Data-Driven Kinematic Model of PneuNets Bending Actuators for Soft Grasping Tasks

Ciprian Rad, Olimpiu Hancu, Ciprian Lapusan
2022 Actuators  
The paper proposes a novel data-driven approximation kinematic (DAK) model to estimate the shape and opening level of a PneuNets soft gripper in relation to the applied pressure signal. The model offers suitable capabilities for implementing in real-time applications involving soft grasping planning and size recognition of fragile objects with different sizes and shapes. The proposed DAK model estimates the free bending behavior of a PneuNets actuator (soft gripper finger) based on a set of
more » ... oximation functions derived from experimental data and an equivalent serial mechanism that mimics the shape of the actuator. The model was tested for a commercial PneuNets actuator produced by soft gripping with decreasing chamber height. The model validation is accomplished through a set of experiments, where the shape and elementary displacements were measured using a digital image processing technique. The experimental data and the estimated data from the DAK model were compared and analyzed, respectively. The proposed approach has applicability in sensorless/self-sensing bending control algorithms of PneuNets actuators and in soft grasping applications where the robotic system must estimate the opening level of the gripper in order to be able to accomplish its task.
doi:10.3390/act11020058 fatcat:cwbdj7mrqvcwzcyehczlzftsxm