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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Feedback Control of Soft Robot Actuators via Commercial Flex Bend Sensors
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Feedback Control of Soft Robot Actuators via Commercial Flex Bend Sensors

机译：通过商用Flex弯曲传感器对软机器人执行器进行反馈控制

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摘要

Soft robotics is an emerging field that takes advantage of compliant materials and makes use of nonstandard actuators. Flexible fluid actuators (FFAs) use fluid pressure to produce high deformation of elastomeric-based structures. However, closed-loop control of such actuators is still very challenging due to the lack of robust, reliable, and inexpensive sensors that can be integrated onto highly deformable actuator structures, involving very low cost materials and manufacturing. This paper presents a systematic approach to implement the feedback control of FFA-based soft robotic bending modules by using commercial flex bend sensors. A flex bend sensor detects the module curvature in one direction, and its response is processed by an on board microcontroller and sent to the central control system. Such sensor integration enables the closed-loop control of modular robotic architectures, often used in soft robotics. Once integrated with the soft module, the sensor response was calibrated by the use of a ground truth electro-magnetic tracking system in order to characterize its behavior when combined with the relative FFA. A feedback control using a low-pass filter and a proportional-integral controller was designed and used to evaluate the dynamic response and the position accuracy of the integrated module. With such closed-loop control, the module tip is positioned with less than 1 mm accuracy, which can be considered a relevant result in the soft robotics field.
机译：软机器人是一个新兴领域，它利用合规材料并利用非标准执行器。柔性流体执行器（FFA）利用流体压力使弹性体结构产生高变形。然而，由于缺少可以集成到高度变形的致动器结构上的坚固，可靠和便宜的传感器，因此这种致动器的闭环控制仍然非常具有挑战性，这涉及非常低成本的材料和制造。本文提出了一种系统化的方法，可通过使用商业柔性弯曲传感器来实现基于FFA的软机器人弯曲模块的反馈控制。弯曲传感器可检测模块在一个方向上的弯曲，其响应由板载微控制器处理并发送到中央控制系统。这样的传感器集成实现了对模块化机器人体系结构的闭环控制，该模块化机器人体系结构通常用于软机器人中。一旦与软模块集成在一起，就可以通过使用地面真实电磁跟踪系统对传感器的响应进行校准，以便在与相对FFA相结合时表征其行为。设计了一个使用低通滤波器和比例积分控制器的反馈控制，并将其用于评估集成模块的动态响应和位置精度。通过这种闭环控制，模块尖端的定位精度小于1毫米，这可以认为是在软机器人领域的重要成果。

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