Please use this identifier to cite or link to this item: http://hdl.handle.net/1942/32551
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dc.contributor.authorNavarro, Stefan Escaida-
dc.contributor.authorNAGELS, Steven-
dc.contributor.authorAlagi, Hosam-
dc.contributor.authorFaller, Lisa-Marie-
dc.contributor.authorGoury, Olivier-
dc.contributor.authorMorales-Bieze, Thor-
dc.contributor.authorZangl, Hubert-
dc.contributor.authorHein, Bjoern-
dc.contributor.authorRAMAKERS, Raf-
dc.contributor.authorDEFERME, Wim-
dc.contributor.authorZheng, Gang-
dc.contributor.authorDuriez, Christian-
dc.date.accessioned2020-10-29T08:36:50Z-
dc.date.available2020-10-29T08:36:50Z-
dc.date.issued2020-
dc.date.submitted2020-10-21T12:19:03Z-
dc.identifier.citationIEEE ROBOTICS AND AUTOMATION LETTERS, 5 (4) , p. 5621 -5628-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/1942/32551-
dc.description.abstractIn 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.-
dc.description.sponsorshipThis work was supported in part by the Region Hauts-de-France, the Project COMOROS under Grant ANR-17-ERC2-0029, in part by the European Regional Development Fund (ERDF), ROBOCOP under Grant ANR-19-CE19-0026, in part by the Project Inventor (I-SITE ULNE, le programme d'Investissements d'Avenir, Metropole Europeenne de Lille), and in part by the Federal Ministry of Education and Research (Bundesministerium fur Bildung und Forschung, BMBF) within the Project (Verbundprojekt-Nr.: 16SV7823 K:) and Project of Department of Education of Guangdong Province under Grant 2019KZDXM037.-
dc.language.isoen-
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC-
dc.rights© Copyright 2020 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.-
dc.subject.otherModeling-
dc.subject.othercontrol-
dc.subject.otherand learning for soft robots-
dc.subject.othersoft sensors and actuators-
dc.subject.othersoft robot materials and design-
dc.subject.otherforce and tactile sensing-
dc.titleA Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics-
dc.typeJournal Contribution-
dc.identifier.epage5628-
dc.identifier.issue4-
dc.identifier.spage5621-
dc.identifier.volume5-
local.format.pages8-
local.bibliographicCitation.jcatA1-
dc.description.notesNavarro, 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.-
dc.description.notesstefan.escaida-navarro@inria.fr; steven.nagels@uhasselt.be;-
dc.description.noteshosam.alagi@kit.edu; l.faller@fh-kaernten.at; olivier.goury@inria.fr;-
dc.description.notesthorbieze@gmail.com; hubert.zangl@tugraz.at; hein@ira.uka.de;-
dc.description.notesraf.ramakers@uhasselt.be; wim.deferme@uhasselt.be; gang.zheng@inria.fr;-
dc.description.noteschristian.duriez@inria.fr-
dc.description.otherNavarro, 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-
local.publisher.place445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA-
local.type.refereedRefereed-
local.type.specifiedArticle-
dc.identifier.doi10.1109/LRA.2020.3008120-
dc.identifier.isiWOS:000552945200005-
dc.contributor.orcidGoury, Olivier/0000-0002-8616-350X; Nagels, Steven/0000-0002-8044-5733;-
dc.contributor.orcidFaller, Lisa-Marie/0000-0001-8434-1440; Zangl,-
dc.contributor.orcidHubert/0000-0002-9717-9566-
dc.identifier.eissn2377-3766-
local.provider.typewosris-
local.uhasselt.uhpubyes-
local.description.affiliation[Navarro, Stefan Escaida; Goury, Olivier; Morales-Bieze, Thor; Zheng, Gang; Duriez, Christian] Inria Lille Nord Europe, DEFROST, F-59650 Villeneuve Dascq, France.-
local.description.affiliation[Navarro, Stefan Escaida; Goury, Olivier; Morales-Bieze, Thor; Zheng, Gang; Duriez, Christian] CRIStAL Ctr Rech Informat Signal & Automat Lille, F-59650 Villeneuve Dascq, France.-
local.description.affiliation[Nagels, Steven; Deferme, Wim] Hasselt Univ, Inst Mat Res IMO, B-3500 Hasselt, Belgium.-
local.description.affiliation[Nagels, Steven; Deferme, Wim] IMEC VZW, Div IMOMEC, B-3590 Diepenbeek, Belgium.-
local.description.affiliation[Alagi, Hosam; Hein, Bjoern] Karlsruhe Inst Technol, Inst Anthropomat & Robot, Intelligent Proc Control & Robot Lab, D-76131 Karlsruhe, Germany.-
local.description.affiliation[Faller, Lisa-Marie] Carinthia Univ Appl Sci, Inst Syst Engn, A-9524 Villach, Austria.-
local.description.affiliation[Faller, Lisa-Marie] Carinthia Univ Appl Sci, Syst Design Robot Lab, A-9524 Villach, Austria.-
local.description.affiliation[Zangl, Hubert] Alpen Adria Univ Klagenfurt, Inst Smart Syst Technol, Sensors & Actuators Dept, A-9020 Klagenfurt Am Worthersee, Austria.-
local.description.affiliation[Hein, Bjoern] Karlsruhe Univ Appl Sci, D-76133 Karlsruhe, Germany.-
local.description.affiliation[Ramakers, Raf] Hasselt Univ, B-3500 Hasselt, Belgium.-
item.contributorNavarro, Stefan Escaida-
item.contributorNAGELS, Steven-
item.contributorAlagi, Hosam-
item.contributorFaller, Lisa-Marie-
item.contributorGoury, Olivier-
item.contributorMorales-Bieze, Thor-
item.contributorZangl, Hubert-
item.contributorHein, Bjoern-
item.contributorRAMAKERS, Raf-
item.contributorDEFERME, Wim-
item.contributorZheng, Gang-
item.contributorDuriez, Christian-
item.fulltextWith Fulltext-
item.validationecoom 2021-
item.fullcitationNavarro, 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 (2020) A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics. In: IEEE ROBOTICS AND AUTOMATION LETTERS, 5 (4) , p. 5621 -5628.-
item.accessRightsOpen Access-
crisitem.journal.issn2377-3766-
crisitem.journal.eissn2377-3766-
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