Soft Robotic Module for Sensing and Controlling Contact Force

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

This work presents a soft robotic module that can sense and control contact forces. The module is composed of a foam spring encapsulated by a pneumatic bellow that can be inflated to increase its stiffness. Optical sensors and a light source are integrated inside the soft pneumatic module. Changes in shape of the module lead to a variation in light reflectivity, which is captured by the optical sensors. These shape measurements are combined with air pressure measurements to predict the contact force through a machine learning model. Using these predictions, a closed-loop control of the contact force was implemented. The modules can be applied to realize pressure distribution control in support devices such as seats and mattresses. The presented method is robust and low-cost, can measure both shape and contact force, and does not require (rigid) sensors to be present at the movable contact interface between the support device and the user.

Original languageEnglish
Title of host publication2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
EditorsRebecca Kramer-Bottiglio, Michael Tolley, Sang Yup King
Place of PublicationPiscataway, NJ, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages70-75
Number of pages6
ISBN (Electronic)9781728165707
DOIs
Publication statusPublished - 2020
Event3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 - New Haven, United States
Duration: 15 May 202015 Jul 2020

Publication series

Name2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020

Conference

Conference3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
CountryUnited States
CityNew Haven
Period15/05/2015/07/20

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  • Cite this

    Buso, A., Scharff, R. B. N., Doubrovski, E. L., Wu, J., Wang, C. C. L., & Vink, P. (2020). Soft Robotic Module for Sensing and Controlling Contact Force. In R. Kramer-Bottiglio, M. Tolley, & S. Y. King (Eds.), 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 (pp. 70-75). [9115970] (2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/RoboSoft48309.2020.9115970