kwenye, iphepha lidlula kwi-bi-directional ukugoba ukwenza isakhiwo esine-dimensional ezintathu.Ngenye indlela, sisebenzisa imisonto engenakwandiswa ukukhawulela ulwalathiso olunye lwamaphepha alukiweyo e-bidirectional (Umfanekiso 7B).Ngaloo ndlela, iphepha linokwenza ukugoba okuzimeleyo kunye nokwelula iintshukumo xa i-AMF ehambelanayo iphantsi koxinzelelo.Kwikhiwane.I-7B ibonisa umzekelo apho i-bidirectional ishidi ephothiweyo ilawulwa ukugoqa malunga nesibini kwisithathu somnwe womntu kunye nentshukumo yokugoba kwaye yandise ubude bayo ukuze igubungele intsalela ngentshukumo yolula.Iindlela ezimbini zokuhamba zamaphepha zinokuba luncedo kuyilo lwefashoni okanye ukuphuhliswa kwempahla ehlakaniphile.
Ishiti elilukiweyo elinamacala amabini, iphepha elinithiweyo kunye nesakhono soyilo esinokwandiswa.(A) Iiphaneli ze-bi-directional eziboshiweyo ezidibeneyo ze-bi-directional ukwenza i-bi-directional bend.(B) Iiphaneli ze-wicker ezithintelwe ngokungaqhelekanga zivelisa i-flex kunye nobude.C(D) ukunqunyulwa komgca osembindini wolwakhiwo olunwebekayo lwenza i-hyperbolic parabolic shape (iitshiphusi zetapile).
Sidibanise iilophu ezimbini ezikufutshane zemiqolo ephezulu kunye nesezantsi yenxalenye edibeneyo kunye nentambo yokuthunga ukwenzela ukuba ingayi kutyhilwa (Umfanekiso 7C).Ke, ishidi elilukiweyo libhetyebhetye ngokupheleleyo kwaye liziqhelanisa kakuhle namagophe omphezulu awahlukeneyo, njengobuso bolusu lwezandla kunye neengalo zomntu.Sakha kwakhona isakhiwo se-tubular (i-sleeve) ngokudibanisa iziphelo zenxalenye edibeneyo kwindlela yokuhamba.Umkhono usongela kakuhle umnwe wesalathisi somntu (Umfanekiso 7C).I-sinuosity yelaphu elilukiweyo libonelela ngokugqwesileyo kunye nokukhubazeka, okwenza kube lula ukuyisebenzisa kwi-smart wear (iiglavu, i-sleeve ye-compression), inika induduzo (ngokufaneleka) kunye nefuthe lonyango (ngoxinzelelo).
Ukongeza kulwandiso lweradial ye-2D kwiindlela ezininzi, amashiti alukiweyo ajikelezayo anokucwangciswa ukuba enze izakhiwo ze-3D.Sinciphise umgca ophakathi we-braid ejikelezayo kunye nomsonto we-acrylic ukuphazamisa ukwandiswa kwe-radial efanayo.Ngenxa yoko, imilo ethe tyaba yoqobo yephepha elilukiweyo elingqukuva latshintshwa layimilo ye-hyperbolic parabolic (okanye iitshiphusi zetapile) emva koxinzelelo (Fig. 7D).Obu buchule bokutshintsha imilo bunokuphunyezwa njengesixhobo sokuphakamisa, ilensi yamehlo, imilenze yerobhothi ehambayo, okanye inokuba luncedo kuyilo lwefashoni kunye neerobhothi zebhayonikhi.
Siphuhlise ubuchule obulula bokudala iidrives eziguquguqukayo ngokuncamathelisa i-AMF kumtya welaphu elinganwebekiyo (Umfanekiso 3).Sisebenzisa le ngcamango ukwenza imisonto elungelelanisiweyo apho sinokuthi ngobuchule sisasaze amacandelo amaninzi asebenzayo kunye ne-passive kwi-AMF enye ukudala iimilo ezinqwenelekayo.Sayila saza sacwangcisa imicu emine esebenzayo enokutshintsha imilo yayo ukusuka ngokuthe ngqo ukuya kwileta (UNSW) njengoko uxinzelelo lwalunyukile (iFig. S4 eyoNgezelelweyo).Le ndlela ilula ivumela ukukhubazeka kwe-AMF ukuguqula imigca ye-1D ibe yimilo ye-2D kwaye mhlawumbi nezakhiwo ze-3D.
