摘要：The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.

摘要：目的 研究可视性圆角鼻贴联合半球形网状兜固定胃肠减压效果,并探究其临床价值。方法 选取杭州市临平区第一人民医院2020年1月至12月留置胃肠减压患者128例,按随机数字表法将其分为对照组和研究组,每组64例。对照组使用常规直角“人”形鼻贴联合别针固定胃肠减压,研究组采用“可视性圆角”鼻贴联合半球形网状兜固定。比较两组鼻贴更换频率、胃肠减压器脱落率、非计划性拔管率、鼻部皮肤不良反应发生率和不同处理时间睡眠情况(置管后第1、3、5天)、舒适度评分等差异。结果 研究组鼻脸贴更换频率、胃肠减压器脱落率、非计划性拔管率及鼻部皮肤不良反应发生率低于对照组,差异有统计学意义(P<0.05)。两组睡眠情况组间、时间比较,差异有统计学意义(P<0.05)。研究组心理、生理、社会、环境及整体评分高于对照组,差异有统计学意义(P<0.05)。结论 本研究设计的胃肠减压固定方法可有效降低非计划性拔管率,提高医疗效果及患者舒适度,值得临床应用推广。