Compliant underwater manipulator with integrated tactile sensor for nonlinear force feedback control of an SMA actuation system
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Dosyalar
Tarih
2020
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Elsevier Science Sa
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Design, sensing, and control of underwater gripping systems remain challenges for soft robotic manip-ulators. Our study investigates these critical issues by designing a shape memory alloy (SMA) actuation system for a soft robotic finger with a directly 3D-printed stretchable skin-like tactile sensor. SMA actuators were thermomechanically trained to assume a curved finger-like shape when Joule heated, and the flexible multi-layered tactile sensor was directly 3D-printed onto the surface of the fingertip. A nonlinear controller was developed to enable precise fingertip force control using feedback from the compliant tactile sensor. Underwater experiments were conducted using closed-loop force feedback from the directly 3D-printed tactile sensor with the SMA actuators, showing satisfactory force tracking ability. Furthermore, a 3D finite element model was developed to more deeply understand the shape memory thermal-fluidic-structural multi-physics simulation of the manipulator underwater. An application for human control via electromyogram (EMG) signals also demonstrated an intuitive way for a person to operate the submerged robotic finger. Together, these results suggested that the soft robotic finger could be used to carefully manipulate fragile objects underwater.
Açıklama
Anahtar Kelimeler
Soft Robot, Tactile Sensor, Multi-Physics Simulation, Shape Memory Alloy, Electromyogram
Kaynak
Sensors and Actuators A-Physical
WoS Q Değeri
Q1
Scopus Q Değeri
Q1
Cilt
315
