Robotic Blood Vessel Mechanism to Realize Active Self-Healing Function for Inflatable Actuators^*

摘要

This paper presents a novel approach to improving the self-repair capabilities of soft robots by introducing a self-contained robotic blood vessel mechanism. Aimed at addressing the physical weakness of soft robots from sharp objects, the proposed system is inspired by biological healing processes, utilizing water-absorbent materials to seal damage actively. The study validates the effectiveness of this mechanism through experimental evaluation, showing that the self-healing function is enhanced as the channel area within the wound cross-section is increased. Future directions for research include the optimization of material placement and the adaptation of the system for repeated injuries, paving the way for more resilient inflatable soft robots with active self-healing functions.