Faculty Advisor

Berenson, Dmitry

Faculty Advisor

Padir, Taskin

Abstract

We seek to overcome two key limitations which limit the abilities of Soft Pneumatic Actuators (SPAs) to grasp and manipulate objects: 1) Current SPAs lack position or force sensor feedback, which prevents controlling them precisely, and 2) the tip of the SPA is compliant and has high friction against common surfaces, causing the SPA to stick against surfaces when grasping objects from above. Our experiments suggest that we can achieve low steady-state error and overshoot in position and force using feed-forward models that relate pressure, force, and curvature along with a PID controller. We also compare several fingernail designs and show that the best-performing design significantly outperforms having no fingernails when grasping a set of common objects from a table.

Publisher

Worcester Polytechnic Institute

Date Accepted

March 2015

Major

Computer Science

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Computer Science

Advisor Department

Electrical and Computer Engineering

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