A global, continuous calibration curvature strategy for bending sensors of soft fingers

PurposeThe aim of the paper is to propose a global, automated and continuous curvature calibration strategy for bending sensors, which is used for the angle feedback control of soft fingers.Design/methodology/approachIn this work, the proposed curvature calibration strategy for bending sensors is ba...

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Bibliographic Details
Published in:Industrial robot 2023-06, Vol.50 (4), p.562-570
Main Authors: Gai, Ling-Jie, Zong, Xiaofeng, Huang, Jie
Format: Article
Language:English
Subjects:
Adaptability
Algorithms
Calibration
Control systems
Curvature
Data collection
Design
Feedback control
Machine learning
Methods
Pneumatics
Robotics
Robots
Sensors
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Summary:PurposeThe aim of the paper is to propose a global, automated and continuous curvature calibration strategy for bending sensors, which is used for the angle feedback control of soft fingers.Design/methodology/approachIn this work, the proposed curvature calibration strategy for bending sensors is based on the constant curvature bending properties of soft fingers. The strategy is to install the bending sensor on the soft finger and use the laser distance sensor to assist calibration, then calculate the relationship between the curvature and the voltage of the bending sensor through geometric conversion. In addition, this work also develops a full set of standard calibration systems and collection procedures for the bending sensor curvature calibration and uses machine learning algorithms to fit the collected data.FindingsFirst, compared with the traditional calibration methods, the proposed curvature calibration strategy can achieve constant curvature measurement with the advantages of better continuity. Second, using the sensor data obtained by the proposed calibration method as the feedback signal for the soft finger bending angle control, the control effect is better than that of the traditional method.Originality/valueThis work proposes and verifies a global, automated and continuous curvature calibration strategy for bending sensors and is used for the angle feedback control of soft fingers. In addition, this work also develops a full set of standard calibration systems and collection procedures, which can be applied to a variety of flexible bending sensors with a good adaptability.
ISSN:0143-991X
0143-991X
1758-5791
DOI:10.1108/IR-02-2022-0041