论文标题
识别和控制软膀胱朝着阻抗式触觉地形显示
Identification and Control of a Soft-Robotic Bladder Towards Impedance-Style Haptic Terrain Display
论文作者
论文摘要
本文评估了源自地形显示触觉设备“智能鞋”的软机器人气动执行器的功能。智能鞋的膀胱设计已升级为包括压力供应和更大的输出流量功能。创建了基准顶部设置，以严格测试这种新型的执行器。该新执行器的带宽和刚度能力相对于人体步态期间遇到的力和位移进行了评估。提出了与触觉地形显示相关的四个力与位移轮廓，并使用滑动模式跟踪控制进行了测试。发现执行器可以维持类似于混凝土上软缝鞋的刚度，以及其他地形（沙子，污垢等），而7.3 Hz的带宽却低于10 Hz的目标带宽。膀胱以20 mm/s进行的压缩，与人体步态的速度相似，在跟踪所需的力轨迹方面表现出令人鼓舞的结果。本文的结果表明，该执行器能够显示触觉的地形轨迹，为将来可穿戴的触觉地形显示器提供了基础。
This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output flow capabilities. A bench top setup is created to rigorously test this new type of actuator. The bandwidth and stiffness capability of this new actuator are evaluated relative to forces and displacements encountered during human gait. Four force vs. displacement profiles relevant to haptic terrain display are proposed and tested using sliding-mode tracking control. It was found that the actuator could sustain a stiffness similar to a soft-soled shoe on concrete, as well as other terrain (sand, dirt, etc.), while the bandwidth of 7.3 Hz fell short of the goal bandwidth of 10 Hz. Compressions of the bladder done at 20 mm/s, which is similar to the speed of human gait, showed promising results in tracking a desired force trajectory. The results in this paper show this actuator is capable of displaying haptic terrain trajectories, providing a basis for futurep wearable haptic terrain display devices.
