Design of a multi-stage stiffness enhancing unit for a soft robotic finger and its robust motion control

Rahim Mutlu, Emre Sariyildiz, Takahiro Nozaki, Gursel Alici

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Conventional robotics have always pursued methods to bring robots near human. Human robot interaction (HRI) has gained great momentum to realize freeing robots with various control methods to ensure their safe operations with human presence. Soft robotics, alternatively, focuses on building robots mainly made of low elastic moduli materials, which may not be capable of harming humans due to nature of the materials they are made of, nevertheless, requires stiffness augmentation to be able to transmit relatively higher forces. In this study, we designed and fabricated an underactuated soft robotic finger using fused deposition modelling type 3D printing with a thermoplastic elastomer material. Robotic finger is actuated with a tendon-cable attached to a linear servo-actuator while secondary linear servo-actuator is used to control position of a stiffness-enhancement unit made of bistable metal strips. In order to verify stiffness enhancement, we perform precise position control and estimate external disturbances. Experimental results suggest that estimated external disturbances (i.e. stiffness of soft robotic finger) change under the same position conditions (finger flexion) thanks to precise robust motion controller.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5074-5079
Number of pages6
ISBN (Electronic)9781509066841
DOIs
Publication statusPublished - 2018 Dec 26
Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
Duration: 2018 Oct 202018 Oct 23

Publication series

NameProceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
CountryUnited States
CityWashington
Period18/10/2018/10/23

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Keywords

  • 3D printing
  • Compliant
  • Gradual stiffness enhancement bistable
  • Monolithic
  • Soft robotic finger

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Control and Optimization

Cite this

Mutlu, R., Sariyildiz, E., Nozaki, T., & Alici, G. (2018). Design of a multi-stage stiffness enhancing unit for a soft robotic finger and its robust motion control. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (pp. 5074-5079). [8591584] (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2018.8591584