Real time control and fabrication of a soft robotic glove by two parallel sensors with MBD approach
Seyed Mehdi Rakhtala, Roozbeh Ghayebi
Abstract
• Design and implementation of soft actuator. • Design and implementation the closed-loop control unit with two parallel sensors as bending sensors and pressure sensor in soft robotic glove. • Pressure sensor (FSR 402) that used to detect physical pressure as a feedback signal of the soft actuators for component gripping. The structure of FSR's are based on resistance changing value, which is depending on pressure on components. • The proposed sensor is used to regulate pressure of pneumatic system to how much components are pressed. • Using the closed-loop system based on the bending sensor, gripping accuracy and soft gripping will be achieved far more than previous methods which used a pressure sensor in a closed-loop system. • The bending sensor- Artma is used in the closed-loop system to drive the air compressor instead of approaches that used one pressure sensor in closed-loop system. Soft robotic gloves were designed to aid the rehabilitation process with hand pathologies and coordination of gripping exercises. The main issue in soft robotic actuators is to design a control strategy to overcome deformation in grasping exercises. In this paper, a new soft robotic actuator is developed to be protected against swell and deformation. This soft robotic glove is equipped with two sensors; these sensors make the robotic glove more intelligent. In the hardware, it was used two sensors in the new closed-loop method which include an air pressure sensor in the figure tip and a flex sensor to measure finger flexion rate. Two closed-loop control system is developed to regulate inlet air pressure and regulate the angle of the fingers for the soft robotic actuator. A Model-Based Design (MBD) method is presented as a very cost-effective, favorable, and robust method. PID programming on an embedded controller is applied by MBD approach. The soft actuator process contains a molded wooden chamber and fiber reinforcement. Experimental results show that the proposed soft robotic has a soft gripping mechanism, accurate gripping against various objects during daily activities.