An inductance-based sensing system for bellows-driven continuum joints in soft robots
An inductance-based sensing system for bellows-driven continuum joints in soft robots
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DOI：
10.1007/s10514-018-9769-7
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发表时间：
2019-02-01
影响因子：
3.5
通讯作者：
Remy, C. David
中科院分区：
文献类型：
--
作者：
Felt, Wyatt;Telleria, Maria J.;Remy, C. David
在这项工作中，我们提出了一种新的，电感为基础的系统来测量和控制波纹管驱动的连续关节软机器人的运动。传感系统依赖于缠绕在接头上每个波纹管小直径周围的线圈。随着波纹管的延伸，这些线圈的距离变得更远，从而降低了它们的互感。测量互感的这种变化使我们能够测量关节的运动。通过将关节的感测分成两个部分并独立地测量每个部分的运动，我们能够用分段恒定曲率近似来测量关节的整体变形。这种技术使我们能够测量横向位移，否则将无法观察到。当测量弯曲时，电感传感器测量关节方向，RMS误差为1.1度。电感传感器也被成功地用作反馈来控制关节的方向。在这项工作中提出和测试的传感器提供了准确的运动反馈，这将是难以实现鲁棒性与其他传感器。该传感系统能够创建基于波纹管驱动连续体关节的鲁棒的自感知软机器人。
In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on the joint. As the bellows extend, these coils of wire become more distant, decreasing their mutual inductance. Measuring this change in mutual inductance allows us to measure the motion of the joint. By dividing the sensing of the joint into two sections and measuring the motion of each section independently, we are able to measure the overall deformation of the joint with a piece-wise constant-curvature approximation. This technique allows us to measure lateral displacements that would be otherwise unobservable. When measuring bending, the inductance sensors measured the joint orientation with an RMS error of 1.1 degrees. The inductance sensors were also successfully used as feedback to control the orientation of the joint. The sensors proposed and tested in this work provided accurate motion feedback that would be difficult to achieve robustly with other sensors. This sensing system enables the creation of robust, self-sensing soft robots based on bellows-driven continuum joints.