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Title: | A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics | Authors: | Navarro, Stefan Escaida NAGELS, Steven Alagi, Hosam Faller, Lisa-Marie Goury, Olivier Morales-Bieze, Thor Zangl, Hubert Hein, Bjoern RAMAKERS, Raf DEFERME, Wim Zheng, Gang Duriez, Christian |
Issue Date: | 2020 | Publisher: | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Source: | IEEE ROBOTICS AND AUTOMATION LETTERS, 5 (4) , p. 5621 -5628 | Abstract: | 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. | Notes: | Navarro, SE (corresponding author), Inria Lille Nord Europe, DEFROST, F-59650 Villeneuve Dascq, France.; Navarro, SE (corresponding author), CRIStAL Ctr Rech Informat Signal & Automat Lille, F-59650 Villeneuve Dascq, France. stefan.escaida-navarro@inria.fr; steven.nagels@uhasselt.be; hosam.alagi@kit.edu; l.faller@fh-kaernten.at; olivier.goury@inria.fr; thorbieze@gmail.com; hubert.zangl@tugraz.at; hein@ira.uka.de; raf.ramakers@uhasselt.be; wim.deferme@uhasselt.be; gang.zheng@inria.fr; christian.duriez@inria.fr |
Other: | Navarro, SE (corresponding author), Inria Lille Nord Europe, DEFROST, F-59650 Villeneuve Dascq, France, CRIStAL Ctr Rech Informat Signal & Automat Lille, F-59650 Villeneuve Dascq, France. stefan.escaida-navarro@inria.fr; steven.nagels@uhasselt.be; hosam.alagi@kit.edu; l.faller@fh-kaernten.at; olivier.goury@inria.fr; thorbieze@gmail.com; hubert.zangl@tugraz.at; hein@ira.uka.de; raf.ramakers@uhasselt.be; wim.deferme@uhasselt.be; gang.zheng@inria.fr; christian.duriez@inria.fr | Keywords: | Modeling;control;and learning for soft robots;soft sensors and actuators;soft robot materials and design;force and tactile sensing | Document URI: | http://hdl.handle.net/1942/32551 | ISSN: | 2377-3766 | e-ISSN: | 2377-3766 | DOI: | 10.1109/LRA.2020.3008120 | ISI #: | WOS:000552945200005 | Rights: | © Copyright 2020 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions. | Category: | A1 | Type: | Journal Contribution | Validations: | ecoom 2021 |
Appears in Collections: | Research publications |
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File | Description | Size | Format | |
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PrePrint_ModelBasedSensorFusion.pdf | Peer-reviewed author version | 4.98 MB | Adobe PDF | View/Open |
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