Towards intrinsic force sensing and control in parallel soft robots

@article{Lindenroth2021TowardsIF,
  title={Towards intrinsic force sensing and control in parallel soft robots},
  author={Lukas Lindenroth and Danail Stoyanov and Kawal S. Rhode and Hongbin Liu},
  journal={ArXiv},
  year={2021},
  volume={abs/2111.10338}
}
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing mechanisms. Whilst this has mainly been shown in tendon-based continuum manipulators or deformable robots comprising of push-pull rod actuation, fluid drives still pose great challenges due to high actuation variability and nonlinear mechanical system responses… 

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