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Journal Articles IEEE Robotics and Automation Letters Year : 2020

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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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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