A physics-informed, vision-based method to reconstruct all deformation modes in slender bodies

Kim, Seung Hyun; Chang, Heng-Sheng; Shih, Chia-Hsien; Uppalapati, Naveen Kumar; Halder, Udit; Krishnan, Girish; Mehta, Prashant G.; Gazzola, Mattia

doi:10.1109/icra46639.2022.9811909

Cited by 4 publications

(2 citation statements)

References 45 publications

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“…S26. The measured data from the distributed sensor network can also be used for accurate reconstruction of soft robots' 3D shapes through physics-guided (57) or data-driven modeling (13,55) approaches.…”

Section: Proof-of-concept Demonstration In Sensing Soft Arm Deformationsmentioning

confidence: 99%

High-stretchability and low-hysteresis strain sensors using origami-inspired 3D mesostructures

Huang,

Liu,

Lin

et al. 2023

Sci. Adv.

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Stretchable strain sensors are essential for various applications such as wearable electronics, prosthetics, and soft robotics. Strain sensors with high strain range, minimal hysteresis, and fast response speed are highly desirable for accurate measurements of large and dynamic deformations of soft bodies. Current stretchable strain sensors mostly rely on deformable conducting materials, which often have difficulties in achieving these properties simultaneously. In this study, we introduce capacitive strain sensor concepts based on origami-inspired three-dimensional mesoscale electrodes formed by a mechanically guided assembly process. These sensors exhibit up to 200% stretchability with 1.2% degree of hysteresis, <22 ms response time, small sensing area (~5 mm 2 ), and directional strain responses. To showcase potential applications, we demonstrate the use of distributed strain sensors for measuring multimodal deformations of a soft continuum arm.

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Section: Proof-of-concept Demonstration In Sensing Soft Arm Deformationsmentioning

confidence: 99%

High-stretchability and low-hysteresis strain sensors using origami-inspired 3D mesostructures

Huang,

Liu,

Lin

et al. 2023

Sci. Adv.

View full text Add to dashboard Cite

show abstract

“…Most of these don't mimic the muscle system of real trunks but instead use tubes divided into multiple hard segments that are controlled individually. Some approaches have instead used pneumatics to induce bending and twisting of tubular structures [3].…”

mentioning

confidence: 99%