Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404910
S. Grazioso, G. Gironimo, B. Siciliano
In this paper we derive the analytic solutions for the statics of cantilever soft arm under external loading. The main motivation behind this work is the development of manageable and ready-to-use mathematical models of soft robotic arm for various purposes. We formulate the problem exploiting the Lie group structure of the arms' configuration space. This allows using the powerful mathematical tools from differential geometry. The model builds upon the theory of Cosserat rods: the mechanics-based perspective used to describe the kinematics and statics allows including into the model the large deformations due to axial, shear, torsion and bending effects. The position fields of the manipulators' shapes are analytically integrated and validated with respect to exact solutions and experiments.
{"title":"Analytic solutions for the static equilibrium configurations of externally loaded cantilever soft robotic arms","authors":"S. Grazioso, G. Gironimo, B. Siciliano","doi":"10.1109/ROBOSOFT.2018.8404910","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404910","url":null,"abstract":"In this paper we derive the analytic solutions for the statics of cantilever soft arm under external loading. The main motivation behind this work is the development of manageable and ready-to-use mathematical models of soft robotic arm for various purposes. We formulate the problem exploiting the Lie group structure of the arms' configuration space. This allows using the powerful mathematical tools from differential geometry. The model builds upon the theory of Cosserat rods: the mechanics-based perspective used to describe the kinematics and statics allows including into the model the large deformations due to axial, shear, torsion and bending effects. The position fields of the manipulators' shapes are analytically integrated and validated with respect to exact solutions and experiments.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126496659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8405384
Josie Hughes, F. Iida
The development of a universal method for grasping objects of varying morphology, material and size in unstructured environments remains an unsolved challenge. There is no one ‘universal’ solution which can function with low positional precision, can grasp a variety of objects and materials and has easily inter-gratable sensing to allow simple feedback mechanisms to be implemented. This paper works towards this goal, detailing a grasping method utilising the tack force of thermoplastics to enable grasping using a conductive hot melt adhesive (CHMA). CHMA is developed to be conductive and pressure sensitive by including conductive carbon black particles. The material has controllable tackiness and deformation; this combined effect enables high tack forces to be achieved enabling successful grasping of a wide range of objects. Temperature and indentation force primarily control the tack force generated; a theoretical model relating these is given in this paper. This integrated pressure sensing ability enables a feedback system to be implemented to optimise the time taken to grasp and minimise the force required to grasp the object. This feedback system has been integrated to enable a variety of objects to be picked — ranging from highly soft fabric, to PTFE and a soft ball, all of which were tested and analysed for single point pick and place.
{"title":"Tack and deformation based sensorised gripping using conductive hot melt adhesive","authors":"Josie Hughes, F. Iida","doi":"10.1109/ROBOSOFT.2018.8405384","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405384","url":null,"abstract":"The development of a universal method for grasping objects of varying morphology, material and size in unstructured environments remains an unsolved challenge. There is no one ‘universal’ solution which can function with low positional precision, can grasp a variety of objects and materials and has easily inter-gratable sensing to allow simple feedback mechanisms to be implemented. This paper works towards this goal, detailing a grasping method utilising the tack force of thermoplastics to enable grasping using a conductive hot melt adhesive (CHMA). CHMA is developed to be conductive and pressure sensitive by including conductive carbon black particles. The material has controllable tackiness and deformation; this combined effect enables high tack forces to be achieved enabling successful grasping of a wide range of objects. Temperature and indentation force primarily control the tack force generated; a theoretical model relating these is given in this paper. This integrated pressure sensing ability enables a feedback system to be implemented to optimise the time taken to grasp and minimise the force required to grasp the object. This feedback system has been integrated to enable a variety of objects to be picked — ranging from highly soft fabric, to PTFE and a soft ball, all of which were tested and analysed for single point pick and place.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121650543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404947
A. Alspach, Joohyung Kim, K. Yamane
We present the hardware design and fabrication of a soft arm and hand for physical human-robot interaction. The six DOF arm has two air-filled force sensing modules which passively absorb impact and provide contact force feedback. The arm has an inflated outer cover which encloses the arm's underlying mechanisms and force sensing modules. An internal projector projects a display on the inside of the cover which is visible from the outside. On the end of the arm is a 3D printed hand with air-filled, force sensing fingertips. We validate the efficacy of the outer cover design by bending the arm to reach out and grasp an object. The outer cover performs as intended, providing enough volume and range of motion for the arm to move, and stretching at the elastic relief features in the cover. We also validate the hand design by implementing a grasping algorithm in which the fingers follow a closing trajectory, make contact, then maintain a given range of fingertip pressure. Using this algorithm, the hand is able to gently grasp a soft object.
