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

Journal Contribution - Journal Article

In this letter, 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 soft capacitive sensing 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.
Journal: IEEE Robotics and Automation Letters
ISSN: 2377-3766
Issue: 4
Volume: 5
Pages: 5621 - 5628
Publication year:2020
Keywords:Modeling, control, and learning for soft robots, soft sensors and actuators, soft robot materials and design, force and tactile sensing
BOF-keylabel:yes
IOF-keylabel:yes
BOF-publication weight:2
CSS-citation score:1
Authors:International
Authors from:Government, Higher Education, Private
Accessibility:Open