Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment

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...

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Main Authors: Namdar Ghalati, Mohammad Hadi, Ghafarirad, Hamed
Format: Article
Language:English
Published: Académie des sciences 2023-01-01
Series:Comptes Rendus. Mécanique
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Online Access:https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.5802/crmeca.167/
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author Namdar Ghalati, Mohammad Hadi
Ghafarirad, Hamed
author_facet Namdar Ghalati, Mohammad Hadi
Ghafarirad, Hamed
author_sort Namdar Ghalati, Mohammad Hadi
collection DOAJ
description 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.
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institution Kabale University
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publisher Académie des sciences
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series Comptes Rendus. Mécanique
spelling doaj-art-3169f1022dcf433b9dfa6996612504c02025-02-07T13:46:51ZengAcadémie des sciencesComptes Rendus. Mécanique1873-72342023-01-01351G1435810.5802/crmeca.16710.5802/crmeca.167Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environmentNamdar Ghalati, Mohammad Hadi0https://orcid.org/0000-0001-9929-2135Ghafarirad, Hamed1https://orcid.org/0000-0001-7292-143XDepartment of Mechanical Engineering, Amirkabir University of Technology, Tehran, IranDepartment of Mechanical Engineering, Amirkabir University of Technology, Tehran, IranSoft 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.https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.5802/crmeca.167/Soft bending actuatorStatic modelingDeformation analysisForce estimationFinite rigid elements method
spellingShingle Namdar Ghalati, Mohammad Hadi
Ghafarirad, Hamed
Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment
Comptes Rendus. Mécanique
Soft bending actuator
Static modeling
Deformation analysis
Force estimation
Finite rigid elements method
title Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment
title_full Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment
title_fullStr Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment
title_full_unstemmed Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment
title_short Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment
title_sort continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment
topic Soft bending actuator
Static modeling
Deformation analysis
Force estimation
Finite rigid elements method
url https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.5802/crmeca.167/
work_keys_str_mv AT namdarghalatimohammadhadi continuousdeformationanalysisandcontactforceestimationforpneumaticbendingactuatorsinteractingwithenvironment
AT ghafariradhamed continuousdeformationanalysisandcontactforceestimationforpneumaticbendingactuatorsinteractingwithenvironment