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Force and Pressure Control of Soft Robotic Actuators
Joseph Ingicco1, Mostapha AlSaidi1, Moed Abd1
1Ocean and Mechanical Engineering Department College of Engineering and Computer Science Florida Atlantic University.
Proceedings. Florida Conference on Recent Advances in Robotics
|June 7, 2019
Summary
Researchers evaluated three controllers for soft robotic actuators (SRAs). Force-feedback and pressure-feedback controllers precisely managed actuator performance, while the open-loop controller provided reliable actuation for human-robot interactions and delicate grasping tasks.
Area of Science:
- Robotics
- Control Systems
- Materials Science
Background:
- Soft Robotic Actuators (SRAs) are increasingly researched due to their unique properties.
- SRAs utilize soft elastomers and fluid actuation (air/water), making them suitable for Human-Robot Interactions (HRI), rehabilitation exoskeletons, and delicate object manipulation.
- Precise control of actuation rate, pressure, and force is crucial to prevent damage to SRAs and grasped objects.
Purpose of the Study:
- To evaluate and compare the performance of three distinct control strategies for SRAs.
- Investigate an open-loop controller, a pressure-feedback controller, and a force-feedback controller.
- Determine the effectiveness of each controller in managing SRA behavior and ensuring safe operation.
Main Methods:
- A custom test stand was engineered to facilitate the testing of SRAs under different control conditions.
- Three controllers were implemented: open-loop (no feedback), pressure-feedback (limited to 8.9 kPa), and force-feedback (limited to 0.147 N).
- Measurements of pressure and force were recorded during actuation for each controller type.
Main Results:
- The force-feedback and pressure-feedback controllers demonstrated accurate control over the soft robotic actuators.
- The open-loop controller, despite lacking feedback, reliably actuated the soft robotic actuator.
- All tested controllers showed a degree of effectiveness in managing SRA operation within their defined parameters.
Conclusions:
- Feedback control strategies (force and pressure) offer superior precision for SRA management.
- Open-loop control provides a reliable, albeit less precise, method for actuating SRAs.
- The choice of controller depends on the specific application requirements for precision and reliability in soft robotics.
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