dc.contributor.author | Dawood, AB | en_US |
dc.contributor.author | Godaba, H | en_US |
dc.contributor.author | Althoefer, K | en_US |
dc.contributor.author | Annual Conference Towards Autonomous Robotic Systems | en_US |
dc.date.accessioned | 2020-06-02T12:57:29Z | |
dc.date.available | 2019-04-04 | en_US |
dc.date.issued | 2019-07-17 | en_US |
dc.identifier.isbn | 9783030253318 | en_US |
dc.identifier.issn | 0302-9743 | en_US |
dc.identifier.uri | https://qmro.qmul.ac.uk/xmlui/handle/123456789/64591 | |
dc.description.abstract | © 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. | en_US |
dc.format.extent | 99 - 110 | en_US |
dc.rights | This is a pre-copyedited, author-produced version of an article accepted for publication in Lecture Notes in Computer Science following peer review. The version of record is available https://link.springer.com/chapter/10.1007%2F978-3-030-25332-5_9 | |
dc.title | Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot | en_US |
dc.type | Conference Proceeding | |
dc.rights.holder | © Springer Nature Switzerland AG 2019. | |
dc.identifier.doi | 10.1007/978-3-030-25332-5_9 | en_US |
pubs.notes | Not known | en_US |
pubs.publication-status | Published | en_US |
pubs.volume | 11650 LNAI | en_US |
dcterms.dateAccepted | 2019-04-04 | en_US |
rioxxterms.funder | Default funder | en_US |
rioxxterms.identifier.project | Default project | en_US |
qmul.funder | National Centre for Nuclear Robotics::Engineering and Physical Sciences Research Council | en_US |