Spring-IMU Fusion-Based Proprioception for Feedback Control of Soft Manipulators

This article presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely predicted using geometry-based sensor signals obtained from the inductive springs and the inertial measurement units...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2024-04, Vol.29 (2), p.832-842
Hauptverfasser:	Meng, Yinan, Fang, Guoxin, Yang, Jiong, Guo, Yuhu, Wang, Charlie C. L.
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Algorithms Bending Closed loops End effectors Feedback control Inductance Inertial platforms Machine learning Manipulators Proprioception Reference signals Robot arms Robot sensing systems Robustness Sensor fusion Sensors Soft robotics Training Trajectory planning
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