학술논문
Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation.
Document Type
Academic Journal
Author
Shiva A; 1 Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom.; 2 Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom.; Sadati SMH; 2 Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom.; 3 Bristol Robotics Laboratory, Faculty of Engineering, University of Bristol, Bristol, United Kingdom.; Noh Y; 1 Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom.; Fraś J; 4 Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom.; 5 Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland.; Ataka A; 1 Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom.; 4 Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom.; Würdemann H; 6 Department of Mechanical Engineering, University College London, London, United Kingdom.; Hauser H; 3 Bristol Robotics Laboratory, Faculty of Engineering, University of Bristol, Bristol, United Kingdom.; Walker ID; 7 Department of Electrical and Computer Engineering, Clemson University, Clemson, South Carolina.; Nanayakkara T; 2 Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom.; Althoefer K; 4 Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom.
Source
Publisher: Mary Ann Liebert, Inc Country of Publication: United States NLM ID: 101623819 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 2169-5180 (Electronic) Linking ISSN: 21695172 NLM ISO Abbreviation: Soft Robot Subsets: MEDLINE
Subject
Language
English
Abstract
Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact force and overall pose. Our model can incorporate external load at any arbitrary point on the body and deliver positional and force propagation information along the entire backbone. In line with the proposed model, the effectiveness of elasticity versus hyperelasticity assumptions (neo-Hookean and Gent) is investigated and compared. Experiments are carried out with and without external load, and simulations are validated across a range of Young's moduli. Results show best conformity with Hooke's model for limited strains with about 6% average normalized error of position; and a mean absolute error of less than 0.08 N for force applied at the tip and on the body, demonstrating high accuracy in estimating the position and the contact force.