Test Bench for Evaluation of a Soft Robotic Link.

Area of Science:

• Robotics
• Biomechanical Engineering
• Control Systems

Background:

• Existing soft robotic neck with two Degrees Of Freedom (DOF) enhanced.
• Mimics human neck flexion, extension, and lateral bending.
• Utilizes a cable-driven mechanism with a spring-based cervical spine and servomotor-actuated tendons.

Purpose of the Study:

• To propose and experimentally test two novel control approaches for the improved soft robotic neck.
• To evaluate the system's robustness under different load configurations.
• To achieve precise control over desired neck postures.

Main Methods:

• Developed a 3D-printed soft robotic neck prototype.
• Implemented a motor position control approach with encoder feedback.
• Implemented a tip position control approach with Inertial Measurement Unit (IMU) feedback.
• Applied fractional-order controllers for both approaches.

Main Results:

• Experimental validation of both motor position and tip position control strategies.
• Demonstrated the capability to achieve desired postures through servomotor actuation.
• Confirmed system robustness across various load conditions.

Conclusions:

• The proposed fractional-order control approaches are effective for the soft robotic neck.
• The system demonstrates reliable performance and robustness for mimicking human neck movements.
• The enhanced soft robotic neck offers potential for advanced applications in human-robot interaction and rehabilitation.