Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot
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Published version
Embargoed until: 5555-01-01
Embargoed until: 5555-01-01
Volume
11650 LNAI
Pagination
99 - 110
ISBN-13
9783030253318
DOI
10.1007/978-3-030-25332-5_9
ISSN
0302-9743
Metadata
Show full item recordAbstract
© Springer Nature Switzerland AG 2019. Soft sensors are crucial to enable feedback in soft robots. Soft capacitive sensing is a reliable technology that can be embedded into soft pneumatic robots for obtaining proprioceptive and exteroceptive feedback. In this paper, we model a soft capacitive sensor that measures both the actuated state as well as applied external forces. We develop a Finite Element Model using a multiphysics software (COMSOL®). Using this model, we investigate the change in capacitance with the application of external force, for a range of different internal pressures and strains. We hope this study is helpful in understanding the coupling of internal inputs and external stimuli on the feedback obtained from the sensors and help us design better sensory systems for soft robots.