Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot
Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot
Soft sensors are crucial to enable feedback in soft robots. Soft capacitive sensing is a reliable technology that can be embedded into soft pneumatic robots for obtaining proprioceptive and exteroceptive feedback. In this paper, we model a soft capacitive sensor that measures both the actuated state as well as applied external forces. We develop a Finite Element Model using a multiphysics software (COMSOL®). Using this model, we investigate the change in capacitance with the application of external force, for a range of different internal pressures and strains. We hope this study is helpful in understanding the coupling of internal inputs and external stimuli on the feedback obtained from the sensors and help us design better sensory systems for soft robots.
99-110
Dawood, Abu Bakar
00a66f65-5d71-4c6f-ba80-f077da7115dc
Godaba, Hareesh
787c1482-6a29-43ad-b49e-a6a2b7175f0c
Althoefer, Kaspar
031c800b-bf48-4996-8c17-29f7408898c6
17 July 2019
Dawood, Abu Bakar
00a66f65-5d71-4c6f-ba80-f077da7115dc
Godaba, Hareesh
787c1482-6a29-43ad-b49e-a6a2b7175f0c
Althoefer, Kaspar
031c800b-bf48-4996-8c17-29f7408898c6
Dawood, Abu Bakar, Godaba, Hareesh and Althoefer, Kaspar
(2019)
Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot.
Althoefer, K., Konstantinova, J. and Zhang, K.
(eds.)
In Towards Autonomous Robotic Systems: 20th Annual Conference, TAROS 2019, London, UK, July 3--5, 2019, Proceedings, Part II 20.
vol. 11650,
Springer Cham.
.
(doi:10.1007/978-3-030-25332-5_9).
Record type:
Conference or Workshop Item
(Paper)
Abstract
Soft sensors are crucial to enable feedback in soft robots. Soft capacitive sensing is a reliable technology that can be embedded into soft pneumatic robots for obtaining proprioceptive and exteroceptive feedback. In this paper, we model a soft capacitive sensor that measures both the actuated state as well as applied external forces. We develop a Finite Element Model using a multiphysics software (COMSOL®). Using this model, we investigate the change in capacitance with the application of external force, for a range of different internal pressures and strains. We hope this study is helpful in understanding the coupling of internal inputs and external stimuli on the feedback obtained from the sensors and help us design better sensory systems for soft robots.
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Published date: 17 July 2019
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Local EPrints ID: 499315
URI: http://eprints.soton.ac.uk/id/eprint/499315
ISSN: 0302-9743
PURE UUID: e4ef5ebc-29de-4c2c-a63d-d8795ff732b1
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Date deposited: 17 Mar 2025 17:30
Last modified: 18 Mar 2025 03:18
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Contributors
Author:
Abu Bakar Dawood
Author:
Hareesh Godaba
Author:
Kaspar Althoefer
Editor:
K. Althoefer
Editor:
J. Konstantinova
Editor:
K. Zhang
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