CASIA OpenIR  > 智能微创医疗技术团队
Toward Intrinsic Force Sensing and Control in Parallel Soft Robots
Lindenroth, Lukas1,2; Stoyanov, Danail1; Rhode, Kawal3; Liu, Hongbin3,4,5
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN1083-4435
2022-10-05
页码12
通讯作者Lindenroth, Lukas(lukas.lindenroth@kcl.ac.uk) ; Liu, Hongbin(hongbin.liu@kcl.ac.uk)
摘要With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing mechanisms. While this has mainly been shown in tendon-based continuum manipulators or deformable robots comprising of push-pull rod actuation, fluid drives still pose great challenges due to high actuation variability and nonlinear mechanical system responses. In this work, we investigate the capabilities of a hydraulic, parallel soft robot to intrinsically sense and subsequently control contact forces. A comprehensive algorithm is derived for static, quasi-static, and dynamic force sensing, which relies on fluid volume and pressure information of the system. The algorithm is validated for a single degree-of-freedom soft fluidic actuator. Results indicate that axial forces acting on a single actuator can be estimated with mean error of 0.56 +/- 0.66 N within the validated range of 0-6 N in a quasi-static configuration. The force sensing methodology is applied to force control in a single actuator as well as the coupled parallel robot. It can be seen that forces are controllable for both systems, with the capability of controlling directional contact forces in case of the multidegree-of-freedom parallel soft robot.
关键词Robot sensing systems Force Sensors Robots Soft robotics Actuators Hydraulic systems Force control force feedback hydraulic actuators soft robotics
DOI10.1109/TMECH.2022.3210065
关键词[WOS]CONTACT FORCE ; POSITION
收录类别SCI
语种英语
资助项目InnoHK initiative of the Hong Kong SAR ; EPSRC of the UK[EP/R013977/1]
项目资助者InnoHK initiative of the Hong Kong SAR ; EPSRC of the UK
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000865085500001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
被引频次:4[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/50323
专题智能微创医疗技术团队
中国科学院自动化研究所
通讯作者Lindenroth, Lukas; Liu, Hongbin
作者单位1.UCL, Wellcome EPSRC Ctr Intervent & Surg Sci WEISS, London W1W 7EJ, England
2.Kings Coll London, Sch Biomed Engn & Imaging Sci, Dept Surg & Intervent Engn, London WC2R 2LS, England
3.Kings Coll London, Sch Biomed Engn & Imaging Sci, London WC2R 2LS, England
4.Chinese Acad Sci, Inst Automat, Beijing 100045, Peoples R China
5.Chinese Acad Sci, Ctr AI & Robot CAIR, Hong Kong Inst Sci & Innovat, Beijing 100045, Peoples R China
通讯作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Lindenroth, Lukas,Stoyanov, Danail,Rhode, Kawal,et al. Toward Intrinsic Force Sensing and Control in Parallel Soft Robots[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:12.
APA Lindenroth, Lukas,Stoyanov, Danail,Rhode, Kawal,&Liu, Hongbin.(2022).Toward Intrinsic Force Sensing and Control in Parallel Soft Robots.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA Lindenroth, Lukas,et al."Toward Intrinsic Force Sensing and Control in Parallel Soft Robots".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):12.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Lindenroth, Lukas]的文章
[Stoyanov, Danail]的文章
[Rhode, Kawal]的文章
百度学术
百度学术中相似的文章
[Lindenroth, Lukas]的文章
[Stoyanov, Danail]的文章
[Rhode, Kawal]的文章
必应学术
必应学术中相似的文章
[Lindenroth, Lukas]的文章
[Stoyanov, Danail]的文章
[Rhode, Kawal]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。