Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing.

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-07-30 DOI:10.1089/soro.2023.0242
Dionysios Malas, Guokai Zhang, Shuai Wang, Wei Huang, Lukas Lindenroth, Bingyu Yang, Wenfeng Xia, Hongbin Liu
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Abstract

Soft robots have morphological characteristics that make them preferred candidates, over their traditionally rigid counterparts, for executing physical interaction tasks with the environment. Therefore, equipping them with force sensing is essential for ensuring safety, enhancing their controllability, and adding autonomy. At the same time, it is necessary to preserve their inherent flexibility when integrating sensory units. Soft-fluidic actuators (SFAs) with hydraulic actuation address some of the challenges posed by the compressibility of pneumatic actuation while maintaining system compliance. This research further investigates the feasibility of utilizing the incompressible actuation fluid as the means of actuation and of multiaxial sensing. We have developed a hyperelastic model for the actuation pressure, acting as a baseline pressure. Any disparities from the baseline have been mapped to external forces, using the principle of pressure-based fluidic soft sensor. Computed tomography imaging has been used to examine inner deformation and validate the analytically derived actuation-pressure model. The induced stresses within the SFA are examined using COMSOL simulations, contributing to the development of a calibration algorithm, which accounts for geometric and cross-sectional nonlinearities and maps pressure variations with tip forces. Two force types (concentrated and distributed) acting on our SFA under different configurations are examined, using two experimental setups described as "Point Load" and "Distributed Force." The force sensing algorithm achieves high accuracy with a maximum absolute error of 0.32N for forces with a magnitude of up to 6N.

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流体多腔致动器和多轴本征力传感。
与传统的刚性机器人相比,软体机器人的形态特征使其成为执行与环境进行物理交互任务的首选。因此,为它们配备力传感装置对于确保安全、提高可控性和自主性至关重要。同时,在集成传感单元时,有必要保持其固有的灵活性。采用液压致动器的软流体致动器(SFA)在保持系统顺应性的同时,解决了气动致动器的可压缩性所带来的一些挑战。这项研究进一步探讨了利用不可压缩致动器流体作为致动器和多轴传感手段的可行性。我们开发了一个超弹性致动压力模型,作为基线压力。利用基于压力的流体软传感器原理,将与基线的任何差异映射为外力。计算机断层扫描成像用于检查内部变形,并验证分析得出的致动压力模型。利用 COMSOL 仿真对 SFA 内部的诱导应力进行了检查,从而促进了校准算法的开发,该算法考虑了几何和横截面非线性因素,并映射了压力变化与顶端力的关系。使用 "点载荷 "和 "分布力 "两种实验设置,对不同配置下作用于 SFA 的两种力类型(集中力和分布力)进行了检验。力传感算法达到了很高的精度,对于最大 6N 的力,最大绝对误差为 0.32N。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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