A proposed soft pneumatic actuator control based on angle estimation from data-driven model
Mohamed, Mahmoud H.; Wagdy, Soha H.; Atalla, Mostafa A.; Rehan Youssef, Aliaa; Ahmed MAged, Shady;
Abstract
This article proposes a bending angle controller for soft pneumatic actuators, which could be implemented in soft robotic rehabilitation gloves to assist patients with hand impairment, such as stroke survivors. A data-driven model is used to estimate the angle as pneumatic pressure is applied to the actuator. Furthermore, a finite element model was used to manually optimize the dimensions of the actuator. An embedded flex sensor, which together with a custom testing rig, was used to gather input data for the data-driven model. This rig contains a pneumatic pressure control circuit as well as a camera for image acquisition. Collected data were fed into a linear regression model to predict the data-driven model. Experiments were carried out to validate model’s accuracy as well as modified proportional–integral–derivative controller angle controller performance. The latter controller is designed to mitigate the non-linear response of solenoid valves at different pressures of the actuator. The data-driven model along with the used controller allows more accurate estimation and quicker response.
Other data
Title | A proposed soft pneumatic actuator control based on angle estimation from data-driven model | Authors | Mohamed, Mahmoud H.; Wagdy, Soha H.; Atalla, Mostafa A.; Rehan Youssef, Aliaa; Ahmed MAged, Shady | Keywords | analytical model | data-driven model | proportional–integral–derivative controller | Soft pneumatic actuators | soft robotics | Issue Date | 1-Jun-2020 | Publisher | SAGE PUBLICATIONS LTD | Journal | Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine | ISSN | 09544119 | DOI | 10.1177/0954411920911277 | PubMed ID | 32181703 | Scopus ID | 2-s2.0-85082115469 | Web of science ID | WOS:000523847800001 |
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