A method for sensorizing soft actuators and its application to the RBO hand 2

@article{Wall2017AMF,
  title={A method for sensorizing soft actuators and its application to the RBO hand 2},
  author={Vincent Wall and Gabriel Zoller and Oliver Brock},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={4965-4970}
}
The compliance of soft actuators makes manipulation safer and simplifies control. But their high flexibility also makes sensorization challenging. From the large space of possible deformations not all are equally important. We present a method for sensorization of soft actuators that, for a given application, finds an effective layout from a set of sensors. It starts from a redundant sensor layout and iteratively reduces the number of sensors. Applying the method to the PneuFlex actuators of… CONTINUE READING

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