IMU-Enabled Robotic Finger Force Estimation With Modular Soft Actuators and Virtual Linkages

• Published in: IEEE transactions on magnetics Vol. 60; no. 9; pp. 1 - 5
• Main Authors: Lin, Sheng-Guan, Chang, Hsien-Ting, Chang, Jen-Yuan
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accelerometers; Actuators; Couplings; End effectors; Estimation; Fingers; Force estimating; Force measurement; Humanoid; inertial measurement units (IMUs); Inertial platforms; Jacobi matrix method; Jacobian matrices; Jacobian matrix; Linkages; Magnetometers; modular soft actuators (MSAs); Modular units; Position measurement; Position sensing; Robot control; Robotics; Sensor arrays; Shaft encoders; Soft robotics; Task complexity; Torque

This research presents a novel force estimating method without utilizing force gauges for soft robotic fingers that leverage inertial measurement units (IMUs) to detect finger joint angles and to calculate virtual linkages and torques. Motivated by the limitations of soft actuators in service-orient...