Control of soft pneumatic finger-like actuators for affective motion generation

Mohammadreza Memarian, Rob Gorbet, Dana Kulic

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

12 Citations (Scopus)

Abstract

This paper investigates the design and implementation of a finger-like robotic structure capable of reproducing human hand gestural movements performed by a multi-fingered, hand-like structure. In this work, we present a pneumatic circuit and a closed-loop controller for a finger-like soft pneumatic actuator. Experimental results demonstrate the performance of the pneumatic and control systems of the soft pneumatic actuator, and its ability to track human movement trajectories with affective content.

Original languageEnglish
Title of host publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
EditorsAlois Knoll
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1691-1697
Number of pages7
ISBN (Electronic)9781479999941, 9781479999934
ISBN (Print)9781479999958
DOIs
Publication statusPublished - 17 Dec 2015
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015
https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings)

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated titleIROS 2015
CountryGermany
CityHamburg
Period28/09/152/10/15
Internet address

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