Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation

TY - JOUR

T1 - Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation

AU - Shiva, Ali

AU - Sadati, S. M.Hadi

AU - Noh, Yohan

AU - Fraś, Jan

AU - Ataka, Ahmad

AU - Würdemann, Helge

AU - Hauser, Helmut

AU - Walker, Ian D.

AU - Nanayakkara, Thrishantha

AU - Althoefer, Kaspar

PY - 2019/4/1

Y1 - 2019/4/1

N2 - Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact force and overall pose. Our model can incorporate external load at any arbitrary point on the body and deliver positional and force propagation information along the entire backbone. In line with the proposed model, the effectiveness of elasticity versus hyperelasticity assumptions (neo-Hookean and Gent) is investigated and compared. Experiments are carried out with and without external load, and simulations are validated across a range of Young's moduli. Results show best conformity with Hooke's model for limited strains with about 6% average normalized error of position; and a mean absolute error of less than 0.08 N for force applied at the tip and on the body, demonstrating high accuracy in estimating the position and the contact force.

AB - Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact force and overall pose. Our model can incorporate external load at any arbitrary point on the body and deliver positional and force propagation information along the entire backbone. In line with the proposed model, the effectiveness of elasticity versus hyperelasticity assumptions (neo-Hookean and Gent) is investigated and compared. Experiments are carried out with and without external load, and simulations are validated across a range of Young's moduli. Results show best conformity with Hooke's model for limited strains with about 6% average normalized error of position; and a mean absolute error of less than 0.08 N for force applied at the tip and on the body, demonstrating high accuracy in estimating the position and the contact force.

KW - elasticity

KW - force estimation

KW - hyperelasticity

KW - modeling

KW - pose estimation

KW - soft continuum manipulator

KW - variable curvature

UR - http://www.scopus.com/inward/record.url?scp=85064604961&partnerID=8YFLogxK

U2 - 10.1089/soro.2018.0060

DO - 10.1089/soro.2018.0060

M3 - Article

C2 - 30702390

AN - SCOPUS:85064604961

SN - 2169-5172

VL - 6

SP - 228

EP - 249

JO - Soft Robotics

JF - Soft Robotics

IS - 2

ER -