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Mechanoreception for Soft Robots via Intuitive Body Cues.
Liangliang Wang1, Zheng Wang1,2
1Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China.
Soft Robotics
|November 6, 2019
Summary
This study introduces a new way for soft robots to sense touch and movement using only air pressure. This method simplifies robot design and improves their awareness of internal states and external interactions.
Area of Science:
- Robotics
- Soft Robotics
- Mechanosensation
Background:
- Mechanoreception is crucial for robot safety and performance in complex environments.
- Current soft robot mechanosensation often requires complex embedded sensors.
- Pneumatic soft robots typically have integrated pressure sensors.
Purpose of the Study:
- To develop a novel mechanoreception scheme for pneumatic soft robots.
- To enable perception of proprioceptive movements and external contacts.
- To utilize existing pressure feedback for sensing, avoiding dedicated sensors.
Main Methods:
- Proposed a mechanoreception scheme using pneumatic pressure feedback.
- Decoded internal and external mechanical parameters from pressure signals and body deformation.
- Implemented and validated the approach on a soft robotic gripper with a linear actuator.
Main Results:
- Demonstrated simultaneous detection of actuator position and external contact force.
- Achieved active and passive mechanosensation capabilities.
- Successfully performed grasping force estimation, contact loss detection, object stiffness identification, and contour measurements.
Conclusions:
- The proposed approach offers a simplified route to robust mechanoreception in soft robots.
- Utilizing inherent pressure feedback eliminates the need for dedicated deformable sensors.
- This method enhances internal/environmental awareness without increasing fabrication complexity.
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