{"title":"Design and fabrication of a soft robotic hand and arm system","authors":"A. Alspach, Joohyung Kim, K. Yamane","doi":"10.1109/ROBOSOFT.2018.8404947","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404947","url":null,"abstract":"We present the hardware design and fabrication of a soft arm and hand for physical human-robot interaction. The six DOF arm has two air-filled force sensing modules which passively absorb impact and provide contact force feedback. The arm has an inflated outer cover which encloses the arm's underlying mechanisms and force sensing modules. An internal projector projects a display on the inside of the cover which is visible from the outside. On the end of the arm is a 3D printed hand with air-filled, force sensing fingertips. We validate the efficacy of the outer cover design by bending the arm to reach out and grasp an object. The outer cover performs as intended, providing enough volume and range of motion for the arm to move, and stretching at the elastic relief features in the cover. We also validate the hand design by implementing a grasping algorithm in which the fingers follow a closing trajectory, make contact, then maintain a given range of fingertip pressure. Using this algorithm, the hand is able to gently grasp a soft object.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115392872","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404934
R. A. Bilodeau, Asian Miriyev, Hod Lipson, Rebecca Kramer‐Bottiglio
In this paper, we present an improvement to a recently developed thermally responsive silicone-based actuator. The actuator is made of silicone with dispersed solvent droplets and expands when the droplets undergo a liquidgas phase transition, which is achieved at low voltages using an embedded Joule heater. In previous work, the embedded heater was a nickel-chromium spiral-shaped Joule heating wire. In the present work, we replace the wire with a silicone-based conductive composite to create a fully soft actuator. We characterize the thermal response of the conductive composite for Joule heating the actuator and the blocked force of the actuator when implemented as a McKibben-like muscle. From this, we show that the conductive composite performs as well as the original wire heater, with improved material compatibility. Finally, we demonstrate a 20 g silicone actuator embedded with the conductive composite lifting its 4.3 kg DC power source.
{"title":"All-soft material system for strong soft actuators","authors":"R. A. Bilodeau, Asian Miriyev, Hod Lipson, Rebecca Kramer‐Bottiglio","doi":"10.1109/ROBOSOFT.2018.8404934","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404934","url":null,"abstract":"In this paper, we present an improvement to a recently developed thermally responsive silicone-based actuator. The actuator is made of silicone with dispersed solvent droplets and expands when the droplets undergo a liquidgas phase transition, which is achieved at low voltages using an embedded Joule heater. In previous work, the embedded heater was a nickel-chromium spiral-shaped Joule heating wire. In the present work, we replace the wire with a silicone-based conductive composite to create a fully soft actuator. We characterize the thermal response of the conductive composite for Joule heating the actuator and the blocked force of the actuator when implemented as a McKibben-like muscle. From this, we show that the conductive composite performs as well as the original wire heater, with improved material compatibility. Finally, we demonstrate a 20 g silicone actuator embedded with the conductive composite lifting its 4.3 kg DC power source.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129495739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404933
Gabriel Dämmer, Sven Gablenz, A. Hildebrandt, Z. Major
With regard to future robotic systems, the combination of Additive Manufacturing (AM) and pneumatic actuation yields multiple opportunities. Bellows actuators are exceptionally suitable for AM as the required geometrical complexity can easily be obtained and their functionality is not affected by rough surfaces and small dimensional accuracy. In this paper, multi-material PolyJet printable linear bellows actuators are presented. A design strategy based on finite elements analysis and numerical shape optimization is proposed and validated by experimental testing under quasi-static and repeated loading conditions. The presented results are useful for researchers and engineers considering the application of AM soft material bellows actuators for robots and other dynamic systems.
