Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots

Yiming Ouyang; Hu Jin; Haoyao Chen; Jingwen Kong; Weihua Li; Shiwu Zhang

doi:10.1109/ROBIO54168.2021.9739439

Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots

Yiming Ouyang
, Hu Jin^*
, Haoyao Chen
, Jingwen Kong
, Weihua Li
, Shiwu Zhang^*

^*Corresponding author for this work

University of Science and Technology of China
Harbin Institute of Technology Shenzhen
University of Wollongong

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Due to the large deformation and diversity of soft structures, many convenient sensors are hard to be used in soft robots/actuators. Although many novel flexible sensors have been developed in recent years, it is still difficult to accurately sense the shape and force of soft robots/actuators. In this paper, a shape sensing method and a variable-stiffness beam model are proposed to realize the shape and one-dimensional external force sensing, based on the SMA planar actuator(SPA) structure, with a strain gauge array sensing system. A shape reconstruction experiment and a force sensing experiment of a variable external force were implemented and the results validated the effectiveness and the accuracy of the above sensing methods, which extend application capability of the SMA-based soft actuator.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	852-857
Number of pages	6
ISBN (Electronic)	9781665405355
DOIs	https://doi.org/10.1109/ROBIO54168.2021.9739439
State	Published - 2021
Externally published	Yes
Event	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 - Hybrid, Sanya, China Duration: 27 Dec 2021 → 31 Dec 2021

Publication series

Name	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Conference

Conference	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Country/Territory	China
City	Hybrid, Sanya
Period	27/12/21 → 31/12/21

Access to Document

10.1109/ROBIO54168.2021.9739439

Cite this

Ouyang, Y., Jin, H., Chen, H., Kong, J., Li, W., & Zhang, S. (2021). Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 (pp. 852-857). (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO54168.2021.9739439

@inproceedings{7650acf84bde490da6c1507932e86778,

title = "Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots",

abstract = "Due to the large deformation and diversity of soft structures, many convenient sensors are hard to be used in soft robots/actuators. Although many novel flexible sensors have been developed in recent years, it is still difficult to accurately sense the shape and force of soft robots/actuators. In this paper, a shape sensing method and a variable-stiffness beam model are proposed to realize the shape and one-dimensional external force sensing, based on the SMA planar actuator(SPA) structure, with a strain gauge array sensing system. A shape reconstruction experiment and a force sensing experiment of a variable external force were implemented and the results validated the effectiveness and the accuracy of the above sensing methods, which extend application capability of the SMA-based soft actuator.",

author = "Yiming Ouyang and Hu Jin and Haoyao Chen and Jingwen Kong and Weihua Li and Shiwu Zhang",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 ; Conference date: 27-12-2021 Through 31-12-2021",

year = "2021",

doi = "10.1109/ROBIO54168.2021.9739439",

language = "英语",

series = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "852--857",

booktitle = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

address = "美国",

}

Ouyang, Y, Jin, H, Chen, H, Kong, J, Li, W & Zhang, S 2021, Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots. in 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Institute of Electrical and Electronics Engineers Inc., pp. 852-857, 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Hybrid, Sanya, China, 27/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739439

Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots. / Ouyang, Yiming; Jin, Hu; Chen, Haoyao et al.
2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 852-857 (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots

AU - Ouyang, Yiming

AU - Jin, Hu

AU - Chen, Haoyao

AU - Kong, Jingwen

AU - Li, Weihua

AU - Zhang, Shiwu

PY - 2021

Y1 - 2021

N2 - Due to the large deformation and diversity of soft structures, many convenient sensors are hard to be used in soft robots/actuators. Although many novel flexible sensors have been developed in recent years, it is still difficult to accurately sense the shape and force of soft robots/actuators. In this paper, a shape sensing method and a variable-stiffness beam model are proposed to realize the shape and one-dimensional external force sensing, based on the SMA planar actuator(SPA) structure, with a strain gauge array sensing system. A shape reconstruction experiment and a force sensing experiment of a variable external force were implemented and the results validated the effectiveness and the accuracy of the above sensing methods, which extend application capability of the SMA-based soft actuator.

AB - Due to the large deformation and diversity of soft structures, many convenient sensors are hard to be used in soft robots/actuators. Although many novel flexible sensors have been developed in recent years, it is still difficult to accurately sense the shape and force of soft robots/actuators. In this paper, a shape sensing method and a variable-stiffness beam model are proposed to realize the shape and one-dimensional external force sensing, based on the SMA planar actuator(SPA) structure, with a strain gauge array sensing system. A shape reconstruction experiment and a force sensing experiment of a variable external force were implemented and the results validated the effectiveness and the accuracy of the above sensing methods, which extend application capability of the SMA-based soft actuator.

UR - https://www.scopus.com/pages/publications/85128188407

U2 - 10.1109/ROBIO54168.2021.9739439

DO - 10.1109/ROBIO54168.2021.9739439

M3 - 会议稿件

AN - SCOPUS:85128188407

T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

SP - 852

EP - 857

BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Y2 - 27 December 2021 through 31 December 2021

ER -

Ouyang Y, Jin H, Chen H, Kong J, Li W, Zhang S. Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 852-857. (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). doi: 10.1109/ROBIO54168.2021.9739439

Shape and Force Sensing of A Soft SMA Planar Actuator for Soft Robots

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