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Plastic Deformation in Circular Shafts01:20

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When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
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Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method.

Seonggun Joe1,2, Hongbo Wang1, Massimo Totaro1

  • 1Soft Biorobotics Perception Lab, Istituto Italiano di Tecnologia (IIT), Genova, GE, Italy.

Frontiers in Robotics and AI
|June 16, 2023
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Summary
This summary is machine-generated.

Soft robotics perception is enhanced with a novel Inductive Foam Sensor (IFS). This sensor integrates seamlessly with Ultralight Hybrid Pneumatic Artificial Muscles (UH-PAMs), enabling precise mm-scale motion control.

Keywords:
porous materialproprioceptive artificial musclerobust adaptive controlsoft sensingvacuum-powered soft actuator

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Area of Science:

  • Soft robotics
  • Sensor technology
  • Control systems

Background:

  • Perception is vital for safe interaction and environmental exploration in soft robotics.
  • Integrating sensors into soft actuators can compromise deformability and performance.
  • Mechanical synergy between sensing and actuation is crucial for accurate deformation measurement.

Purpose of the Study:

  • To develop a novel sensing solution for soft actuators that maintains deformability.
  • To integrate this sensor into an Ultralight Hybrid Pneumatic Artificial Muscle (UH-PAM).
  • To demonstrate precise motion control of the sensorized UH-PAM.

Main Methods:

  • An Inductive Foam Sensor (IFS) was designed using open-cell foam and a copper wire.
  • The IFS was integrated into an Ultralight Hybrid Pneumatic Artificial Muscle (UH-PAM).
  • An adaptable proportional sliding mode control strategy was implemented.

Main Results:

  • The sensorized UH-PAM (SUH-PAM) achieved a 54% contraction ratio at -80 kPa.
  • The inductive sensing demonstrated high sensitivity (0.0103 1/%) and low hysteresis (5.35%).
  • mm-scale motion control was achieved with a Root Mean Square Error (RMSE) of 0.925 mm.

Conclusions:

  • The Inductive Foam Sensor (IFS) effectively provides proprioceptive information for soft actuators.
  • The developed SUH-PAM system exhibits excellent performance in contraction and sensing accuracy.
  • The adaptable sliding mode control ensures robust and precise motion control for soft robotic applications.