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Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method

Perception in soft robotics is crucial to allow a safe interaction to effectively explore the environment. Despite the inherent capabilities of soft materials, embedding reliable sensing in soft actuators or robots could introduce constraints in the overall design (e.g., loss of deformability, undes...

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Autores principales: Joe, Seonggun, Wang, Hongbo, Totaro, Massimo, Beccai, Lucia
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10262191/
https://www.ncbi.nlm.nih.gov/pubmed/37324169
http://dx.doi.org/10.3389/frobt.2021.742885
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author Joe, Seonggun
Wang, Hongbo
Totaro, Massimo
Beccai, Lucia
author_facet Joe, Seonggun
Wang, Hongbo
Totaro, Massimo
Beccai, Lucia
author_sort Joe, Seonggun
collection PubMed
description Perception in soft robotics is crucial to allow a safe interaction to effectively explore the environment. Despite the inherent capabilities of soft materials, embedding reliable sensing in soft actuators or robots could introduce constraints in the overall design (e.g., loss of deformability, undesired trajectories, etc.) or reduce their compliant characteristics. Consequently, an adequate stiffness for both sensor and actuator becomes a crucial design parameter. In particular, for sensing the deformation related to actuation motion, sensing and actuating strategies must work in full mechanical synergy. In this view, an inductive sensing solution is presented, exploiting open-cell foam and a copper (Cu) wire in an Inductive Foam Sensor (IFS). Due to entangled air cells high deformability is enabled upon vacuum pressure, and proprioceptive information is provided. The IFS is then successfully integrated into the earlier developed Ultralight Hybrid Pneumatic Artificial Muscle (UH-PAM), which encases an elastomeric bellow skin and plastic rings. Such sensorized UH-PAM (SUH-PAM) is capable of a high contraction ratio (54% upon −80 kPa), while the inductive sensing shows a high sensitivity of 0.01031/1% and a hysteresis of 5.35%, with an average error of 1.85%, respectively. In order to implement a robust feedback control system, an adaptable proportional sliding mode control is presented. As a result, the SUH-PAM motion can be controlled to the mm-scale, with an RMSE of 0.925 mm, and high robustness against disturbances is demonstrated.
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spelling pubmed-102621912023-06-15 Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method Joe, Seonggun Wang, Hongbo Totaro, Massimo Beccai, Lucia Front Robot AI Robotics and AI Perception in soft robotics is crucial to allow a safe interaction to effectively explore the environment. Despite the inherent capabilities of soft materials, embedding reliable sensing in soft actuators or robots could introduce constraints in the overall design (e.g., loss of deformability, undesired trajectories, etc.) or reduce their compliant characteristics. Consequently, an adequate stiffness for both sensor and actuator becomes a crucial design parameter. In particular, for sensing the deformation related to actuation motion, sensing and actuating strategies must work in full mechanical synergy. In this view, an inductive sensing solution is presented, exploiting open-cell foam and a copper (Cu) wire in an Inductive Foam Sensor (IFS). Due to entangled air cells high deformability is enabled upon vacuum pressure, and proprioceptive information is provided. The IFS is then successfully integrated into the earlier developed Ultralight Hybrid Pneumatic Artificial Muscle (UH-PAM), which encases an elastomeric bellow skin and plastic rings. Such sensorized UH-PAM (SUH-PAM) is capable of a high contraction ratio (54% upon −80 kPa), while the inductive sensing shows a high sensitivity of 0.01031/1% and a hysteresis of 5.35%, with an average error of 1.85%, respectively. In order to implement a robust feedback control system, an adaptable proportional sliding mode control is presented. As a result, the SUH-PAM motion can be controlled to the mm-scale, with an RMSE of 0.925 mm, and high robustness against disturbances is demonstrated. Frontiers Media S.A. 2021-12-14 /pmc/articles/PMC10262191/ /pubmed/37324169 http://dx.doi.org/10.3389/frobt.2021.742885 Text en Copyright © 2021 Joe, Wang, Totaro and Beccai. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Joe, Seonggun
Wang, Hongbo
Totaro, Massimo
Beccai, Lucia
Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method
title Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method
title_full Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method
title_fullStr Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method
title_full_unstemmed Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method
title_short Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method
title_sort sensing deformation in vacuum driven foam-based actuator via inductive method
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10262191/
https://www.ncbi.nlm.nih.gov/pubmed/37324169
http://dx.doi.org/10.3389/frobt.2021.742885
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