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Article: Mechanoreception for Soft Robots via Intuitive Body Cues

TitleMechanoreception for Soft Robots via Intuitive Body Cues
Authors
Keywordssoft robot
mechanoreception
linear pneumatic actuator
body deformation
soft-rigid hybrid gripper
Issue Date2020
PublisherMary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/
Citation
Soft Robotics, 2020, v. 7 n. 2, p. 198-217 How to Cite?
AbstractMechanoreception, the ability of robots to detect mechanical stimuli from the internal and external environments, contributes significantly to improving safety and task performance during the operation of robots in unstructured environments. Various approaches have been proposed to endow robot systems with mechanoreception. In the case of soft robots, the state-of-the-art mechanosensory solutions typically embedded dedicated deformable sensors into the soft body, giving rise to fabrication complexity and signal sophistication. In this study, we propose a novel mechanoreception scheme to enable pneumatic-driven soft robots to perceive proprioceptive movements as well as external contacts. Both internal and external mechanical parameters can be decoded from intuitive cues of body deformation and pneumatic pressure signals. In contrast to most existing solutions employing dedicated deformable sensors, the proposed approach only utilizes pressure feedback, which is typically available from the pneumatic pressure sensors incorporated in the control loop of most pneumatic soft robots. The concept was implemented and validated on a proprietary robotic gripper with a linear soft pneumatic actuator, demonstrating the capability in simultaneous detection of actuator position and external contact forceAfter the proposed approach, the gripper can achieve both active and passive mechanosensation, with demonstrated experiments in grasping force estimation, contact loss detection, object stiffness identification, and contour measurements. This approach offers an alternative route to achieving excellent internal/environmental awareness without requiring dedicated sensing modalities.
Persistent Identifierhttp://hdl.handle.net/10722/273895
ISSN
2019 Impact Factor: 5.543
PubMed Central ID
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorWANG, L-
dc.contributor.authorWang, Z-
dc.date.accessioned2019-08-18T14:50:49Z-
dc.date.available2019-08-18T14:50:49Z-
dc.date.issued2020-
dc.identifier.citationSoft Robotics, 2020, v. 7 n. 2, p. 198-217-
dc.identifier.issn2169-5172-
dc.identifier.urihttp://hdl.handle.net/10722/273895-
dc.description.abstractMechanoreception, the ability of robots to detect mechanical stimuli from the internal and external environments, contributes significantly to improving safety and task performance during the operation of robots in unstructured environments. Various approaches have been proposed to endow robot systems with mechanoreception. In the case of soft robots, the state-of-the-art mechanosensory solutions typically embedded dedicated deformable sensors into the soft body, giving rise to fabrication complexity and signal sophistication. In this study, we propose a novel mechanoreception scheme to enable pneumatic-driven soft robots to perceive proprioceptive movements as well as external contacts. Both internal and external mechanical parameters can be decoded from intuitive cues of body deformation and pneumatic pressure signals. In contrast to most existing solutions employing dedicated deformable sensors, the proposed approach only utilizes pressure feedback, which is typically available from the pneumatic pressure sensors incorporated in the control loop of most pneumatic soft robots. The concept was implemented and validated on a proprietary robotic gripper with a linear soft pneumatic actuator, demonstrating the capability in simultaneous detection of actuator position and external contact forceAfter the proposed approach, the gripper can achieve both active and passive mechanosensation, with demonstrated experiments in grasping force estimation, contact loss detection, object stiffness identification, and contour measurements. This approach offers an alternative route to achieving excellent internal/environmental awareness without requiring dedicated sensing modalities.-
dc.languageeng-
dc.publisherMary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/-
dc.relation.ispartofSoft Robotics-
dc.rightsSoft Robotics. Copyright © Mary Ann Liebert, Inc. Publishers.-
dc.rightsFinal publication is available from Mary Ann Liebert, Inc., publishers http://dx.doi.org/[insert DOI]-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.subjectsoft robot-
dc.subjectmechanoreception-
dc.subjectlinear pneumatic actuator-
dc.subjectbody deformation-
dc.subjectsoft-rigid hybrid gripper-
dc.titleMechanoreception for Soft Robots via Intuitive Body Cues-
dc.typeArticle-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1089/soro.2018.0135-
dc.identifier.pmid31687888-
dc.identifier.pmcidPMC7155928-
dc.identifier.scopuseid_2-s2.0-85081545157-
dc.identifier.hkuros301407-
dc.identifier.volume7-
dc.identifier.issue2-
dc.identifier.spage198-
dc.identifier.epage217-
dc.identifier.isiWOS:000494342900001-
dc.publisher.placeUnited States-

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