Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

ABSTRACT: This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory

SUBMITTER: Felt W 

PROVIDER: S-EPMC5649447 | biostudies-literature | 2017 Sep

REPOSITORIES: biostudies-literature