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Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

Wyatt Felt1, Khai Yi Chin1, C David Remy1

  • 1Robotics and Motion Laboratory (RAMlab), Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan.

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|October 25, 2017
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Summary

Flexible, inductance-based Smart Braid sensors enable precise closed-loop motion control for soft robots. This overcomes limitations of traditional sensors, allowing for accurate feedback in challenging robotic applications.

Keywords:
McKibben muscleSmart Braidclosed-loop controlinductance sensingpneumatic

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Area of Science:

  • Robotics
  • Sensor Technology
  • Control Systems

Background:

  • Soft robots present unique motion control challenges due to their compliant nature and lack of discrete joints.
  • Traditional sensors are often incompatible with soft systems, necessitating advanced feedback solutions.
  • Existing laboratory-based sensing methods are not always suitable for real-world applications.

Purpose of the Study:

  • To investigate the efficacy of flexible, inductance-based Smart Braid sensors for closed-loop motion control of soft robots.
  • To evaluate the performance of Smart Braids in controlling robotic systems with inherent complexities like actuator elasticity.
  • To demonstrate the potential of Smart Braids for accurate position feedback in soft robotic systems.

Main Methods:

  • Embedded flexible Smart Braid sensors were utilized to measure the contraction of McKibben artificial muscles via inductance changes.
  • Closed-loop control strategies were implemented and evaluated on two distinct soft robotic systems: a revolute joint and a planar continuum manipulator.
  • The performance of the Smart Braid feedback system was quantified by measuring steady-state root-mean-square (RMS) errors in position and angle tracking.

Main Results:

  • The proposed controller, utilizing Smart Braid feedback, successfully compensated for actuator connection elasticity in the revolute joint system.
  • Accurate motion control was achieved for the revolute joint, with a steady-state RMS error of 1.5 degrees.
  • The Smart Braid sensors enabled precise tip angle tracking for the continuum manipulator, achieving a steady-state RMS error of 1.25 degrees.

Conclusions:

  • Smart Braid sensors offer a viable solution for accurate position feedback in soft robotic systems.
  • This technology facilitates effective closed-loop motion control, addressing key limitations of current soft robotics.
  • The demonstrated performance suggests Smart Braids are suitable for field applications of soft robotic systems.