TY - GEN
T1 - Shape sensing for soft robotic manipulators
AU - Trivedi, Deepak
AU - Rahn, Christopher D.
PY - 2010
Y1 - 2010
N2 - Soft robotic manipulators are continuum robots made of soft materials that undergo continuous elastic deformation and produce motion with a smooth backbone curve. These manipulators offer significant advantages over traditional manipulators due to their ability to conform to their surroundings, move with dexterity and manipulate objects of widely varying size using whole arm manipulation. Theoretically, soft robots have infinite degrees of freedom (dof), but the number of sensors and actuators are limited. Many dofs of soft robots are not directly observable and/or controllable, complicating shape sensing and controlling. In this paper, we present two methods of shape sensing for soft robotic manipulators based on a geometrically exact mechanical model. The first method use s load cells mounted at the base of the manipulator and the second method makes use of cable encoders running through the length of the manipulator. Simulation results show an endpoint localization error of less than 3% of manipulator length.
AB - Soft robotic manipulators are continuum robots made of soft materials that undergo continuous elastic deformation and produce motion with a smooth backbone curve. These manipulators offer significant advantages over traditional manipulators due to their ability to conform to their surroundings, move with dexterity and manipulate objects of widely varying size using whole arm manipulation. Theoretically, soft robots have infinite degrees of freedom (dof), but the number of sensors and actuators are limited. Many dofs of soft robots are not directly observable and/or controllable, complicating shape sensing and controlling. In this paper, we present two methods of shape sensing for soft robotic manipulators based on a geometrically exact mechanical model. The first method use s load cells mounted at the base of the manipulator and the second method makes use of cable encoders running through the length of the manipulator. Simulation results show an endpoint localization error of less than 3% of manipulator length.
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U2 - 10.1115/DETC2009-87598
DO - 10.1115/DETC2009-87598
M3 - Conference contribution
AN - SCOPUS:77953805991
SN - 9780791849040
T3 - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
SP - 335
EP - 343
BT - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
T2 - 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
Y2 - 30 August 2009 through 2 September 2009
ER -