Loughborough University
Leicestershire, UK
LE11 3TU
+44 (0)1509 263171
Loughborough University

Loughborough University Institutional Repository

Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/27135

Title: Bending angle prediction and control of soft pneumatic actuators with embedded flex sensors - a data-driven approach
Authors: Elgeneidy, Khaled
Lohse, Niels
Jackson, Michael R.
Keywords: Soft grippers
Soft pneumatic actuators
Artificial neural networks
Regression analysis
PID control
Issue Date: 2017
Publisher: Elsevier Ltd (© 2017 The Authors)
Citation: ELGENEIDY, K., LOHSE, N. and JACKSON, M., 2017. Bending angle prediction and control of soft pneumatic actuators with embedded flex sensors - a data-driven approach. Mechatronics, 50, pp.234-247
Abstract: In this paper, a purely data-driven modelling approach is presented for predicting and controlling the free bending angle response of a typical soft pneumatic actuator (SPA), embedded with a resistive flex sensor. An experimental setup was constructed to test the SPA at different input pressure values and orientations, while recording the resulting feedback from the embedded flex sensor and on-board pressure sensor. A calibrated high speed camera captures image frames during the actuation, which are then analysed using an image processing program to calculate the actual bending angle and synchronise it with the recorded sensory feedback. Empirical models were derived based on the generated experimental data using two common data-driven modelling techniques; regression analysis and artificial neural networks. Both techniques were validated using a new dataset at untrained operating conditions to evaluate their prediction accuracy. Furthermore, the derived empirical model was used as part of a closed-loop PID controller to estimate and control the bending angle of the tested SPA based on the real-time sensory feedback generated. The tuned PID controller allowed the bending SPA to accurately follow stepped and sinusoidal reference signals, even in the presence of pressure leaks in the pneumatic supply. This work demonstrates how purely data-driven models can be effectively used in controlling the bending of SPAs under different operating conditions, avoiding the need for complex analytical modelling and material characterisation. Ultimately, the aim is to create more controllable soft grippers based on such SPAs with embedded sensing capabilities, to be used in applications requiring both a ‘soft touch’ as well as a more controllable object manipulation.
Description: This is an open access article under the CC BY license (http://creativecommons.org/licenses/BY/4.0/). Supplementary data for this article is available in the Loughborough Data Repository at doi: 10.17028/rd.lboro.5509528
Sponsor: EPSRC Centre for Innovative Manufacturing in Intelligent Automation (EP/IO33467/1).
Version: Published
DOI: 10.1016/j.mechatronics.2017.10.005
URI: https://dspace.lboro.ac.uk/2134/27135
Publisher Link: https://doi.org/10.1016/j.mechatronics.2017.10.005
Related Resource: https://doi.org/10.17028/rd.lboro.5509528
ISSN: 0957-4158
Appears in Collections:Published Articles (Mechanical, Electrical and Manufacturing Engineering)

Files associated with this item:

File Description SizeFormat
1-s2.0-S0957415817301496-main.pdfPublished version2.09 MBAdobe PDFView/Open


SFX Query

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.