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

Navarro, Stefan Escaida; Nagels, Steven; Alagi, Hosam; Faller, Lisa-Marie; Goury, Olivier; Morales-Bieze, Thor; Zangl, Hubert; Hein, Bjorn; Ramakers, Raf; Deferme, Wim; Zheng, Gang; Duriez, Christian

Abstract (englisch):
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.

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Originalveröffentlichung
DOI: 10.1109/LRA.2020.3008120
Zugehörige Institution(en) am KIT Institut für Prozessrechentechnik, Automation und Robotik (IPR)
Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsmonat/-jahr 10.2020
Sprache Englisch
Identifikator ISSN: 2377-3766, 2377-3774
KITopen-ID: 1000122110
Erschienen in IEEE Robotics and automation letters
Band 5
Heft 4
Seiten 5621–5628
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