{"title":"Design and shape optimization of PolyJet bellows actuators","authors":"Gabriel Dämmer, Sven Gablenz, A. Hildebrandt, Z. Major","doi":"10.1109/ROBOSOFT.2018.8404933","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404933","url":null,"abstract":"With regard to future robotic systems, the combination of Additive Manufacturing (AM) and pneumatic actuation yields multiple opportunities. Bellows actuators are exceptionally suitable for AM as the required geometrical complexity can easily be obtained and their functionality is not affected by rough surfaces and small dimensional accuracy. In this paper, multi-material PolyJet printable linear bellows actuators are presented. A design strategy based on finite elements analysis and numerical shape optimization is proposed and validated by experimental testing under quasi-static and repeated loading conditions. The presented results are useful for researchers and engineers considering the application of AM soft material bellows actuators for robots and other dynamic systems.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121977920","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404896
Thomas Manwell, Binjie Guo, Junghwan Back, Hongbin Liu
This paper presents the development and analysis of a soft worm robot with a bio-inspired setae (bristles) that exhibits efficient locomotion using anisotropic friction. The worm robot is made of elastic braided mesh. A novel method of using conductive thread as the driving tendons as a length detection sensor is employed. An artificial form of setae, inspired by the setae of the biological earthworm, is presented, that is passively regulated and engaged when the worm robot compresses so that it creates a form of anisotropic friction, allowing forward motion only. The result is a single segment worm robot with forward locomotion capability. The design of the setae structure and the mesh robot body, its controlled fabrication process, the properties of the friction produced by the artificial setae, an analysis of the efficiency of the locomotion are each introduced in this paper.
{"title":"Bioinspired setae for soft worm robot locomotion","authors":"Thomas Manwell, Binjie Guo, Junghwan Back, Hongbin Liu","doi":"10.1109/ROBOSOFT.2018.8404896","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404896","url":null,"abstract":"This paper presents the development and analysis of a soft worm robot with a bio-inspired setae (bristles) that exhibits efficient locomotion using anisotropic friction. The worm robot is made of elastic braided mesh. A novel method of using conductive thread as the driving tendons as a length detection sensor is employed. An artificial form of setae, inspired by the setae of the biological earthworm, is presented, that is passively regulated and engaged when the worm robot compresses so that it creates a form of anisotropic friction, allowing forward motion only. The result is a single segment worm robot with forward locomotion capability. The design of the setae structure and the mesh robot body, its controlled fabrication process, the properties of the friction produced by the artificial setae, an analysis of the efficiency of the locomotion are each introduced in this paper.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122274958","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404914
John Nassour, Vishal Ghadiya, V. Hugel, F. Hamker
This paper presents the design of a new sensory soft hand that can be adapted to the wrists of small humanoids like the NAO robot. The fingers of the hand can act as a gripper thanks to air pump actuation. The innovation resides in the internal face of each finger which is equipped with a superimposition of four piezo resistive sensors and one curvature sensor. Thanks to this multi-layered arrangement of sensors, it is possible to estimate the curved shape of the fingers and the amount of pressure that is exerted by the object grasped by the hand. The combination of forces and deformation measurements resulting from the interaction of the gripper with external objects is essential for the quality of the grasp, and even allows to estimate properties of the object. In addition to usual advantages of soft grippers like mechanical compliance, shock resistance, and lightweight, this gripper is simple to manufacture, low cost and easy to fit.
