Compliant underwater manipulator with integrated tactile sensor for nonlinear force feedback control of an SMA actuation system

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dc.contributor.authorLin, Maohua
dc.contributor.authorVatani, Morteza
dc.contributor.authorChoi, Jae-Won
dc.contributor.authorDilibal, Savaş
dc.contributor.authorEngeberg, Erik D.
dc.date.accessioned2024-06-13T20:18:05Z
dc.date.available2024-06-13T20:18:05Z
dc.date.issued2020
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description.abstractDesign, 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.
dc.description.sponsorshipUnited States Department of Health & Human Services National Institutes of Health (NIH) - USA ; National Science Foundation (NSF) ; United States Department of Energy (DOE)
dc.identifier.doi10.1016/j.sna.2020.112221
dc.identifier.issn0924-4247
dc.identifier.issn1873-3069
dc.identifier.pmid34629752
dc.identifier.scopus2-s2.0-85089814718
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1016/j.sna.2020.112221
dc.identifier.urihttps://hdl.handle.net/11501/1221
dc.identifier.volume315
dc.identifier.wosWOS:000588262900004
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.institutionauthorDilibal, Savaş
dc.institutionauthorid0000-0003-4777-7995
dc.language.isoen
dc.publisherElsevier Science Sa
dc.relation.ispartofSensors and Actuators A-Physical
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectSoft Robot
dc.subjectTactile Sensor
dc.subjectMulti-Physics Simulation
dc.subjectShape Memory Alloy
dc.subjectElectromyogram
dc.titleCompliant underwater manipulator with integrated tactile sensor for nonlinear force feedback control of an SMA actuation system
dc.typeArticle

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