Paper Info
Title
Position Control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers
Abstract
Soft robots require robust soft and flexible sensors that can undergo large deformations repeatedly. This work reports on soft robotic fingers with embedded soft pneumatic sensing chambers that are directly 3D printed without requiring postprocessing. A low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft thermoplastic poly(urethane) (TPU) was used to fabricate the monolithic fingers and sensing chambers. These pneumatic sensing chambers have multiple advantages including very fast response to any change in their internal volume, linearity, negligible hysteresis, repeatability, reliability, stability over time, long lifetime and very low power consumption. The performance of these chambers is accurately predicted, and their topologies are optimized using finite element modeling (FEM). Also, the flexion of the soft robotic finger is predicted using a geometric model for use in real-time position control. The position control of the soft robotic finger is achieved using feedback signals from the soft pneumatic sensing chambers embedded in the finger.
Year
DOI
Venue
2020
10.1109/RoboSoft48309.2020.9115978
2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)
Keywords
DocType
ISBN
real-time position control,integrated soft pneumatic sensing chambers,robust soft sensors,flexible sensors,soft robotic finger,embedded soft pneumatic sensing chambers,monolithic fingers,3D printed soft finger,low-cost open-source fused deposition modeling 3D printer,FDM,off-the-shelf soft thermoplastic poly(urethane),TPU,finite element modeling,FEM,geometric model,feedback signals
Conference
978-1-7281-6571-4
Citations 
PageRank 
References 
0
0.34
7
Authors
6
Name
Order
Citations
PageRank
Charbel Tawk100.34
Emre Sariyildiz200.68
Hao Zhou300.34
Marc in het Panhuis400.34
Geoffrey M. Spinks500.34
Gürsel Alici600.34