Toward Modular Soft Robotics: Proprioceptive Curvature Sensing and Sliding-Mode Control of Soft Bidirectional Bending...

Area of Science:

• Robotics
• Materials Science
• Control Systems Engineering

Background:

• Soft robotics enables safer human-robot interaction in complex environments.
• Challenges remain in sensing and controlling continuously deformable soft robotic bodies.
• Existing methods often lack precise proprioceptive feedback and efficient control.

Purpose of the Study:

• To develop a modular soft robotic architecture with enhanced proprioceptive sensing.
• To improve the reliability and linearity of curvature measurements in soft actuators.
• To implement a direct sliding-mode controller for superior dynamic performance.

Main Methods:

• Designed and fabricated modular soft robotic bending actuation modules.
• Integrated custom magnetic curvature sensors into the neutral axis of actuators.
• Developed and tested a sliding-mode controller directly actuating binary solenoid valves.
• Investigated the effect of dimensional parameters on sensor linearity.

Main Results:

• Achieved a large range of bending angles with monotonic and linear curvature measurements.
• Demonstrated improved dynamic performance and faster response rates with the new controller.
• Reduced binary valve actuation operations compared to previous iterative controllers.
• Enhanced reliability of proprioceptive curvature feedback.

Conclusions:

• The proposed soft robotic modules offer significant improvements in sensing and control.
• The direct sliding-mode controller provides superior performance and energy efficiency.
• This work advances the development of robust and capable soft robotic systems.