Sensorless force and displacement estimation in soft actuators.

ABSTRACT: Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators for displacement and force estimation. What has not been investigated is whether soft robots themselves possess intrinsic sensing capabilities, especially in the case of pneumatically powered soft robots. Such an approach, that exploits the inherent properties of a system toward sensing is called sensorless estimation. Here, we introduce sensorless estimation for the first time in pneumatically powered soft actuators. Specifically, we show that the intrinsic properties of pressure and volume can be used to estimate the output force and d

SUBMITTER: Joshi S 

PROVIDER: S-EPMC10074228 | biostudies-literature | 2023 Apr

REPOSITORIES: biostudies-literature