Soft bending actuators show high adaptability for applications such as rehabilitation or grasping. Although constant curvature assumption has been extensively used for free motion modeling, these actuators do not bend circularly when interacting with the environment. In such situation, conventional bending sensors cannot provide useful information on their shape. In this paper, the Finite Rigid Elements approach is utilized to model the behavior of a soft pneumatic bending actuator in free motion and contact. With this method, the variable curvature configuration under different external loads can be modeled. Then, the contact force between the actuator and an object located in a specific position is estimated utilizing the Gradient Descent optimization method. Experimental results verified the combinatorial proposed approach for both force estimation and structure deformation.
Revised:
Accepted:
Published online:
Mohammad Hadi Namdar Ghalati 1; Hamed Ghafarirad 1
CC-BY 4.0
@article{CRMECA_2023__351_G1_43_0,
author = {Mohammad Hadi Namdar Ghalati and Hamed Ghafarirad},
title = {Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment},
journal = {Comptes Rendus. M\'ecanique},
pages = {43--58},
publisher = {Acad\'emie des sciences, Paris},
volume = {351},
year = {2023},
doi = {10.5802/crmeca.167},
language = {en},
}
TY - JOUR AU - Mohammad Hadi Namdar Ghalati AU - Hamed Ghafarirad TI - Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment JO - Comptes Rendus. Mécanique PY - 2023 SP - 43 EP - 58 VL - 351 PB - Académie des sciences, Paris DO - 10.5802/crmeca.167 LA - en ID - CRMECA_2023__351_G1_43_0 ER -
%0 Journal Article %A Mohammad Hadi Namdar Ghalati %A Hamed Ghafarirad %T Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment %J Comptes Rendus. Mécanique %D 2023 %P 43-58 %V 351 %I Académie des sciences, Paris %R 10.5802/crmeca.167 %G en %F CRMECA_2023__351_G1_43_0
Mohammad Hadi Namdar Ghalati; Hamed Ghafarirad. Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment. Comptes Rendus. Mécanique, Volume 351 (2023), pp. 43-58. doi : 10.5802/crmeca.167. https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.5802/crmeca.167/
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