Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration
Kazuki Higashi,
Keisuke Koyama,
Ryuta Ozawa
et al.
Abstract:Soft multi-fingered robotic hands are safe in human environments and can perform human-like behaviors. However, structural complexities and nonlinearities in soft actuators complicate torque sensing, a critical function for dexterous object manipulation. This study introduces a torque-sensing finger joint mechanism using a soft actuator composed of water-powered hydraulic bellows. Two real-time torque estimation methods are proposed, developed, and validated specifically for cases in which buckling occurs in t… Show more
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