2020
A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics
Stefan Escaida Navarro, Steven Nagels, Hosam Alagi, Lisa-Marie Faller, Olivier Goury, Thor Morales Bieze +6
RA-L 2020
In this letter, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of soft capacitive sensing to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the