{"title":"Design of new Sensory Soft Hand: Combining air-pump actuation with superimposed curvature and pressure sensors","authors":"John Nassour, Vishal Ghadiya, V. Hugel, F. Hamker","doi":"10.1109/ROBOSOFT.2018.8404914","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404914","url":null,"abstract":"This paper presents the design of a new sensory soft hand that can be adapted to the wrists of small humanoids like the NAO robot. The fingers of the hand can act as a gripper thanks to air pump actuation. The innovation resides in the internal face of each finger which is equipped with a superimposition of four piezo resistive sensors and one curvature sensor. Thanks to this multi-layered arrangement of sensors, it is possible to estimate the curved shape of the fingers and the amount of pressure that is exerted by the object grasped by the hand. The combination of forces and deformation measurements resulting from the interaction of the gripper with external objects is essential for the quality of the grasp, and even allows to estimate properties of the object. In addition to usual advantages of soft grippers like mechanical compliance, shock resistance, and lightweight, this gripper is simple to manufacture, low cost and easy to fit.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122371013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404946
Hiep Xuan Trinh, V. A. Ho, K. Shibuya
Previously, we have developed an active tactile sensing system that can select sensing modalities based on specific sensing tasks by changing its morphology, named Wrin'Tac. This tactile sensing system is constructed by an integration of actuation (pneumatic actuator) and sensing elements (strain gauge) inside a thin, multi-layered substrate. Under pressurization, the morphology of the substrate surface changes with the appearances of wrinkle. As a result, this device can detect both static load under indentation and dynamic sliding action by using only a single type of sensing element (strain gauge). In this paper, we present a computational model for estimation of the wrinkle's morphology and prediction of output of embedded sensing elements. The shape of the wrinkle and the posture of the sensing element are evaluated by calculating the height of the wrinkle. The wrinkle's mechanical change is assessed by ascertaining the stiffness of the wrinkle under vertical indentation by a spherical indenter. The output voltages of the sensor are calculated by the proposed model and the experimental values have an error of less than 10%, which validates the accuracy of the proposed model. We also pointed out the role of the wrinkle's morphology to the sensor's sensitivity, implying that this sensing system may select suitable sensitivity for specific sensation tasks. This work is expected to pave a way for assessing the role of morphological change to tactile sensation, and development of soft active tactile sensing systems.
{"title":"Tactile sensing system with wrinkle's morphological change: Modeling","authors":"Hiep Xuan Trinh, V. A. Ho, K. Shibuya","doi":"10.1109/ROBOSOFT.2018.8404946","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404946","url":null,"abstract":"Previously, we have developed an active tactile sensing system that can select sensing modalities based on specific sensing tasks by changing its morphology, named Wrin'Tac. This tactile sensing system is constructed by an integration of actuation (pneumatic actuator) and sensing elements (strain gauge) inside a thin, multi-layered substrate. Under pressurization, the morphology of the substrate surface changes with the appearances of wrinkle. As a result, this device can detect both static load under indentation and dynamic sliding action by using only a single type of sensing element (strain gauge). In this paper, we present a computational model for estimation of the wrinkle's morphology and prediction of output of embedded sensing elements. The shape of the wrinkle and the posture of the sensing element are evaluated by calculating the height of the wrinkle. The wrinkle's mechanical change is assessed by ascertaining the stiffness of the wrinkle under vertical indentation by a spherical indenter. The output voltages of the sensor are calculated by the proposed model and the experimental values have an error of less than 10%, which validates the accuracy of the proposed model. We also pointed out the role of the wrinkle's morphology to the sensor's sensitivity, implying that this sensing system may select suitable sensitivity for specific sensation tasks. This work is expected to pave a way for assessing the role of morphological change to tactile sensation, and development of soft active tactile sensing systems.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132814063","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404891
Emanuela Del Dottore, A. Mondini, A. Sadeghi, B. Mazzolai
This paper presents a kinematic model inspired by plant growth strategies and used to describe the movement of a robotic root, able to self-build its body structure using a 3D printer-like mechanism embedded in its tip. The proposed model is implemented in simulation and validated through a comparative analysis of the position, in space, of the robotic and simulated tip, obtaining a maximal positional error of ∼7% with the smallest curvature radius within a curvature arc of ∼10 cm. The model is able to describe the motion of any robot that navigates its environment and moves by growing from the tip in a 3D space, and it has been validated on a plant-inspired robot. The new emerging generation of growing robots offers an alternative locomotion perspective in robotics, which is grounded on the ability of this kind of bioinspired robots to morphologically and dynamically adapt their body to surrounding environments, offering new scenarios of use in search and rescue tasks, and hazardous conditions.
