Bending angle prediction and control of soft pneumatic actuators with embedded flex sensors – A data-driven approach

• Published in: Mechatronics (Oxford) Vol. 50; pp. 234 - 247
• Main Authors: Elgeneidy, Khaled, Lohse, Niels, Jackson, Michael
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.04.2018
• Subjects: Artificial neural networks; PID control; Regression analysis; Soft grippers; Soft pneumatic actuators; Soft pneumatic actuators; Regression analysis; PID control; Artificial neural networks; Soft grippers

•A purely data-driven approach for modelling the bending of soft pneumatic actuators.•Evaluation of the feedback from an embedded flex sensor at different operating conditions.•Accurate bending angle prediction at variable input pressures and even pressure leaks.•Comparing the prediction accuracy of...