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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Académie des sciences
2023-01-01
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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. |
format | Article |
id | doaj-art-3169f1022dcf433b9dfa6996612504c0 |
institution | Kabale University |
issn | 1873-7234 |
language | English |
publishDate | 2023-01-01 |
publisher | Académie des sciences |
record_format | Article |
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 |