{"title":"A plant-inspired kinematic model for growing robots","authors":"Emanuela Del Dottore, A. Mondini, A. Sadeghi, B. Mazzolai","doi":"10.1109/ROBOSOFT.2018.8404891","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404891","url":null,"abstract":"This paper presents a kinematic model inspired by plant growth strategies and used to describe the movement of a robotic root, able to self-build its body structure using a 3D printer-like mechanism embedded in its tip. The proposed model is implemented in simulation and validated through a comparative analysis of the position, in space, of the robotic and simulated tip, obtaining a maximal positional error of ∼7% with the smallest curvature radius within a curvature arc of ∼10 cm. The model is able to describe the motion of any robot that navigates its environment and moves by growing from the tip in a 3D space, and it has been validated on a plant-inspired robot. The new emerging generation of growing robots offers an alternative locomotion perspective in robotics, which is grounded on the ability of this kind of bioinspired robots to morphologically and dynamically adapt their body to surrounding environments, offering new scenarios of use in search and rescue tasks, and hazardous conditions.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131625396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404909
Alexander M. Hart, Lucas O. Tiziani, Ji-Hwan Jung, Frank L. Hammond
This paper presents an optical sensing method for measuring complex deformations in soft pneumatic actuators. The proposed approach involves a reflective elastic diaphragm which changes shape and position as an actuator deforms, producing measurable changes in reflected infrared (IR) light which are then used to monitor and control the kinematic and kinetic states of the actuators. In this approach, we place arrays of IR detectors near a diaphragm to capture light reflected from several angles and positions and enable the estimation of multiple coupled deformation modes simultaneously. These IR detector data, along with actuation pressure data, is used to train model that decouples complex pneumatic actuator motion into the desired actuator degrees of freedom. As an illustrative example, three soft reflective sensors are used to measure the motion of a pneumatic bending actuator having both flexion and abduction DOFs. A simple linear regression model trained on diaphragm sensor and pressure data yielded accurate and repeatable position estimates for both DOFs. Experimental evaluation of the bending actuators in a soft grasp assist device demonstrate that the reflective diaphragm sensors, when combined with actuation pressure data, allow detection of actuator tip motion and contact forces.
{"title":"Deformable reflective diaphragm sensors for control of soft pneumatically actuated devices","authors":"Alexander M. Hart, Lucas O. Tiziani, Ji-Hwan Jung, Frank L. Hammond","doi":"10.1109/ROBOSOFT.2018.8404909","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404909","url":null,"abstract":"This paper presents an optical sensing method for measuring complex deformations in soft pneumatic actuators. The proposed approach involves a reflective elastic diaphragm which changes shape and position as an actuator deforms, producing measurable changes in reflected infrared (IR) light which are then used to monitor and control the kinematic and kinetic states of the actuators. In this approach, we place arrays of IR detectors near a diaphragm to capture light reflected from several angles and positions and enable the estimation of multiple coupled deformation modes simultaneously. These IR detector data, along with actuation pressure data, is used to train model that decouples complex pneumatic actuator motion into the desired actuator degrees of freedom. As an illustrative example, three soft reflective sensors are used to measure the motion of a pneumatic bending actuator having both flexion and abduction DOFs. A simple linear regression model trained on diaphragm sensor and pressure data yielded accurate and repeatable position estimates for both DOFs. Experimental evaluation of the bending actuators in a soft grasp assist device demonstrate that the reflective diaphragm sensors, when combined with actuation pressure data, allow detection of actuator tip motion and contact forces.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132202826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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