A Spring-based Inductive Sensor for Soft and Flexible Robots

Autor: Sujit Kumar Sahu, Izadyar Tamadon, Benoit Rosa, Pierre Renaud, Arianna Menciassi
Přispěvatelé: Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Scuola Universitaria Superiore Sant'Anna [Pisa] (SSSUP), European Project: 813782,ATLAS, univOAK, Archive ouverte, AuTonomous intraLuminAl Surgery - ATLAS - 813782 - INCOMING
Jazyk: angličtina
Rok vydání: 2022
Předmět:
Zdroj: IEEE Sensors Journal
IEEE Sensors Journal, 2022, 22 (20), pp.19931-19940. ⟨10.1109/JSEN.2022.3201049⟩
ISSN: 1530-437X
Popis: The development of flexible and soft robots generates new needs in terms of instrumentation, as large encountered deformations require highly stretchable strain sensors. In this regard, we contribute to the adoption of inductive sensors by providing tools to model and exploit them and showing their relevance experimentally. First, strain estimation based on voltage measurement is proposed. Compared to direct inductance evaluation, the principle is easier to implement and opens the possibility to optimize the measurement performances by tuning the circuit components and interrogation frequency. The possibility of performing a single sensor calibration independently via the elongation mode during strain sensing is outlined. A detailed characterization is then performed, which shows that the sensor produces a low hysteresis of 0.1%, a precision in the order of 0.14%, and an accuracy of 0.9%. Finally, two proofs of concept are proposed: 1) the integration with a pneumatic artificial muscle (PAM) that demonstrates the added value of the sensor for a model-free precise control of a soft system and 2) the closed-loop control of a flexible bending manipulator using the inductive sensor. The performance in the closed-loop control is demonstrated, with a sensing element that is easy to integrate mechanically, strengthening its potential to be used as a structural element as well.
Databáze: OpenAIRE
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