Variable-Stiffness Control of a Dual-Segment Soft Robot Using Depth Vision Article Swipe
Jiewen Lai
,
Bo Lu
,
Henry K. Chu
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/tmech.2021.3078466
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/tmech.2021.3078466
A soft-bodied robot exhibits prominent dexterity due to the soft nature of its material. However, the softness can become a burden when the robot needs to interact with the environment, given that the targeted object is usually much stiffer than the compliant soft robot. A variable-stiffness soft robot, fusing the merits of softness and stiffness, is in favor of many applications, such as robot-assisted minimally invasive surgeries. In this article, we propose a tendon-tensioning method to adaptively control the stiffness of a dual-segment tendon-driven backboneless soft robot based on depth vision. A depth-vision-based closed-loop controller is designed for stiffness compensation when the manipulator is subjected to the external load. Experiments were conducted to examine the feasibility and performance of the proposed method. The results confirm our control scheme on the robot with controllability of stiffness up to 132%. Based on our method, the manipulator with an external payload can follow designated trajectories with positioning errors reduced up to 50% comparing to that with open-loop control. Without quantifying the instantaneous stiffness, this work contributes a generalized method for tuning the stiffness of the tendon-driven soft robots in the presence of external disturbances without onboard sensing.
Related Topics
Concepts
Stiffness
Robot
Controllability
Controller (irrigation)
Control theory (sociology)
Payload (computing)
Computer science
Soft robotics
Engineering
Artificial intelligence
Control engineering
Control (management)
Structural engineering
Mathematics
Biology
Network packet
Applied mathematics
Computer network
Agronomy
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/tmech.2021.3078466
- OA Status
- green
- Cited By
- 42
- References
- 36
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3162343675
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3162343675Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/tmech.2021.3078466Digital Object Identifier
- Title
-
Variable-Stiffness Control of a Dual-Segment Soft Robot Using Depth VisionWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2021Year of publication
- Publication date
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2021-05-10Full publication date if available
- Authors
-
Jiewen Lai, Bo Lu, Henry K. ChuList of authors in order
- Landing page
-
https://doi.org/10.1109/tmech.2021.3078466Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://ira.lib.polyu.edu.hk/bitstream/10397/106325/1/Lai_Variable-Stiffness_Control_Dual-Segment.pdfDirect OA link when available
- Concepts
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Stiffness, Robot, Controllability, Controller (irrigation), Control theory (sociology), Payload (computing), Computer science, Soft robotics, Engineering, Artificial intelligence, Control engineering, Control (management), Structural engineering, Mathematics, Biology, Network packet, Applied mathematics, Computer network, AgronomyTop concepts (fields/topics) attached by OpenAlex
- Cited by
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42Total citation count in OpenAlex
- Citations by year (recent)
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2025: 8, 2024: 12, 2023: 12, 2022: 6, 2021: 3Per-year citation counts (last 5 years)
- References (count)
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36Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| referenced_works | https://openalex.org/W1515749184, https://openalex.org/W2184993170, https://openalex.org/W2101667962, https://openalex.org/W2133231729, https://openalex.org/W2978410619, https://openalex.org/W2908691316, https://openalex.org/W2734643885, https://openalex.org/W1847353717, https://openalex.org/W2047269087, https://openalex.org/W3003713768, https://openalex.org/W1793293096, https://openalex.org/W3015155535, https://openalex.org/W2284390012, https://openalex.org/W2074535625, https://openalex.org/W2909662786, https://openalex.org/W2558828391, https://openalex.org/W2020800805, https://openalex.org/W3119171937, https://openalex.org/W2998655015, https://openalex.org/W2092391367, https://openalex.org/W2146031911, https://openalex.org/W2293554515, https://openalex.org/W2124992704, https://openalex.org/W3047693789, https://openalex.org/W2066399169, https://openalex.org/W1985568314, https://openalex.org/W3176339485, https://openalex.org/W2101797976, https://openalex.org/W3005018029, https://openalex.org/W3010610487, https://openalex.org/W1988003703, https://openalex.org/W2883279767, https://openalex.org/W2525973954, https://openalex.org/W2934307726, https://openalex.org/W4403689548, https://openalex.org/W2111866551 |
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