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A Holistic Indirect Contact Identification Method for Soft Robot Proprioception.

Shuoqi Wang1, Keng-Yu Lin2, Xiangru Xu1

  • 1Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, Wisconsin, USA.

Soft Robotics
|February 24, 2025
PubMed
Summary
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Researchers developed a new method for soft robots to perceive their pose even when deformed by external forces. This improves control for compliant robots by understanding bending and contact interactions.

Area of Science:

  • Robotics
  • Materials Science
  • Control Systems

Background:

  • Soft robots offer advantages but present control challenges due to their inherent compliance and back-drivability.
  • Accurate perception of robot pose (position and orientation) is crucial for effective control, especially under perturbed conditions.
  • Existing methods often struggle with the complex deformations and external contacts characteristic of soft robots.

Purpose of the Study:

  • To develop a holistic approach for perceiving the pose of soft robots during free bending and under external contact perturbations.
  • To enable precise control of soft robotic systems by accurately estimating their deformed state.
  • To provide a generalizable method for contact identification and pose estimation in soft actuators.

Main Methods:

Keywords:
actuator with embedded sensingindirect contact sensingmultidirectional PneuNet actuatorpose estimation

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  • Utilized multiple soft strain sensors non-collocated with the point of contact to measure deformation.
  • Developed a data-driven model to characterize free-bending deformation modes (front, lateral, twist).
  • Implemented a perturbation perception method by comparing sensor deviations from an unperturbed state to estimate pose.

Main Results:

  • Successfully characterized sensor responses to various deformation types on a 2-degree-of-freedom soft finger.
  • Demonstrated the ability to perceive perturbed poses on both single-finger and two-finger soft robotic grippers.
  • Validated the effectiveness of the holistic contact identification and pose perception method.

Conclusions:

  • The proposed holistic approach enables robust pose perception in soft robots, even with external perturbations and contact.
  • This method is generalizable and crucial for advancing the control capabilities of compliant robotic systems.
  • Improved pose perception directly addresses a key limitation in the practical application of soft robots.