A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics - Archive ouverte HAL Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2020

A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

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Abstract

In this paper, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of a soft capacitive sensor to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the deformation. Using a FEM-based numerical approach, we integrate both sensing streams and model two Soft Robotics devices we have conceived. These devices are a Soft Pad and a Soft Finger. We show in an evaluation that external forces on the Soft Pad can be estimated and that the shape of the Soft Finger can be reconstructed.
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Dates and versions

hal-02882039 , version 1 (26-06-2020)

Identifiers

Cite

Stefan Escaida Navarro, Björn Hein, Stefan Escaida Navarro, Steven Nagels, Hosam Alagi, et al.. A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics. IEEE Robotics and Automation Letters, 2020, 5 (4), pp.5621-5628. ⟨10.1109/LRA.2020.3008120⟩. ⟨hal-02882039⟩
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