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Model-based disturbance estimation for a fiber-reinforced soft manipulator using orientation sensing
Presented at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), this paper introduces a model-based method for estimating disturbances in fiber-reinforced soft manipulators. By utilizing finite element method (FEM) models and orientation sensors, the research provides accurate force estimation to improve interaction control. The system reduces force estimation errors to 1.2%, a significant step towards deploying soft robots in human-centered environments.
Paper released in Advance Intelligence Systems
How can soft continuum arms be applied to real-world tasks that require accuracy at the fingertip like drawing, or dynamic actions like throwing? Find out in this paper where we apply force-based operational space control to soft robots.
Our collaborative work on "Hydroelastomers" has been published in Soft Matter!
Hydroelastomers are a new class of soft, tough, and highly swelling composite materials that allow the devolopment of osmotic pressure responsive soft robotic actuators.