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

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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https://hal.inria.fr/hal-02882039
Contributor : Stefan Escaida Navarro <>
Submitted on : Friday, June 26, 2020 - 12:07:53 PM
Last modification on : Tuesday, November 24, 2020 - 2:18:24 PM

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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, IEEE 2020, 5 (4), pp.5621-5628. ⟨10.1109/LRA.2020.3008120⟩. ⟨hal-02882039⟩

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