Force sensing evaluation for a piezoelectric-actuated compliant robot with onboard visual servoing
File(s)
Accepted version
Author(s)
Chen, Xu
Zhao, Linchuan
Kiziroglou, Michail E
Yeatman, Eric M
Type
Conference Paper
Abstract
Self-sensing remains a key challenge for soft medical robots, where precise control through force feedback is essential. This paper explores the feasibility of using motion control feedback signals for force sensing in soft actuators. An experiment was designed and conducted on a compliant robot, successfully validating the proposed concept and providing parameterized equations for real-time force sensing. The results demonstrate the potential to incorporate force feedback into closed-loop control systems, enabling micro-robots with haptic sensing. This approach could significantly improve the precision, expand the functionality and enhance the safety of soft medical robots used in surgical diagnosis and intervention procedures.
Date Issued
2024-12-30
Date Acceptance
2024-11-01
Citation
2024 IEEE 23rd International Conference on Micro and Miniature Power Systems, Self-Powered Sensors and Energy Autonomous Devices (PowerMEMS), 2024, pp.275-278
Publisher
IEEE
Start Page
275
End Page
278
Journal / Book Title
2024 IEEE 23rd International Conference on Micro and Miniature Power Systems, Self-Powered Sensors and Energy Autonomous Devices (PowerMEMS)
Copyright Statement
© 2024 IEEE. This is the author’s accepted manuscript made available under a CC-BY licence in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy)
License URL
Source
2024 IEEE 23rd International Conference on Micro and Miniature Power Systems, Self-Powered Sensors and Energy Autonomous Devices (PowerMEMS)
Publication Status
Published
Start Date
2024-11-18
Finish Date
2024-11-21
Coverage Spatial
Tonsberg, Norway