Passive and active acoustic sensing for soft pneumatic actuators

Wall, Vincent; Zöller, Gabriel; Brock, Oliver

doi:10.1177/02783649231168954

Cited by 12 publications

(4 citation statements)

References 57 publications

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“…These sensors enable the monitoring and control of the shape and position of different parts of the soft robot. Additionally, the sensors can enhance a soft robot’s awareness of external stimuli such as temperature, pH, chemicals, pressure, light, and sound, which significantly widens the scope of the application of soft robots. With the help of sensors, soft robots can perform complex tasks in diverse fields such as healthcare , agriculture, , and warehouse management, among others.…”

Section: Automation and Industry 40 Needsmentioning

confidence: 99%

Sensing in Soft Robotics

Hegde,

Su,

Tan

et al. 2023

ACS Nano

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Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. Soft robots can handle delicate objects with care, access remote areas, and offer realistic feedback on their handling performance. However, increased dexterity and mechanical compliance of soft robots come with the need for accurate control of the position and shape of these robots. Therefore, soft robots must be equipped with sensors for better perception of their surroundings, location, force, temperature, shape, and other stimuli for effective usage. This review highlights recent progress in sensing feedback technologies for soft robotic applications. It begins with an introduction to actuation technologies and material selection in soft robotics, followed by an in-depth exploration of various types of sensors, their integration methods, and the benefits of multimodal sensing, signal processing, and control strategies. A short description of current market leaders in soft robotics is also included in the review to illustrate the growing demands of this technology. By examining the latest advancements in sensing feedback technologies for soft robots, this review aims to highlight the potential of soft robotics and inspire innovation in the field.

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Section: Automation and Industry 40 Needsmentioning

confidence: 99%

Sensing in Soft Robotics

Hegde,

Su,

Tan

et al. 2023

ACS Nano

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“…Also, sometimes, measuring the temperature inside actuators (pneumatic fingers) is of interest. For this, acoustic methods are employed, which could sense temperature with a mean accuracy of 4.5 • C [93].…”

Section: Other Featuresmentioning

confidence: 99%

“…Whenever this finger interacts with the external environment while in operation, the modulation of the reference sound signal is altered. And this altered modulation is used to characterise the tactile features, like contact force, contact location, the material of a touching object, finger inflation, and temperature [93].…”

Section: Low-cost Tactile-sensing Techniquesmentioning

confidence: 99%

Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation

Mandil,

Rajendran,

Nazari

et al. 2023

Sensors

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Tactile sensing plays a pivotal role in achieving precise physical manipulation tasks and extracting vital physical features. This comprehensive review paper presents an in-depth overview of the growing research on tactile-sensing technologies, encompassing state-of-the-art techniques, future prospects, and current limitations. The paper focuses on tactile hardware, algorithmic complexities, and the distinct features offered by each sensor. This paper has a special emphasis on agri-food manipulation and relevant tactile-sensing technologies. It highlights key areas in agri-food manipulation, including robotic harvesting, food item manipulation, and feature evaluation, such as fruit ripeness assessment, along with the emerging field of kitchen robotics. Through this interdisciplinary exploration, we aim to inspire researchers, engineers, and practitioners to harness the power of tactile-sensing technology for transformative advancements in agri-food robotics. By providing a comprehensive understanding of the current landscape and future prospects, this review paper serves as a valuable resource for driving progress in the field of tactile sensing and its application in agri-food systems.

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“…Tactile sensing via soft skins [13] is also a well studied topic. Audio devices have also been integrated in to soft robotic systems [14]. Francesco Piqué and Egidio Falotico are with The BioRobotics Insitute, Scuola Superiore Sant'Anna, Pisa, Italy and with the Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy (email:{francesco.pique, egidio.falotico}@santannapisa.it).…”

Section: Introductionmentioning

confidence: 99%

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Stella

Hughes

Falotico

et al. 2023

2023 IEEE International Conference on Soft Robotics (RoboSoft)

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Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks involving unstructured environments. This work proposes an artificial nose on a soft robotic arm that ensures separate smell concentration readings. We propose designing the nose to generate a one-to-one matching between the sensors' inputs and the actuators. This design choice allows us to implement a simple control strategy tailored to reach a dynamically varying smell in the environment, which we validate on a two-segment tendon-driven soft robotic arm equipped with the proposed artificial nose. We also propose and validate in simulation a control strategy for reaching tasks in the case of a stationary smell.

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Passive and active acoustic sensing for soft pneumatic actuators

Cited by 12 publications

References 57 publications

Sensing in Soft Robotics

Sensing in Soft Robotics

Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

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