Shape sensing for soft robotic manipulators

Deepak Trivedi, Christopher D. Rahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Soft robotic manipulators are continuum robots made of soft materials that undergo continuous elastic deformation and produce motion with a smooth backbone curve. These manipulators offer significant advantages over traditional manipulators due to their ability to conform to their surroundings, move with dexterity and manipulate objects of widely varying size using whole arm manipulation. Theoretically, soft robots have infinite degrees of freedom (dof), but the number of sensors and actuators are limited. Many dofs of soft robots are not directly observable and/or controllable, complicating shape sensing and controlling. In this paper, we present two methods of shape sensing for soft robotic manipulators based on a geometrically exact mechanical model. The first method use s load cells mounted at the base of the manipulator and the second method makes use of cable encoders running through the length of the manipulator. Simulation results show an endpoint localization error of less than 3% of manipulator length.

Original languageEnglish (US)
Title of host publicationASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Pages335-343
Number of pages9
Volume7
EditionPARTS A AND B
DOIs
StatePublished - 2009
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Other

OtherASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

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