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Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators

To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model...

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Autores principales: Ibrahim, Serhat, Krause, Jan Christoph, Olbrich, Alexander, Raatz, Annika
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8317855/
https://www.ncbi.nlm.nih.gov/pubmed/34336931
http://dx.doi.org/10.3389/frobt.2021.557830
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author Ibrahim, Serhat
Krause, Jan Christoph
Olbrich, Alexander
Raatz, Annika
author_facet Ibrahim, Serhat
Krause, Jan Christoph
Olbrich, Alexander
Raatz, Annika
author_sort Ibrahim, Serhat
collection PubMed
description To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actuator is presented. The piecewise constant curvature approach is used to describe the actuator’s shape and deformation variables. For low-level control, the chamber’s lengths are reconstructed from bending angles with a geometrical model and the identified material characteristics. For parameter identification and model validation, data from a camera tracking system is analyzed. Then, a closed-loop control of pressure and chambers’ length of the actuator is investigated. It will be shown, that the reconstruction model is suitable for estimating the state variables of the actuator. In addition, the use of the inertial measurement unit will demonstrate a cost-effective and compact sensor for soft pneumatic actuators.
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spelling pubmed-83178552021-07-29 Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators Ibrahim, Serhat Krause, Jan Christoph Olbrich, Alexander Raatz, Annika Front Robot AI Robotics and AI To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actuator is presented. The piecewise constant curvature approach is used to describe the actuator’s shape and deformation variables. For low-level control, the chamber’s lengths are reconstructed from bending angles with a geometrical model and the identified material characteristics. For parameter identification and model validation, data from a camera tracking system is analyzed. Then, a closed-loop control of pressure and chambers’ length of the actuator is investigated. It will be shown, that the reconstruction model is suitable for estimating the state variables of the actuator. In addition, the use of the inertial measurement unit will demonstrate a cost-effective and compact sensor for soft pneumatic actuators. Frontiers Media S.A. 2021-03-12 /pmc/articles/PMC8317855/ /pubmed/34336931 http://dx.doi.org/10.3389/frobt.2021.557830 Text en Copyright © 2021 Ibrahim, Krause, Olbrich and Raatz. 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
Ibrahim, Serhat
Krause, Jan Christoph
Olbrich, Alexander
Raatz, Annika
Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators
title Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators
title_full Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators
title_fullStr Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators
title_full_unstemmed Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators
title_short Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators
title_sort modeling and reconstruction of state variables for low-level control of soft pneumatic actuators
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8317855/
https://www.ncbi.nlm.nih.gov/pubmed/34336931
http://dx.doi.org/10.3389/frobt.2021.557830
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