A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics Article Swipe

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Soft robotics Robotics Capacitive sensing Artificial intelligence Soft sensor Computer science Context (archaeology) Sensor fusion Computer vision Deformation (meteorology) Robot Process (computing) Materials science Geology Paleontology Operating system Composite material

Stefan Escaida Navarro , Steven Nagels , Hosam Alagi , Lisa-Marie Faller , Olivier Goury , Thor Morales Bieze , Hubert Zangl , Björn Hein , Raf Ramakers , Wim Deferme , Gang Zheng , Christian Duriez ·

YOU? · · 2020 · Open Access · · DOI: https://doi.org/10.1109/lra.2020.3008120 · OA: W3037969311

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.