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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2405.17073 |
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| _version_ | 1866910460326969344 |
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| author | Girard, Alexandre Bigué, Jean-Philippe Lucking O'Brien, Benjamin M. Gisby, Todd A. Anderson, Iain A. Plante, Jean-Sébastien |
| author_facet | Girard, Alexandre Bigué, Jean-Philippe Lucking O'Brien, Benjamin M. Gisby, Todd A. Anderson, Iain A. Plante, Jean-Sébastien |
| contents | Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback that is not easily achieved through conventional one-degree-of-freedom (DOF) sensing apparatus. In this paper, a soft two-DOF dielectric elastomer (DE) sensor is specifically designed to provide accurate position feedback for a soft polymer robotic manipulator. The technology is exemplified on a soft robot intended for MRI-guided prostate interventions. DEs are chosen for their major advantages of softness, high strains, low cost and embedded multiple-DOF sensing capability, providing excellent system integration. A geometrical model of the proposed DE sensor is developed and compared to experimental results in order to understand sensor mechanics. Using a differential measurement approach, a handmade prototype provided linear sensory behavior and 0.2 mm accuracy on two-DOF. This correlates to a 0.7\% error over the sensor's 30 mm x 30 mm planar range, demonstrating the outstanding potential of DE technology for accurate multi-DOF position sensing. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_17073 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Soft Two-degree-of-freedom Dielectric Elastomer Position Sensor Exhibiting Linear Behavior Girard, Alexandre Bigué, Jean-Philippe Lucking O'Brien, Benjamin M. Gisby, Todd A. Anderson, Iain A. Plante, Jean-Sébastien Robotics Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback that is not easily achieved through conventional one-degree-of-freedom (DOF) sensing apparatus. In this paper, a soft two-DOF dielectric elastomer (DE) sensor is specifically designed to provide accurate position feedback for a soft polymer robotic manipulator. The technology is exemplified on a soft robot intended for MRI-guided prostate interventions. DEs are chosen for their major advantages of softness, high strains, low cost and embedded multiple-DOF sensing capability, providing excellent system integration. A geometrical model of the proposed DE sensor is developed and compared to experimental results in order to understand sensor mechanics. Using a differential measurement approach, a handmade prototype provided linear sensory behavior and 0.2 mm accuracy on two-DOF. This correlates to a 0.7\% error over the sensor's 30 mm x 30 mm planar range, demonstrating the outstanding potential of DE technology for accurate multi-DOF position sensing. |
| title | Soft Two-degree-of-freedom Dielectric Elastomer Position Sensor Exhibiting Linear Behavior |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.17073 |