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An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots.
Wyatt Felt1, C David Remy1, Maria J Telleria2
1Robotics and Motion Laboratory (RAMlab), University of Michigan, Ann Arbor, MI, wfelt@umich.edu, cdremy@umich.edu.
Autonomous Robots
|April 16, 2019
Summary
Researchers developed a novel inductance-based system to measure and control soft robot joints. This self-sensing technology accurately tracks bellows extension and bending, enabling robust soft robot design.
Area of Science:
- Robotics
- Mechanical Engineering
- Sensor Technology
Background:
- Soft robots offer advantages in dexterity and safety but often lack robust motion sensing.
- Bellows-driven continuum joints are common in soft robotics but challenging to monitor.
- Existing sensing methods can be complex, expensive, or not robust in soft robotic applications.
Purpose of the Study:
- To introduce a novel inductance-based sensing system for bellows-driven continuum joints in soft robots.
- To demonstrate the system's capability in measuring joint motion, including lateral displacements.
- To validate the use of inductance sensing for closed-loop control of soft robot joint orientation.
Main Methods:
- Developed an inductance-based sensing system using coils wrapped around bellows.
- Implemented a dual-section sensing approach for piece-wise constant-curvature approximation of joint deformation.
- Measured changes in mutual inductance to infer bellows extension and joint motion.
- Utilized sensor feedback for controlling joint orientation.
Main Results:
- The inductance sensors accurately measured joint motion, achieving an RMS error of 1.1° for bending.
- The system successfully measured lateral displacements, which are typically unobservable.
- Inductance sensors provided effective feedback for closed-loop orientation control of the joint.
Conclusions:
- The proposed inductance-based system offers accurate and robust motion feedback for bellows-driven continuum joints.
- This technology enables the development of self-sensing soft robots with enhanced capabilities.
- Inductance sensing presents a viable alternative for robust motion measurement in soft robotic systems.
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