2021
DOI: 10.3389/frobt.2021.557830
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Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators

Abstract: To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actua… Show more

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Cited by 10 publications
(5 citation statements)
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References 29 publications
(49 reference statements)
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“…A sensor has been integrated into the fiber-reinforced actuator inertial measurement unit (IMU) and pressure sensing) to correlate it with PCC modeling and control loop closures on pressure and chamber lengths [95]. Sensing is also addressed, with locations for length sensors on a soft-linked robot joint and configuration estimation recommended, all while reducing errors [96].…”
Section: Control Techniques Used With Soft Robotic Systemsmentioning
confidence: 99%
“…A sensor has been integrated into the fiber-reinforced actuator inertial measurement unit (IMU) and pressure sensing) to correlate it with PCC modeling and control loop closures on pressure and chamber lengths [95]. Sensing is also addressed, with locations for length sensors on a soft-linked robot joint and configuration estimation recommended, all while reducing errors [96].…”
Section: Control Techniques Used With Soft Robotic Systemsmentioning
confidence: 99%
“…To control the grasping profile of the SPG, this study presents a system architecture and implementation of an air compressor pump with a digital regulator and pneumatic Researchers have made significant progress in developing models for SPGs, including empirical models of SPAs [29], analytical SPA models of variable length [30], analytical models and feedback control [31,32], analytical models of amphibious SPAs [33], analytical models of SPAs with parametric identification [34], and analytical models and observerbased feedback control of SPAs [35]. However, the development of control techniques to effectively manage the grasping profile of SPGs is still underway.…”
Section: Introductionmentioning
confidence: 99%
“…In the work of Wang et al (2019a ), a pneumatic model was used to control the bending angle of a pneumatic network actuator using a robust backstepping controller with two-way, two-position on/off valves. Sliding mode controllers are proposed by Ibrahim et al (2019 ; 2021 ) to control the pressure of a soft actuator using proportional valves. In the work of Chen et al (2020 ), a pneumatic model is included to control the bending angle of a fiber-reinforced actuator using two three-way, two-position on/off valves with a backstepping-based adaptive robust controller and sliding mode controller.…”
Section: Introductionmentioning
confidence: 99%