Abstract
In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on the joint. As the bellows extend, these coils of wire become more distant, decreasing their mutual inductance. Measuring this change in mutual inductance allows us to measure the motion of the joint. By dividing the sensing of the joint into two sections and measuring the motion of each section independently, we are able to measure the overall deformation of the joint with a piece-wise constant-curvature approximation. This technique allows us to measure lateral displacements that would be otherwise unobservable. When measuring bending, the inductance sensors measured the joint orientation with an RMS error of \(1.1^\circ \). The inductance sensors were also successfully used as feedback to control the orientation of the joint. The sensors proposed and tested in this work provided accurate motion feedback that would be difficult to achieve robustly with other sensors. This sensing system enables the creation of robust, self-sensing soft robots based on bellows-driven continuum joints.
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Acknowledgements
This material is based upon work supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE 1256260. Any opinion, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation. Funding for this project was provided by NIH (GRANT: 1-R01-EB019834-2014 Wearable eMbots to Induce Recovery of Function).
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Authors Wyatt Felt and C. David Remy are listed as inventors on a patent application for inductance sensing on bellows actuators. The other authors are (or were) employed by Pneubotics and/or its parent organization, Otherlab. Each of them has an investment interest with the company, and each is listed as an inventor in patents related to this work.
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This is one of several papers published in Autonomous Robots comprising the “Special Issue on Robotics Science and Systems”.
This work was supported by the NSF and NIH.
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Felt, W., Telleria, M.J., Allen, T.F. et al. An inductance-based sensing system for bellows-driven continuum joints in soft robots. Auton Robot 43, 435–448 (2019). https://doi.org/10.1007/s10514-018-9769-7
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DOI: https://doi.org/10.1007/s10514-018-9769-7