Sensorization of continuum soft robots for reconstructing their spatial configuration

M. Cianchetti, F. Renda, A. Licofonte, C. Laschi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

50 Scopus citations

Abstract

This work deals with the sensorization of continuum soft robots for reconstructing their spatial configuration. Since at the present time the proprioceptive perception is prevalently achieved using external 3D optical methods, an embedded system is needed for the improvement of the performances of this promising kind of robots. The idea is to use stretch sensors to reconstruct the spatial configuration of a robotic structure: differential measurements on strain values can be used to derive local curvatures performed by the arm. Strain values have been extracted using a conductive textile that presents very high elasticity and lightness. The main feature is that its electrical resistance depends on its mechanical strain and it has been characterized in order to derive this strain-resistance relation. The reconstruction method that allows to obtain spatial configuration from material deformations is then reported. A practical application on reconstructing the configuration of an octopus-inspired robot arm is finally shown and discussed.

Original languageBritish English
Title of host publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages634-639
Number of pages6
DOIs
StatePublished - 2012
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: 24 Jun 201227 Jun 2012

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/TerritoryItaly
CityRome
Period24/06/1227/06/12

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