ソフト格子構造における双方向光センサによる動作追跡（BOAT）
Bidirectional Optical sensors for Actuation Tracking (BOAT) in soft lattice systems
ソフトロボティクスの格子構造に埋め込む、圧縮と伸張を識別できる双方向光センサを開発し、空気圧人工筋肉による駆動と組み合わせて変形監視とデジタルシャドウ同期を実証した。
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著者: Petr Trunin, Carolina Gay, Anderson Brazil Nardin, Trevor Exley, Diana Cafiso, Lucia Beccai
分類: cs.RO
原文アブストラクト
The growing adoption of lattice-based structures in soft robotics creates a need for advanced sensing solutions capable of monitoring their global deformation, particularly compression and extension. In this work, we address this challenge by introducing a novel optical sensor based on two patterned waveguides arranged in an ellipsoidal geometry. This Bidirectional Optical sensor for Actuation Tracking (BOAT) is seamlessly co-printed with a lattice structure actuated by an embedded pneumatic artificial muscle (PAM), and its performance is assessed. During PAM elongation or contraction, the bending of the embedded BOAT waveguides induces output signal variations that enable a clear discrimination between compression and extension states. The designs of both each specific waveguide structure (by surface patterning) and of the sensorized lattice-based unit embedding two BOATs are supported by numerical simulations. Experimental calibration over 100 consecutive pressure cycles ranging from +50 kPa to $-$40 kPa demonstrates a highly repeatable response, allowing a reliable distinction between extension and compression. Finally, sensor feedback is used to implement a digital shadow, enabling continuous synchronization between the whole sensorized unit and its virtual counterpart. These results establish BOAT as a powerful and reliable approach for deformation monitoring in soft lattice-based robotic systems.
