Embedded Magnetic Sensing for Feedback Control of Soft HASEL Actuators
Embedded Magnetic Sensing for Feedback Control of Soft HASEL Actuators
复制标题
DOI：
10.1109/tro.2022.3200164
复制
发表时间：
2023-02
影响因子：
7.8
通讯作者：
V. Sundaram;K. Ly;B. K. Johnson;M. Naris;Maxwell P. Anderson;J. Humbert;N. Correll;M. Rentschler-M.-Re
中科院分区：
文献类型：
--
作者：
V. Sundaram;K. Ly;B. K. Johnson;M. Naris;Maxwell P. Anderson;J. Humbert;N. Correll;M. Rentschler-M.-Re
随着人们对软机器人的兴趣越来越大，对创建更可行的软传感器的需求也越来越大。几种感测方法，如电容拉伸感测和固有电容自感测，已经证明在控制软电液致动器时是有用的，但仍然存在问题。这是由于高压电子干扰或无法在较高致动频率下准确感测致动器的挑战。当试图感测和控制多致动器系统的运动时，这些问题变得复杂。为了解决这些缺点，我们描述了一个两部分的磁传感机构来测量位移的电液（HASEL）致动器的变化。我们的磁感应机构可以在HASEL致动器位移范围内实现高精度和精密度，并在高达30 Hz的致动频率下精确跟踪运动，同时对环境温度和相对湿度的变化具有鲁棒性。在夹持器演示中还进一步强调了磁感应机构的高精度。利用这种传感机制，我们可以检测到三个西红柿的直径亚毫米级的差异。最后，我们成功地执行一个折叠HASEL致动器的闭环控制使用的传感器，然后将其缩放到一个可变形的倾斜平台的六个单元（一个HASEL致动器和一个传感器），控制所需的末端执行器在3D空间中的位置。这项工作演示了第一个实例的传感电液变形使用磁传感机制。更准确和精确地感测和控制HASEL致动器和类似的软致动器的能力对于提高软机器人平台的能力是必要的。
The need to create more viable soft sensors is increasing in tandem with the growing interest in soft robots. Several sensing methods, like capacitive stretch sensing and intrinsic capacitive self-sensing, have proven to be useful when controlling soft electro-hydraulic actuators, but are still problematic. This is due to challenges around high-voltage electronic interference or the inability to accurately sense the actuator at higher actuation frequencies. These issues are compounded when trying to sense and control the movement of a multiactuator system. To address these shortcomings, we describe a two-part magnetic sensing mechanism to measure the changes in displacement of an electro-hydraulic (HASEL) actuator. Our magnetic sensing mechanism can achieve high accuracy and precision for the HASEL actuator displacement range, and accurately tracks motion at actuation frequencies up to 30 Hz, while being robust to changes in ambient temperature and relative humidity. The high accuracy of the magnetic sensing mechanism is also further emphasized in the gripper demonstration. Using this sensing mechanism, we can detect submillimeter difference in the diameters of three tomatoes. Finally, we successfully perform closed-loop control of one folded HASEL actuator using the sensor, which is then scaled into a deformable tilting platform of six units (one HASEL actuator and one sensor) that control a desired end effector position in 3D space. This work demonstrates the first instance of sensing electro-hydraulic deformation using a magnetic sensing mechanism. The ability to more accurately and precisely sense and control HASEL actuators and similar soft actuators is necessary to improve the abilities of soft, robotic platforms.