Title :

A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Author(s) :

Escaida Navarro, Stefan [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Hein, Björn [Auteur]
Institute for Materials Research [Diepenbeek]
Navarro, Stefan Escaida [Auteur]
Institute of Nanotechnology [Karlsruhe] [INT]
Nagels, Steven [Auteur]
Institute for Materials Research [Diepenbeek]
Alagi, Hosam [Auteur]
Institute of Nanotechnology [Karlsruhe] [INT]
Faller, Lisa-Marie [Auteur]
Carinthia University of Applied Sciences
Goury, Olivier [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Morales Bieze, Thor [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Zangl, Hubert [Auteur]
Alpen-Adria-Universität Klagenfurt [Klagenfurt, Austria]
Hein, Bjorn [Auteur]
Institute of Nanotechnology [Karlsruhe] [INT]
Ramakers, Raf [Auteur]
Expertise centre for Digital Media [Hasselt] [EDM]
Deferme, Wim [Auteur]
Institute for Materials Research [Diepenbeek]
Zheng, Gang [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]

Journal title :

IEEE Robotics and Automation Letters

Pages :

5621-5628

Publisher :

IEEE

Publication date :

2020

ISSN :

2377-3766

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique
Informatique [cs]/Robotique [cs.RO]

English abstract : [en]

In this paper, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of a soft capacitive sensor to find a contact's ...
Show more >In this paper, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of a soft capacitive sensor to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the deformation. Using a FEM-based numerical approach, we integrate both sensing streams and model two Soft Robotics devices we have conceived. These devices are a Soft Pad and a Soft Finger. We show in an evaluation that external forces on the Soft Pad can be estimated and that the shape of the Soft Finger can be reconstructed.Show less >

Language :

Anglais

Popular science :

Non

ANR Project :

COntrol and Modelling for sOft RObots in Surgery
robotisation de l'implant cochléaire

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL