4 accepted papers
The development of accurate sensing strategies for soft robotic systems represents an ongoing challenge. In general, it is difficult to integrate a sensory system that preserves the robot's compliance while simultaneously providing accurate measurements. Dielectric elastomer (DE) transducers offer a
In this letter, a hybrid model for single-crystal Shape Memory Alloy (SMA) wire actuators is presented. The result is based on a mathematical reformulation of the Müller-Achenbach-Seelecke (MAS) model, which provides an accurate and interconnection-oriented description of the SMA hysteretic response
Rolling Diaphragm Hydrostatic Transmissions (RDHT) are high-performance low-cost solutions to delocalize heavy actuators away from the joints of robotic systems. Exploiting a low-cost pressure-based sensing technique, we propose here a Smith-predictor-based joint torque control of an RDHT-based actu
This paper presents a novel self-sensing method for soft actuators based on dielectric elastomer (DE) membranes. The proposed self-sensing scheme permits the reconstruction of both membrane force and displacement during actuation, based on voltage and current measurements only. The simultaneous self