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- W4285324802 abstract "Soft actuators (SAs) are used for gripping and manipulating activities in various industrial applications and different designs of SAs are developed to improve their efficacy. In these designs, compliance materials are used to control the morphology of SAs to generate different movements. Specifically, PneuNets design is one of the popular designs and it uses the pressure difference in their internally networked chambers to control the movements. These chambers act as energy storing and releasing elements during pressurizing and de-pressurizing stages and play an important role in controlling motion output. These discrete chambers are usually networked and continuum therefore, they are difficult to model and integrate into control systems. The present paper attempts to use a hypothetical disc model to estimate the real-time states of PneuNets. The proposed second-order model has a single stiffness element (K) and a single damping element (B) that is assumed to be approximately equal to the change of bending angle of the PneuNet. These K and B values are obtained experimentally and the results were compared against finite element simulations. The model was tested for step/sine inputs and resulted in an average root-mean-square-error approximately 4%." @default.
- W4285324802 created "2022-07-14" @default.
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- W4285324802 date "2021-12-02" @default.
- W4285324802 modified "2023-10-14" @default.
- W4285324802 title "Towards Developing a Simple Lumped Parameter-based State Estimator for PneuNets" @default.
- W4285324802 doi "https://doi.org/10.1109/icter53630.2021.9774797" @default.
- W4285324802 hasPublicationYear "2021" @default.
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