Design and Evaluation of a Soft Robotic Actuator with Non-Intrusive Vision-Based Bending Measurement
This paper presents the design and evaluation of a novel soft pneumatic actuator featuring two independent bending chambers, enabling independent joint actuation and localization for rehabilitation purposes. The actuator’s dual-chamber configuration provides flexibility for applications requiring cu...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/13/3858 |
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| author | Narges Ghobadi Witold Kinsner Tony Szturm Nariman Sepehri |
| author_facet | Narges Ghobadi Witold Kinsner Tony Szturm Nariman Sepehri |
| author_sort | Narges Ghobadi |
| collection | DOAJ |
| description | This paper presents the design and evaluation of a novel soft pneumatic actuator featuring two independent bending chambers, enabling independent joint actuation and localization for rehabilitation purposes. The actuator’s dual-chamber configuration provides flexibility for applications requiring customized bending profiles. To measure the bending angle of the finger joints in real time, a camera-based system is employed, utilizing a deep learning detection model to localize the joints and estimate their bending angles. This approach provides a non-intrusive, sensor-free alternative to hardware-based measurement methods, reducing complexity and wiring typically associated with wearable devices. Experimental results demonstrate the effectiveness of the proposed actuator in achieving bending angles of 105 degrees for the metacarpophalangeal (MCP) joint and 95 degrees for the proximal interphalangeal (PIP) joint, as well as a gripping force of 9.3 N. The vision system also captures bending angles with a precision of 98%, indicating potential applications in fields such as rehabilitation and human–robot interaction. |
| format | Article |
| id | doaj-art-9b914368cc2d4eda9b6d986e39a1e36d |
| institution | OA Journals |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-9b914368cc2d4eda9b6d986e39a1e36d2025-08-20T02:36:22ZengMDPI AGSensors1424-82202025-06-012513385810.3390/s25133858Design and Evaluation of a Soft Robotic Actuator with Non-Intrusive Vision-Based Bending MeasurementNarges Ghobadi0Witold Kinsner1Tony Szturm2Nariman Sepehri3Department of Mechanical Engineering, Price Faculty of Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, CanadaDepartment of Electrical & Computer Engineering, Price Faculty of Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, CanadaRady Faculty of Health Sciences, College of Rehabilitation Sciences, University of Manitoba, Winnipeg, MB R3E 0T4, CanadaDepartment of Mechanical Engineering, Price Faculty of Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, CanadaThis paper presents the design and evaluation of a novel soft pneumatic actuator featuring two independent bending chambers, enabling independent joint actuation and localization for rehabilitation purposes. The actuator’s dual-chamber configuration provides flexibility for applications requiring customized bending profiles. To measure the bending angle of the finger joints in real time, a camera-based system is employed, utilizing a deep learning detection model to localize the joints and estimate their bending angles. This approach provides a non-intrusive, sensor-free alternative to hardware-based measurement methods, reducing complexity and wiring typically associated with wearable devices. Experimental results demonstrate the effectiveness of the proposed actuator in achieving bending angles of 105 degrees for the metacarpophalangeal (MCP) joint and 95 degrees for the proximal interphalangeal (PIP) joint, as well as a gripping force of 9.3 N. The vision system also captures bending angles with a precision of 98%, indicating potential applications in fields such as rehabilitation and human–robot interaction.https://www.mdpi.com/1424-8220/25/13/3858soft pneumatic actuatorvision systemsoft robotsrehabilitationjoint localization |
| spellingShingle | Narges Ghobadi Witold Kinsner Tony Szturm Nariman Sepehri Design and Evaluation of a Soft Robotic Actuator with Non-Intrusive Vision-Based Bending Measurement Sensors soft pneumatic actuator vision system soft robots rehabilitation joint localization |
| title | Design and Evaluation of a Soft Robotic Actuator with Non-Intrusive Vision-Based Bending Measurement |
| title_full | Design and Evaluation of a Soft Robotic Actuator with Non-Intrusive Vision-Based Bending Measurement |
| title_fullStr | Design and Evaluation of a Soft Robotic Actuator with Non-Intrusive Vision-Based Bending Measurement |
| title_full_unstemmed | Design and Evaluation of a Soft Robotic Actuator with Non-Intrusive Vision-Based Bending Measurement |
| title_short | Design and Evaluation of a Soft Robotic Actuator with Non-Intrusive Vision-Based Bending Measurement |
| title_sort | design and evaluation of a soft robotic actuator with non intrusive vision based bending measurement |
| topic | soft pneumatic actuator vision system soft robots rehabilitation joint localization |
| url | https://www.mdpi.com/1424-8220/25/13/3858 |
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