Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators

Cao, Guizhou; Huo, Benyan; Yang, Lei; Zhang, Fangfang; Liu, Yanhong; Bian, Gui‐Bin

doi:10.1109/lra.2021.3071952

Cited by 19 publications

(6 citation statements)

References 30 publications

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“…Measuring the velocity and acceleration of soft actuators remains challenging due to the impracticality of using typical solid-state sensors, such as tachometers, speedometers and gyroscopes. These sensors are not suitable for measuring the velocity of soft actuators since they might cause damage to their flexibility [37]. Even so, the control technique suggested by this work has shown a successful resolution to controlling the position of a foldable soft actuator.…”

Section: Resultsmentioning

confidence: 94%

Designing, modeling and controlling the angular bending of a foldable soft actuator without using a curvature sensor

My Nu,

Viet,

Truyen

2024

Smart Mater. Struct.

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Soft actuators have recently attracted considerable attention owing to their inherent flexibility and adaptability. Nevertheless, for a soft robot to successfully engage with its surroundings and perform tasks with optimal effectiveness, it encounters a range of obstacles, including the need for precise and skillful movement, the capacity to perceive its own position and motion, and the ability to effectively regulate its flexible structures. Researchers have developed techniques to integrate curvature sensors onto flexible devices, enabling them to detect and react to their positions. However, the integration of curvature sensors into flexible structures presents a substantial challenge in the structural manufacturing process. To address these concerns, this article presents a technique for designing, dynamic modeling, and controlling the bending angle of foldable soft actuator without the need for curvature sensors. An optimal design for the geometric dimensions of the soft structure utilizing origami concepts to guarantee the requisite bending properties is suggested. A model-based control method that considers both the motion dynamic and the air dynamic is proposed for controlling the angular bending of the actuator. The motion dynamic was developed using the constant volume principle of the elastomer material and the neo-Hookean hyperelastic theory to establish the correlation between the applied pressure and bending angle. This dynamic model incorporates both the hyperelastic material characteristics of silicone rubber and the geometry of the actuator. Soft actuators have variations in the air chamber's volume during operation, and accurately measuring this variation is challenging. In order to tackle this problem, the fuzzy active disturbance rejection controller is used to predict these variations. The controller possesses exceptional position-tracking capability. This control strategy exhibited excellent responsiveness throughout the range of steady-state error values from approximately 1o to 2o. Removing the curvature sensor increases the longevity of this soft actuator and promotes the efficiency of the manufacturing process, hence enhancing the practical application possibilities for the soft actuator made from super elastic material.

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Section: Resultsmentioning

confidence: 94%

Designing, modeling and controlling the angular bending of a foldable soft actuator without using a curvature sensor

My Nu,

Viet,

Truyen

2024

Smart Mater. Struct.

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“…Recent works usually utilize the syringe pump [25], [26] or air pumps with a pressure regulator or solenoid valve to generate air pressure for the pneumatic actuators and soft robots [9], [29], [32]. The air pumps are easily accessible but they are low in resolution and usually need extra bulky reservoirs.…”

Section: B Design and Modeling Of The Syringe Pumpmentioning

confidence: 99%

“…Among these options, soft pneumatic actuators are widely used [6], [8] due to their lightweight, cost-effectiveness, and high power density. However, their complex geometric shapes and pressure-driven nature present challenges for dynamical modeling and subsequent control [9], [10], particularly when implementing model-based control methods [11].…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling, and Parametric Analysis of a Syringe Pump for Soft Pneumatic Actuators

Yang

Hirao

Tomizuka

2023

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a second-order bending model. The equation of natural frequency is derived from Euler's bending theory, while the damping ratio is estimated by fitting step responses of soft pneumatic actuators. Evaluation of model uncertainty underscores the robustness of our modeling methodology. To validate our approach, we deploy it across four prototypes varying in dimensional parameters. Furthermore, a syringe pump is designed to drive the actuator, and a pressure model is proposed to construct a full system model. By employing this full system model, the Linear-Quadratic Regulator (LQR) controller is implemented to control the soft actuator, achieving high-speed responses and high accuracy in both step response and square wave function response tests. Both the modeling method and the LQR controller are thoroughly evaluated through experiments. Lastly, a gripper, consisting of two actuators with a feedback controller, demonstrates stable grasping of delicate objects with a significantly higher success rate.

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“…In 2016, NaviCam, a magnetically driven capsule endoscopic robot, was developed by ANKON Technology Company and approved by the CFDA. With the recent advancements in relevant technologies, there has been increasing interest in interventional diagnosis and therapy through natural orifices of the human body [such as the urethra (114,115), bronchial tube (124,125), or digestive tract (128,129,132,133)] as well as minimally invasive punctures (116) and brachytherapy (120,121). Beyond conventional robotic systems, recent attention has also been given to micro-and nanorobotics for cell-level inspection (126,127) and targeted drug delivery (118,119).…”

Section: Diagnosis and Treatment Robotsmentioning

confidence: 99%

Medical Robotics: Opportunities in China

Guo

Chen

Zhao

et al. 2022

Annu. Rev. Control Robot. Auton. Syst.

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Medical robotics is a rapidly advancing discipline that is leading the evolution of robot-assisted surgery, personalized rehabilitation and assistance, and hospital automation. In China, both research and commercial developments in medical robotics have undergone exponential growth in recent years. In this review, we first give an overview of the clinical and social demands that motivate the rapid development in medical robotics. For each subdiscipline (surgery, rehabilitation and personal assistance, and hospital automation), we then summarize the major research projects sponsored by National Key Research and Development Programs. The remaining technical, commercial, and regulatory challenges are highlighted. This review also outlines some of the new opportunities in endoluminal and interventional robotics, micro- and nanorobotics, soft exoskeletons, intelligent human–robot interaction, and telemedicine and telesurgery, which may support the general uptake of robotics in medicine.

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Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators

Cited by 19 publications

References 30 publications

Designing, modeling and controlling the angular bending of a foldable soft actuator without using a curvature sensor

Designing, modeling and controlling the angular bending of a foldable soft actuator without using a curvature sensor

Design, Modeling, and Parametric Analysis of a Syringe Pump for Soft Pneumatic Actuators

Medical Robotics: Opportunities in China

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