Soft Robotic Device Sensor Integration for Morphology Control
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Solution Overview
Problem
Soft robotic devices face challenges in accurately determining their real-time position and morphology in three-dimensional space due to their nonlinear response to external forces and changes in stiffness during actuation, which complicates control and interaction with delicate objects.
Innovation Solution
Integration of various sensors, such as strain, pressure, and magnetic sensors, into the soft robotic device to provide a comprehensive state estimation, allowing for real-time monitoring of position, morphology, and actuation state, enabling precise control and interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If soft robotic devices use soft materials to perform unstructured tasks, then adaptability is improved, but measurement precision deteriorates due to nonlinear response to forces
Solution Approach 1:
The patent integrates multiple sensors (pressure, strain, magnetic) throughout the soft robotic device to provide real-time feedback on internal state and external forces. This feedback loop enables the control system to compensate for nonlinear material behavior and accurately determine position and morphology despite using compliant soft materials.
Solution Approach 2:
The patent replaces traditional mechanical position sensing methods with field-based sensing (magnetic fields, electrical fields for strain measurement). This substitution allows accurate measurement in soft, deformable structures where mechanical encoders would be too rigid or intrusive.
2Measurement precision
If sensors are integrated into the soft robotic device, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent employs sensors that serve multiple functions: pressure sensors detect both internal pressure and external contact forces, strain sensors measure both actuation strain and external loading, and magnetic sensors provide both position information and orientation data. This multi-functionality reduces the total number of components needed.
Solution Approach 2:
The patent combines multiple sensing modalities (pressure, strain, magnetic field detection) into an integrated sensor network within the soft robotic structure. The control system merges data from all sensors to create a comprehensive state estimation, reducing complexity compared to using separate dedicated sensors for each measurement.
3Adaptability or versatility
If elastomer stiffness changes during actuation, then adaptability is improved, but control difficulty increases due to varying force requirements
Solution Approach 1:
The patent uses pressure sensors and strain sensors to provide real-time feedback on the current stiffness state of the elastomer. The control system uses this information to dynamically adjust actuation commands, compensating for varying force requirements as the material transitions through different strain states during actuation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate real-time position and morphology mapping, improving control and interaction capabilities of soft robotic devices with delicate objects by providing rich information on the device's state, including curvature, position, and force distribution.
Implementation Method 1
at least one sensor integrated, embedded, attached, or otherwise linked or connected to the soft robotic device
Implementation Method 2
the sensor is configured to provide a resistance measurement and resistance is correlated to a curvature, position or location of the strain limited layer or the elastomeric body
Implementation Method 3
the readout from the sensor is used to estimate the state of the soft robot
Data Source
Figure 1a
Figure 1b
Figure 2a
AI summary
A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.