A global, continuous calibration curvature strategy for bending sensors of soft fingers
ISSN: 0143-991x
Article publication date: 26 May 2022
Issue publication date: 6 June 2023
Abstract
Purpose
The aim of the paper is to propose a global, automated and continuous curvature calibration strategy for bending sensors, which is used for the angle feedback control of soft fingers.
Design/methodology/approach
In this work, the proposed curvature calibration strategy for bending sensors is based on the constant curvature bending properties of soft fingers. The strategy is to install the bending sensor on the soft finger and use the laser distance sensor to assist calibration, then calculate the relationship between the curvature and the voltage of the bending sensor through geometric conversion. In addition, this work also develops a full set of standard calibration systems and collection procedures for the bending sensor curvature calibration and uses machine learning algorithms to fit the collected data.
Findings
First, compared with the traditional calibration methods, the proposed curvature calibration strategy can achieve constant curvature measurement with the advantages of better continuity. Second, using the sensor data obtained by the proposed calibration method as the feedback signal for the soft finger bending angle control, the control effect is better than that of the traditional method.
Originality/value
This work proposes and verifies a global, automated and continuous curvature calibration strategy for bending sensors and is used for the angle feedback control of soft fingers. In addition, this work also develops a full set of standard calibration systems and collection procedures, which can be applied to a variety of flexible bending sensors with a good adaptability.
Keywords
Acknowledgements
The authors would like to thank the anonymous reviewers whose insightful comments and valuable suggestions are crucial to the improvement of the manuscript. This work was supported by the National Natural Science Foundation of China under Grant No. 62073305, and the Fundamental Research Funds for the Central Universities, China University of Geosciences (Wuhan) (Nos. CUG170610 and CUGGC02).
All authors certify that they have no affiliations with or involvement in any organization or entity with any financial interest or non-financial interest in the subject matter or materials discussed in this manuscript.
Citation
Gai, L.-J., Zong, X. and Huang, J. (2023), "A global, continuous calibration curvature strategy for bending sensors of soft fingers", Industrial Robot, Vol. 50 No. 4, pp. 562-570. https://doi.org/10.1108/IR-02-2022-0041
Publisher
:Emerald Publishing Limited
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