Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing
文献类型：期刊论文
| 作者 | Malas, Dionysios1,2; Zhang, Guokai1,2; Wang, Shuai2; Huang, Wei2; Lindenroth, Lukas1; Yang, Bingyu3; Xia, Wenfeng1; Liu, Hongbin1,2,3
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| 刊名 | SOFT ROBOTICS
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| 出版日期 | 2024-07-30 |
| 页码 | 14 |
| 关键词 | hydraulic actuators mechanical stress medical robotics sensors soft robotics |
| ISSN号 | 2169-5172 |
| DOI | 10.1089/soro.2023.0242 |
| 通讯作者 | Liu, Hongbin(hongbin.liu@kcl.ac.uk) |
| 英文摘要 | Soft robots have morphological characteristics that make them preferred candidates, over their traditionally rigid counterparts, for executing physical interaction tasks with the environment. Therefore, equipping them with force sensing is essential for ensuring safety, enhancing their controllability, and adding autonomy. At the same time, it is necessary to preserve their inherent flexibility when integrating sensory units. Soft-fluidic actuators (SFAs) with hydraulic actuation address some of the challenges posed by the compressibility of pneumatic actuation while maintaining system compliance. This research further investigates the feasibility of utilizing the incompressible actuation fluid as the means of actuation and of multiaxial sensing. We have developed a hyperelastic model for the actuation pressure, acting as a baseline pressure. Any disparities from the baseline have been mapped to external forces, using the principle of pressure-based fluidic soft sensor. Computed tomography imaging has been used to examine inner deformation and validate the analytically derived actuation-pressure model. The induced stresses within the SFA are examined using COMSOL simulations, contributing to the development of a calibration algorithm, which accounts for geometric and cross-sectional nonlinearities and maps pressure variations with tip forces. Two force types (concentrated and distributed) acting on our SFA under different configurations are examined, using two experimental setups described as "Point Load" and "Distributed Force." The force sensing algorithm achieves high accuracy with a maximum absolute error of 0.32N for forces with a magnitude of up to 6N. |
| WOS关键词 | BENDING ACTUATOR ; SOFT ROBOTICS ; COMPENSATION ; VALIDATION ; DESIGN |
| 资助项目 | Internal King's College London (KCL) grant from CDT in Surgical & Interventional Engineering ; National High-Level Hospital Clinical Research Funding from Peking Union Medical College Hospital[2022-PUMCH-C-012] ; CAMS Innovation Fund for Medical Sciences[2023-I2M-CT-B-008] ; InnoHK program ; Wellcome Trust[WT 084052/Z/07/Z] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001279703900001 |
| 出版者 | MARY ANN LIEBERT, INC |
| 资助机构 | Internal King's College London (KCL) grant from CDT in Surgical & Interventional Engineering ; National High-Level Hospital Clinical Research Funding from Peking Union Medical College Hospital ; CAMS Innovation Fund for Medical Sciences ; InnoHK program ; Wellcome Trust |
| 源URL | [http://ir.ia.ac.cn/handle/173211/59373]  |
| 专题 | 智能微创医疗技术团队 |
| 通讯作者 | Liu, Hongbin |
| 作者单位 | 1.Kings Coll London, Sch Biomed Engn & Imaging Sci, Dept Surg & Intervent Engn, Strand Campus, London WC2R 2LS, England 2.Chinese Acad Sci, Hong Kong Inst Sci & Innovat, Ctr Artificial Intelligence & Robot CAIR, Hong Kong, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Malas, Dionysios,Zhang, Guokai,Wang, Shuai,et al. Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing[J]. SOFT ROBOTICS,2024:14. |
| APA | Malas, Dionysios.,Zhang, Guokai.,Wang, Shuai.,Huang, Wei.,Lindenroth, Lukas.,...&Liu, Hongbin.(2024).Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing.SOFT ROBOTICS,14. |
| MLA | Malas, Dionysios,et al."Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing".SOFT ROBOTICS (2024):14. |
入库方式： OAI收割
来源：自动化研究所
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