A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics
| Autor: | Escaida Navarro, Stefan, Hein, Björn, Navarro, Stefan Escaida, Nagels, Steven, Alagi, Hosam, Faller, Lisa-Marie, Goury, Olivier, Morales-Bieze, Thor, Zangl, Hubert, Hein, Bjorn, Ramakers, Raf, Deferme, Wim, Zheng, Gang, Duriez, Christian |
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| Přispěvatelé: | Deformable Robots Simulation Team (DEFROST ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Institute for Materials Research [Diepenbeek] (IMO), Hasselt University (UHasselt), Institute of Nanotechnology [Karlsruhe] (INT), Karlsruhe Institute of Technology (KIT), Carinthia University of Applied Sciences, Alpen-Adria-Universität Klagenfurt [Klagenfurt, Austria], Expertise centre for Digital Media [Hasselt] (EDM), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), This work was supported by the Region Hauts-de-France, the project COMOROS (ANR-17-ERC2-0029), the European Regional Development Fund (ERDF), ROBOCOP (ANR-19-CE19-0026) and the project Inventor (I-SITE ULNE, le programme d’Investissements d’Avenir, Métropole Européenne de Lille). It was also supported by the Federal Ministry of Education and Research (Bundesministerium fur Bildung und Forschung, BMBF) within the project (Verbundprojekt-Nr.: 16SV7823K:) and Project of Department of Education of Guangdong Province (No.2019KZDXM037)., SOFA, ANR-17-ERC2-0029,COMOROS,COntrol and Modelling for sOft RObots in Surgery(2017), ANR-19-CE19-0026,ROBOCOP,robotisation de l'implant cochléaire(2019), Goury, Olivier/0000-0002-8616-350X, Nagels, Steven/0000-0002-8044-5733, Faller, Lisa-Marie/0000-0001-8434-1440, Zangl, Hubert/0000-0002-9717-9566 |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Control and Optimization
Computer science Astrophysics::High Energy Astrophysical Phenomena Capacitive sensing 0206 medical engineering Biomedical Engineering Soft robotics Context (language use) 02 engineering and technology [SPI.AUTO]Engineering Sciences [physics]/Automatic 03 medical and health sciences 0302 clinical medicine Artificial Intelligence force and tactile sensing [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Computer vision soft sensors and actuators Deformation (mechanics) business.industry Mechanical Engineering Modeling soft robot materials and design Sensor fusion 020601 biomedical engineering Finite element method Computer Science Applications and learning for soft robots Human-Computer Interaction Control and Systems Engineering Computer Vision and Pattern Recognition Artificial intelligence business control 030217 neurology & neurosurgery |
| Zdroj: | IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters, IEEE 2020, 5 (4), pp.5621-5628. ⟨10.1109/LRA.2020.3008120⟩ IEEE Robotics and Automation Letters, 2020, 5 (4), pp.5621-5628. ⟨10.1109/LRA.2020.3008120⟩ |
| ISSN: | 2377-3766 |
| DOI: | 10.1109/LRA.2020.3008120⟩ |
| Popis: | In this letter, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of soft capacitive sensing to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the deformation. Using a FEM-based numerical approach, we integrate both sensing streams and model two Soft Robotics devices we have conceived. These devices are a Soft Pad and a Soft Finger. We show in an evaluation that external forces on the Soft Pad can be estimated and that the shape of the Soft Finger can be reconstructed. This work was supported in part by the Region Hauts-de-France, the Project COMOROS under Grant ANR-17-ERC2-0029, in part by the European Regional Development Fund (ERDF), ROBOCOP under Grant ANR-19-CE19-0026, in part by the Project Inventor (I-SITE ULNE, le programme d'Investissements d'Avenir, Metropole Europeenne de Lille), and in part by the Federal Ministry of Education and Research (Bundesministerium fur Bildung und Forschung, BMBF) within the Project (Verbundprojekt-Nr.: 16SV7823 K:) and Project of Department of Education of Guangdong Province under Grant 2019KZDXM037. Navarro, SE (corresponding author), Inria Lille Nord Europe, DEFROST, F-59650 Villeneuve Dascq, France, CRIStAL Ctr Rech Informat Signal & Automat Lille, F-59650 Villeneuve Dascq, France. stefan.escaida-navarro@inria.fr; steven.nagels@uhasselt.be; hosam.alagi@kit.edu; l.faller@fh-kaernten.at; olivier.goury@inria.fr; thorbieze@gmail.com; hubert.zangl@tugraz.at; hein@ira.uka.de; raf.ramakers@uhasselt.be; wim.deferme@uhasselt.be; gang.zheng@inria.fr; christian.duriez@inria.fr |
| Databáze: | OpenAIRE |
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