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Open and closed-loop control systems

Open and closed-loop control systems

Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...

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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

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Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin.

Harshal A Sonar¹, Aaron P Gerratt², Stéphanie P Lacour²

¹Reconfigurable Robotics Laboratory, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland.

|September 25, 2019

Summary

This summary is machine-generated.

Researchers developed a novel soft pneumatic actuator (SPA) with integrated sensors for real-time haptic feedback control. This SPA-skin platform enables high-frequency tactile sensing and vibrotactile feedback for wearable interfaces.

Keywords:

haptic device liquid metal sensor soft pneumatic actuators strain sensor tactile feedback device wearable technology

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Published on: August 17, 2018

Area of Science:

Robotics
Materials Science
Human-Computer Interaction

Background:

Achieving closed-loop haptic feedback control on soft robotic platforms is challenging.
Existing soft actuators often lack integrated sensing capabilities for real-time feedback.

Purpose of the Study:

To develop a novel self-sensing soft pneumatic actuator (SPA) with integrated soft strain sensors for closed-loop haptic feedback control.
To create a bidirectional platform for tactile sensing and force-tunable vibrotactile feedback on an entirely soft system.

Main Methods:

Prototyped a self-sensing soft pneumatic actuator (SPA-skin) using soft strain sensors and a stretchable thin-metal film.
Integrated the SPA with an ultra-compliant strain sensor for a cohesive bidirectional system.
Characterized the platform's static and dynamic behavior, including real-time shape control up to 100 Hz and 1 N force output.

Main Results:

Demonstrated closed-loop haptic feedback control for the first time on an entirely soft platform.
Achieved real-time actuator shape control at 100 Hz with output forces up to 1 N under variable loads.
Developed an analytical model to predict actuator inflation state using embedded sensor resistance.

Conclusions:

The SPA-skin platform offers a multifunctional, multilayer system for high-speed wearable bidirectional interfaces.
Enables advanced contact sensing and vibrotactile feedback capabilities for soft robotic applications.
Represents a significant advancement in haptic feedback control for soft, compliant systems.