Toward Intrinsic Force Sensing and Control in Parallel Soft Robots
文献类型：期刊论文
| 作者 | Lindenroth, Lukas3,4; Stoyanov, Danail4; Rhode, Kawal2; Liu, Hongbin1,2,5
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2022-10-05 |
| 页码 | 12 |
| 关键词 | Robot sensing systems Force Sensors Robots Soft robotics Actuators Hydraulic systems Force control force feedback hydraulic actuators soft robotics |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2022.3210065 |
| 通讯作者 | Lindenroth, Lukas(lukas.lindenroth@kcl.ac.uk) ; Liu, Hongbin(hongbin.liu@kcl.ac.uk) |
| 英文摘要 | 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. |
| WOS关键词 | CONTACT FORCE ; POSITION |
| 资助项目 | InnoHK initiative of the Hong Kong SAR ; EPSRC of the UK[EP/R013977/1] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000865085500001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | InnoHK initiative of the Hong Kong SAR ; EPSRC of the UK |
| 源URL | [http://ir.ia.ac.cn/handle/173211/50322]  |
| 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.Chinese Acad Sci, Inst Automat, Beijing 100045, Peoples R China 2.Kings Coll London, Sch Biomed Engn & Imaging Sci, London WC2R 2LS, England 3.Kings Coll London, Sch Biomed Engn & Imaging Sci, Dept Surg & Intervent Engn, London WC2R 2LS, England 4.UCL, Wellcome EPSRC Ctr Intervent & Surg Sci WEISS, London W1W 7EJ, England 5.Chinese Acad Sci, Ctr AI & Robot CAIR, Hong Kong Inst Sci & Innovat, Beijing 100045, Peoples R China |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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