Multi-Dimensional Proprioception and Stiffness Tuning for Soft Robotic Joints

Fang，Zhonggui1; Huang，Chaoyi1; Wang，Yaxi1; Xu，Jiahao1; Tan，Jiyong1; Li，Bin2; Wang，Zichen1; Wu，Yige1; Huang，Anlun1; Yi，Juan1; Liu，Sicong1; Wang，Zheng1

10.1109/ICRA46639.2022.9811555

2022

1050-4729

978-1-7281-9682-4

Proceedings - IEEE International Conference on Robotics and Automation

10973-10979

23-27 May 2022

Philadelphia, PA, USA

Proprioception and variable stiffness are two trending topics in soft robotics research. The former could endow soft robots with the ability to perceive the environment as well as their internal states without the need of dedicated sensors, while the latter could strengthen the otherwise excessive compliance, enabling soft robots for tasks which require a higher force. Both directions have been extensively reported in existing literature, achieving both concurrently was even more challenging. The major limiting factor was the limited stiffness due to the hyper elasticity of conventional soft robots, which increases the difficulties in capturing the continues deformation. In this work, we proposed an alternative approach to tackle these two challenges, a novel 'tune-down' approach, combining proprioception with stiffness regulation and implemented over-constrained soft robotic joint designs to further strengthen this spirit. As a result, the soft robotic joint could achieve multi-directional proprioception, as well as variable stiffness tuning, concurrently, using merely an on-board sensor for basic pneumatic control. The concept, design, modeling, actuation/control, and experimental validation were presented in detail, demonstrating the efficacy and potential of the proposed approach.

Limiting Automation Force Soft robotics Elasticity Regulation Sensors

第一 ; 通讯

英语

EI

20223312572267

Robots ; Sensory perception

Ergonomics and Human Factors Engineering:461.4 ; Robotics:731.5 ; Materials Science:951

2-s2.0-85136334988

Scopus

1.Guangdong Prov. Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,518000,China
2.SUSTECH-AISONO Joint Lab,Shenzhen,518000,China

Fang，Zhonggui,Huang，Chaoyi,Wang，Yaxi,et al. Multi-Dimensional Proprioception and Stiffness Tuning for Soft Robotic Joints[C],2022:10973-10979.