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Dynamic manipulation of pneumatically controlled soft finger for home automation

Ameer Hamza Khan, Shuai Li Orcid Logo, Xuefeng Zhou

Measurement, Volume: 170, Start page: 108680

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1016/j.measurement.2020.108680

Abstract

Soft robots have the advantage of inherent flexibility, adaptability, compliance, and safety in human interaction, and therefore attracted significant research attention in recent years. They have found interesting applications in industrial automation where soft robotic hands are fitted as end-effe...

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Published in: Measurement
ISSN: 0263-2241
Published: Elsevier BV 2021
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URI: https://cronfa.swan.ac.uk/Record/cronfa55602
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first_indexed 2020-11-05T13:45:33Z
last_indexed 2021-02-05T04:12:39Z
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spelling 2021-02-04T15:45:53.6944772 v2 55602 2020-11-05 Dynamic manipulation of pneumatically controlled soft finger for home automation 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2020-11-05 MECH Soft robots have the advantage of inherent flexibility, adaptability, compliance, and safety in human interaction, and therefore attracted significant research attention in recent years. They have found interesting applications in industrial automation where soft robotic hands are fitted as end-effector on traditional rigid robotic arms to handle delicate objects. Their inherent compliance with the shape of the object reduces the complexity of sensing and actuation mechanisms required for the safe operation of traditional robotic hands. They also have the potential application in the home automation, since the operation of robots in indoor environment impose a stringent requirement on safety and compliant design. Despite this, the dynamic manipulation of soft robots remains challenging because their inherent flexibility makes their mathematical model highly nonlinear. Existing works either use model-free control, e.g., PID, which owing to its general formulation, does not account for the peculiarity of soft robots, or they use the Finite-Element-Method based approach, which, apart from being computationally expensive, requires an exact model of the soft robots. In this paper, we take a holistic approach by first developing a low-order approximate mathematical model for computational efficiency and then adding a feedback loop using an inverse dynamics controller to compensate for modeling errors. Theoretical analysis is presented to prove the convergence and stability of the proposed controller. Extensive experimental and comparison results also prove the superiority of the proposed controller over other algorithms. Journal Article Measurement 170 108680 Elsevier BV 0263-2241 Soft robotics, Modeling, Inverse dynamics 1 1 2021 2021-01-01 10.1016/j.measurement.2020.108680 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University 2021-02-04T15:45:53.6944772 2020-11-05T13:35:52.2156179 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Ameer Hamza Khan 1 Shuai Li 0000-0001-8316-5289 2 Xuefeng Zhou 3 55602__18594__0a2cc64eafee4135a4a7bf1f569c6846.pdf 55602.pdf 2020-11-05T13:44:40.1804041 Output 7427829 application/pdf Accepted Manuscript true 2021-11-02T00:00:00.0000000 © 2020. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/ true eng CC-BY-NC-ND
title Dynamic manipulation of pneumatically controlled soft finger for home automation
spellingShingle Dynamic manipulation of pneumatically controlled soft finger for home automation
Shuai Li
title_short Dynamic manipulation of pneumatically controlled soft finger for home automation
title_full Dynamic manipulation of pneumatically controlled soft finger for home automation
title_fullStr Dynamic manipulation of pneumatically controlled soft finger for home automation
title_full_unstemmed Dynamic manipulation of pneumatically controlled soft finger for home automation
title_sort Dynamic manipulation of pneumatically controlled soft finger for home automation
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Ameer Hamza Khan
Shuai Li
Xuefeng Zhou
format Journal article
container_title Measurement
container_volume 170
container_start_page 108680
publishDate 2021
institution Swansea University
issn 0263-2241
doi_str_mv 10.1016/j.measurement.2020.108680
publisher Elsevier BV
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 1
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description Soft robots have the advantage of inherent flexibility, adaptability, compliance, and safety in human interaction, and therefore attracted significant research attention in recent years. They have found interesting applications in industrial automation where soft robotic hands are fitted as end-effector on traditional rigid robotic arms to handle delicate objects. Their inherent compliance with the shape of the object reduces the complexity of sensing and actuation mechanisms required for the safe operation of traditional robotic hands. They also have the potential application in the home automation, since the operation of robots in indoor environment impose a stringent requirement on safety and compliant design. Despite this, the dynamic manipulation of soft robots remains challenging because their inherent flexibility makes their mathematical model highly nonlinear. Existing works either use model-free control, e.g., PID, which owing to its general formulation, does not account for the peculiarity of soft robots, or they use the Finite-Element-Method based approach, which, apart from being computationally expensive, requires an exact model of the soft robots. In this paper, we take a holistic approach by first developing a low-order approximate mathematical model for computational efficiency and then adding a feedback loop using an inverse dynamics controller to compensate for modeling errors. Theoretical analysis is presented to prove the convergence and stability of the proposed controller. Extensive experimental and comparison results also prove the superiority of the proposed controller over other algorithms.
published_date 2021-01-01T04:09:56Z
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score 11.013731

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