Elasticity vs hyperelasticity considerations in quasi-static modelling of a soft finger-like robotic appendage for real-time position and force estimation

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Title: Elasticity vs hyperelasticity considerations in quasi-static modelling of a soft finger-like robotic appendage for real-time position and force estimation
Authors: Shiva, A
Sadati, SH
Noh, Y
Fras, J
Ataka, A
Wurdemann, H
Hauser, H
Walker, I
Nanayakkara, DPT
Althoefer, K
Item Type: Journal Article
Abstract: V arious m ethods based on hyperelastic assumpti ons have been developed to address the ma thematical complexities of modelling motion and deformation of continuum manipulators . Here , we propose a quasi - static approach for 3D modelling and real - time simulation of a pneumatically actuated soft continuum ro botic appendage to estimate the contact forces and the overall pose. Our model can incorporate external load at any arbitrary point on the body and deliver positional and force propagation information along the entire backbone. In line with the proposed mo del, the effectiveness of elas ticity vs. hyperelasticity as sumptions (Neo - Hookean and Gent) are investigated and compared . E xperiments are carried out with and without external load , and simulations are validated acro s s a range of Young’s moduli . Results s how best conformity with Hook e ’s model for limited strains with about 6 % average normalized error of position ; and a mean absolute error of less than 0.0 8 N for force applied at the tip and on the body ; demonstrating high accuracy in estimating the position and the contact forces.
Date of Acceptance: 22-Oct-2018
URI: http://hdl.handle.net/10044/1/65737
ISSN: 2169-5172
Publisher: Mary Ann Liebert
Journal / Book Title: Soft Robotics
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/N03211X/2
Publication Status: Accepted
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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