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

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dc.authoridDilibal, Savas/0000-0003-4777-7995
dc.authoridLin, Maohua/0000-0002-9460-2111
dc.authorwosidDilibal, Savas/Q-3748-2017
dc.authorwosidLin, Maohua/T-5354-2018
dc.contributor.authorLin, Maohua
dc.contributor.authorVatani, Morteza
dc.contributor.authorChoi, Jae-Won
dc.contributor.authorDilibal, Savas
dc.contributor.authorEngeberg, Erik D.
dc.date.accessioned2024-06-13T20:18:05Z
dc.date.available2024-06-13T20:18:05Z
dc.date.issued2020
dc.departmentİstanbul Gedik Üniversitesien_US
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. (C) 2020 Elsevier B.V. All rights reserved.en_US
dc.description.sponsorshipNIH [1R01EB025819]; NSF [1317952, 1536136, 1265145, 1659484]; Department of Energy [0000403076]; Directorate For Engineering; Div Of Civil, Mechanical, & Manufact Inn [1536136] Funding Source: National Science Foundation; Division Of Computer and Network Systems; Direct For Computer & Info Scie & Enginr [1659484] Funding Source: National Science Foundation; Div Of Industrial Innovation & Partnersh; Directorate For Engineering [1265145] Funding Source: National Science Foundationen_US
dc.description.sponsorshipThis research was supported in part by NIH 1R01EB025819 and NSF awards 1317952, 1536136, 1265145, and 1659484, and by the Department of Energy contract TOA#0000403076. The authors would like to thank Mr. D. Dieujuste for help to create video supplements and images. The authors would also like to thank Dr. K. Mondal for his assistance with editing the manuscript.en_US
dc.identifier.doi10.1016/j.sna.2020.112221
dc.identifier.issn0924-4247
dc.identifier.issn1873-3069
dc.identifier.pmid34629752en_US
dc.identifier.scopus2-s2.0-85089814718en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.urihttps://doi.org/10.1016/j.sna.2020.112221
dc.identifier.urihttps://hdl.handle.net/11501/1221
dc.identifier.volume315en_US
dc.identifier.wosWOS:000588262900004en_US
dc.identifier.wosqualityQ2en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakPubMeden_US
dc.language.isoenen_US
dc.publisherElsevier Science Saen_US
dc.relation.ispartofSensors and Actuators A-Physicalen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectSoft Roboten_US
dc.subjectTactile Sensoren_US
dc.subjectMulti-Physics Simulationen_US
dc.subjectShape Memory Alloyen_US
dc.subjectElectromyogramen_US
dc.subjectMyoelectric Controlen_US
dc.subjectStrain Sensoren_US
dc.subjectCarbonen_US
dc.subjectDesignen_US
dc.subjectHanden_US
dc.subjectRubberen_US
dc.titleCompliant underwater manipulator with integrated tactile sensor for nonlinear force feedback control of an SMA actuation systemen_US
dc.typeArticleen_US

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