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

Mohammadreza Memarian; Rob Gorbet; Dana Kulic

doi:10.1109/IROS.2015.7353595

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

Mohammadreza Memarian, Rob Gorbet, Dana Kulic

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

18 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 language	English
Title of host publication	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Editors	Alois Knoll
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1691-1697
Number of pages	7
ISBN (Electronic)	9781479999941, 9781479999934
ISBN (Print)	9781479999958
DOIs	https://doi.org/10.1109/IROS.2015.7353595
Publication status	Published - 17 Dec 2015
Externally published	Yes
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings)

Publication series

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

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated title	IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings)

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10.1109/IROS.2015.7353595

Cite this

Memarian, M., Gorbet, R., & Kulic, D. (2015). Control of soft pneumatic finger-like actuators for affective motion generation. In A. Knoll (Ed.), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) (pp. 1691-1697). (IEEE International Conference on Intelligent Robots and Systems). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2015.7353595

Memarian, Mohammadreza ; Gorbet, Rob ; Kulic, Dana. / Control of soft pneumatic finger-like actuators for affective motion generation. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). editor / Alois Knoll. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. pp. 1691-1697 (IEEE International Conference on Intelligent Robots and Systems).

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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.",

author = "Mohammadreza Memarian and Rob Gorbet and Dana Kulic",

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booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)",

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note = "IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

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Memarian, M, Gorbet, R & Kulic, D 2015, Control of soft pneumatic finger-like actuators for affective motion generation. in A Knoll (ed.), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). IEEE International Conference on Intelligent Robots and Systems, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 1691-1697, IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, Hamburg, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353595

Control of soft pneumatic finger-like actuators for affective motion generation. / Memarian, Mohammadreza; Gorbet, Rob; Kulic, Dana.
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). ed. / Alois Knoll. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2015. p. 1691-1697 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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T1 - Control of soft pneumatic finger-like actuators for affective motion generation

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AU - Gorbet, Rob

AU - Kulic, Dana

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AB - 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.

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DO - 10.1109/IROS.2015.7353595

M3 - Conference Paper

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SN - 9781479999958

T3 - IEEE International Conference on Intelligent Robots and Systems

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BT - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)

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PB - IEEE, Institute of Electrical and Electronics Engineers

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T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems 2015

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Memarian M, Gorbet R, Kulic D. Control of soft pneumatic finger-like actuators for affective motion generation. In Knoll A, editor, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2015. p. 1691-1697. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7353595

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

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