3 years ago

A proposed soft pneumatic actuator control based on angle estimation from data-driven model

Mahmoud H Mohamed, Soha H Wagdy, Mostafa A Atalla, Aliaa Rehan Youssef, Shady A Maged
This article proposes a bending angle controller for soft pneumatic actuators, which could be implemented in soft robotic rehabilitation gloves to assist patients with hand impairment, such as stroke survivors. A data-driven model is used to estimate the angle as pneumatic pressure is applied to the actuator. Furthermore, a finite element model was used to manually optimize the dimensions of the actuator. An embedded flex sensor, which together with a custom testing rig, was used to gather input data for the data-driven model. This rig contains a pneumatic pressure control circuit as well as a camera for image acquisition. Collected data were fed into a linear regression model to predict the data-driven model. Experiments were carried out to validate model's accuracy as well as modified proportional–integral–derivative controller angle controller performance. The latter controller is designed to mitigate the non-linear response of solenoid valves at different pressures of the actuator. The data-driven model along with the used controller allows more accurate estimation and quicker response.

Publisher URL: https://journals.sagepub.com/doi/abs/10.1177/0954411920911277

DOI: 10.1177/0954411920911277

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