Ngendlela efanayo, sasebenzisa i-AMF enye ukuze siphinde sihlaziye isiqwenga se-tissue eqhelekileyo ye-passive kwi-tetrapod esebenzayo (Umfanekiso 8A).Iikhonsepthi zomzila kunye nenkqubo ziyafana nezo ziboniswe kuMfanekiso 3C.Nangona kunjalo, endaweni yamaphepha angama-rectangular, baqala ukusebenzisa amalaphu kunye nephethini ye-quadrupedal (i-turtle, i-cotton muslin).Ngoko ke, imilenze inde kwaye isakhiwo sinokuphakanyiswa phezulu.Ukuphakama kwesakhiwo kwandisa ngokuthe ngcembe phantsi koxinzelelo de imilenze yayo i-perpendicular emhlabeni.Ukuba uxinzelelo lwe-inlet luyaqhubeka nokunyuka, imilenze iya kugoba ngaphakathi, iyancipha ukuphakama kwesakhiwo.I-Tetrapods inokwenza i-locomotion ukuba imilenze yabo ixhotyiswe ngeepateni ze-unidirectional okanye isebenzise ii-AMF ezininzi kunye nezicwangciso zokulawula ukunyakaza.Iirobhothi ezithambileyo zokuhambisa izithuthi ziyafuneka kwimisebenzi eyahlukeneyo, kubandakanya ukuhlangula kwimililo yasendle, izakhiwo ezidilikileyo okanye indawo enobungozi, kunye neerobhothi zokuhanjiswa kweziyobisi zonyango.
Ilaphu liphinda liqwalaselwe ukwenza izakhiwo zokutshintsha imilo.(A) Gcoba i-AMF kumda wephepha lelaphu le-passive, liguqule libe yisakhiwo esinemilenze emine.(BD) Eminye imizekelo emibini yohlengahlengiso lwezicubu, ukuguqula amabhabhathane angasebenziyo kunye neentyatyambo zibe zisebenzayo.Ilaphu elinganwenwiyo: i-cotton muslin ecacileyo.
Siphinde sithathe ithuba lokulula kunye nokuguquguquka kobu buchule bokulungiswa kwakhona kwezicubu ngokuzisa izakhiwo ezibini ezongezelelweyo ze-bioinspired zokulungisa ngokutsha (Amanani 8B-D).Nge-AMF enokushenxiswa, ezi zakhiwo zikhubazekayo ziphinda ziqwalaselwe ukusuka kumaphepha ee-tissue ze-passive ukuya kwizakhiwo ezisebenzayo neziqhubayo.Iphefumlelwe yibhabhathane ye-monarch, senza isakhiwo sebhabhathane esiguqulayo sisebenzisa isiqwenga selaphu elifana nebhabhathane (cotton muslin) kunye neqhekeza elide le-AMF linamathele phantsi kwamaphiko ayo.Xa i-AMF iphantsi koxinzelelo, amaphiko asonga.NjengeMonarch Butterfly, amaphiko eButterfly Robot asekhohlo nasekunene aphaphatheka ngendlela efanayo kuba omabini alawulwa yi-AMF.Iiflaphu zebhabhathane zezeenjongo zokubonisa kuphela.Ayinakubhabha njengeNtaka eSmart (Festo Corp., USA).Senze nentyatyambo yelaphu (Figure 8D) equlathe iileya ezimbini zeepetali ezintlanu inye.Sibeka i-AMF ngaphantsi koluhlu ngalunye emva komda wangaphandle weepetali.Ekuqaleni, iintyatyambo ziqhakaza ngokupheleleyo, kwaye onke amaqabunga avuleke ngokupheleleyo.Ngaphantsi koxinzelelo, i-AMF ibangela ukunyakaza okugoba kwamagqabi, okubangela ukuba bavale.Ii-AMF ezimbini zilawula ngokuzimeleyo ukuhamba kwemigangatho emibini, ngelixa iipetali ezintlanu zomaleko omnye ziguquguquka ngaxeshanye.