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Curvature sensing of a soft robot based on conductive foam
Citation Link: https://doi.org/10.15480/882.4041
Publikationstyp
Journal Article
Date Issued
2021-12-14
Sprache
English
Author(s)
Institut
TORE-DOI
Volume
21
Issue
1
Article Number
e202100148
Citation
PAMM 21 (1): e202100148 (2021)
Publisher DOI
Publisher
Wiley-VCH
Peer Reviewed
true
Soft material robots are an emerging and fast-growing field of research [1] with potential application in various technical fields. These applications include, but are not limited to medical applications and all sorts of human-machine-interaction. Due to the soft structure, conventional components and design methodologies are not applicable. For reliable control and positioning of soft robots in 3D space especially accurate knowledge about their current position and orientation is essential.
In this contribution, a resistive curvature sensor for a soft robot is presented. It is based on electrically conductive foam attached to the soft robot. Deformations of the foam lead to a change in electrical resistance [2] which can be measured and used to determine the curvature of a soft robot. Since the sensor behavior is nonlinear and hysteretic, a neural network is used to determine the curvature of the soft robot from the measured foam resistances.
In this contribution, a resistive curvature sensor for a soft robot is presented. It is based on electrically conductive foam attached to the soft robot. Deformations of the foam lead to a change in electrical resistance [2] which can be measured and used to determine the curvature of a soft robot. Since the sensor behavior is nonlinear and hysteretic, a neural network is used to determine the curvature of the soft robot from the measured foam resistances.
Subjects
MLE@TUHH
DDC Class
004: Informatik
600: Technik
620: Ingenieurwissenschaften
Publication version
acceptedVersion
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Name
Proc Appl Math Mech - 2021 - Grube - Curvature sensing of a soft robot based on conductive foam.pdf
Size
572.2 KB
Format
Adobe PDF