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- W4313263346 abstract "Embedding force sensors on soft robots have been a major challenge impeding accurate feedback control of soft robots. A major challenge in embedding force sensors onto soft robots is in their rigidity, size, and shape. In this study, a soft smart polymer-based soft sensor for soft robotic application is proposed, prototyped, calibrated, and tested for force prediction accuracy. The sensing element of the proposed sensor was made of gelatin-graphite composite that we previously showed its piezoresistivity. Three sensing elements were molded into a soft body (soft robot) and variation of the voltage across them was measured in real-time in response to external loads. A rate-dependent deep neural calibration network was trained with the three voltages and their temporal rates when the soft body was subjected to tri-axial external forces in the range of <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$pm 0.3$</tex> N. Afterwards the calibrated sensor was used in a series of validation tests to assess its accuracy. The proposed calibration showed the goodness of fit of <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$R^{2}=0.98$</tex> with the mean-absolute error of 0.005 N. Also, the sensor exhibited mean-absolute errors of <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$0.007 pm0.005$</tex> N, <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$0.008 pm 0.006$</tex> N, and <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$0.011 pm 0.008 mathbf{N}$</tex> for estimating the external forces along x, y, and z directions. Moreover, the proposed calibration did not exhibit observable hysteresis thanks to its rate-dependent calibration schema." @default.
- W4313263346 created "2023-01-06" @default.
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- W4313263346 date "2022-11-14" @default.
- W4313263346 modified "2023-10-17" @default.
- W4313263346 title "Accurate Embedded Force Sensor for Soft Robots with Rate-dependent Deep Neural Calibration" @default.
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- W4313263346 doi "https://doi.org/10.1109/rose56499.2022.9977416" @default.
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