Control of soft pneumatic finger-like actuators for affective motion generation

This paper investigates the design and implementation of a finger-like robotic structure capable of reproducing human hand gestural movements performed by a multi-fingered, hand-like structure. In this work, we present a pneumatic circuit and a closed-loop controller for a finger-like soft pneumatic...

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Bibliographic Details
Published in2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 1691 - 1697
Main Authors Memarian, Mohammadreza, Gorbet, Rob, Kulic, Dana
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2015
Subjects
Actuators
Geometry
Muscles
Pulse width modulation
Resistance
Trajectory
Valves
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Summary:This paper investigates the design and implementation of a finger-like robotic structure capable of reproducing human hand gestural movements performed by a multi-fingered, hand-like structure. In this work, we present a pneumatic circuit and a closed-loop controller for a finger-like soft pneumatic actuator. Experimental results demonstrate the performance of the pneumatic and control systems of the soft pneumatic actuator, and its ability to track human movement trajectories with affective content.
DOI:10.1109/IROS.2015.7353595