Software Robot Driver and Sensing Technology

Soft robots have the advantages of high flexibility, strong environmental adaptability, and safe human-computer interaction. They have great potential in medical rehabilitation, industrial grasping, and other fields. Drive and sensing technology is the key to achieving precise and controllable motion, and it is also the focus and difficulty of current research. This article provides a comprehensive discussion on the main driving and sensing technologies of soft robots. In terms of driving, this article focuses on the principles, strengths, weaknesses, and usage scenarios of three mainstream technologies: pneumatic driving, shape memory alloy driving, and dielectric elastomer driving. In terms of sensors, it involves flexible sensor technology for achieving ontology perception and external perception, as well as how to integrate them. Then, specific examples such as soft rehabilitation gloves, biomimetic muscle drivers, soft grippers, and adaptive grasping control are used to describe how these technologies work together in practical systems and provide corresponding completion plans. This study aims to provide technical references for the design and application of soft robots.