Motion pattern discrimination for soft robots with morphologically flexible sensors

Utku Culha; Umar Wani; Surya G. Nurzaman; Frank Clemens; Fumiya Iida

doi:10.1109/IROS.2014.6942616

Motion pattern discrimination for soft robots with morphologically flexible sensors

Utku Culha, Umar Wani, Surya G. Nurzaman, Frank Clemens, Fumiya Iida

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

16 Citations (Scopus)

Abstract

Robots composed of soft materials can achieve high deformability and conformity with unstructured and dynamic environments due to their body mechanics. However, it is challenging to gather desirable information about these robots' behaviors as conventional sensory systems are not designed to detect infinite degrees of freedom on continuum bodies. This paper presents a technical method to sensorize a soft elastic body by using conductive thermoplastic elastomer (CTPE) based strain gauge sensors. Due to its thermoplastic nature, CTPE based sensors can be fabricated in flexible sizes and shapes and integrated into the soft elastic bodies. We analyze soft elastic deformations and extract strain vectors to find finite unique regions on continuum surfaces. Then we use these regions to design the morphologies of our fiber shaped CTPE sensors to discriminate soft robotic behaviors. To demonstrate our approach and show how the programmable sensor morphologies discriminate different motion patterns, we have built a soft elastic prismatic silicone (E = 1.31MPa) block and designed two sensors to discriminate serpentine and twisting patterns.

Original language	English
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	567-572
Number of pages	6
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6942616
Publication status	Published - 31 Oct 2014
Externally published	Yes
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems 2014 - Chicago, United States of America Duration: 14 Sept 2014 → 18 Sept 2014 http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/ https://ieeexplore.ieee.org/xpl/conhome/6926644/proceeding (Proceedings)

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Abbreviated title	IROS 2014
Country/Territory	United States of America
City	Chicago
Period	14/09/14 → 18/09/14
Internet address	http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/ https://ieeexplore.ieee.org/xpl/conhome/6926644/proceeding (Proceedings)

Access to Document

10.1109/IROS.2014.6942616

Cite this

Culha, U., Wani, U., Nurzaman, S. G., Clemens, F., & Iida, F. (2014). Motion pattern discrimination for soft robots with morphologically flexible sensors. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 567-572). (IEEE International Conference on Intelligent Robots and Systems). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2014.6942616

Culha, Utku ; Wani, Umar ; Nurzaman, Surya G. et al. / Motion pattern discrimination for soft robots with morphologically flexible sensors. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Institute of Electrical and Electronics Engineers, 2014. pp. 567-572 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Motion pattern discrimination for soft robots with morphologically flexible sensors",

abstract = "Robots composed of soft materials can achieve high deformability and conformity with unstructured and dynamic environments due to their body mechanics. However, it is challenging to gather desirable information about these robots' behaviors as conventional sensory systems are not designed to detect infinite degrees of freedom on continuum bodies. This paper presents a technical method to sensorize a soft elastic body by using conductive thermoplastic elastomer (CTPE) based strain gauge sensors. Due to its thermoplastic nature, CTPE based sensors can be fabricated in flexible sizes and shapes and integrated into the soft elastic bodies. We analyze soft elastic deformations and extract strain vectors to find finite unique regions on continuum surfaces. Then we use these regions to design the morphologies of our fiber shaped CTPE sensors to discriminate soft robotic behaviors. To demonstrate our approach and show how the programmable sensor morphologies discriminate different motion patterns, we have built a soft elastic prismatic silicone (E = 1.31MPa) block and designed two sensors to discriminate serpentine and twisting patterns.",

author = "Utku Culha and Umar Wani and Nurzaman, {Surya G.} and Frank Clemens and Fumiya Iida",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE. Copyright: Copyright 2015 Elsevier B.V., All rights reserved.; IEEE/RSJ International Conference on Intelligent Robots and Systems 2014, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

year = "2014",

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day = "31",

doi = "10.1109/IROS.2014.6942616",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

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Culha, U, Wani, U, Nurzaman, SG, Clemens, F & Iida, F 2014, Motion pattern discrimination for soft robots with morphologically flexible sensors. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems, IEEE, Institute of Electrical and Electronics Engineers, pp. 567-572, IEEE/RSJ International Conference on Intelligent Robots and Systems 2014, Chicago, Illinois, United States of America, 14/09/14. https://doi.org/10.1109/IROS.2014.6942616

Motion pattern discrimination for soft robots with morphologically flexible sensors. / Culha, Utku; Wani, Umar; Nurzaman, Surya G. et al.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Institute of Electrical and Electronics Engineers, 2014. p. 567-572 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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AU - Culha, Utku

AU - Wani, Umar

AU - Nurzaman, Surya G.

AU - Clemens, Frank

AU - Iida, Fumiya

PY - 2014/10/31

Y1 - 2014/10/31

N2 - Robots composed of soft materials can achieve high deformability and conformity with unstructured and dynamic environments due to their body mechanics. However, it is challenging to gather desirable information about these robots' behaviors as conventional sensory systems are not designed to detect infinite degrees of freedom on continuum bodies. This paper presents a technical method to sensorize a soft elastic body by using conductive thermoplastic elastomer (CTPE) based strain gauge sensors. Due to its thermoplastic nature, CTPE based sensors can be fabricated in flexible sizes and shapes and integrated into the soft elastic bodies. We analyze soft elastic deformations and extract strain vectors to find finite unique regions on continuum surfaces. Then we use these regions to design the morphologies of our fiber shaped CTPE sensors to discriminate soft robotic behaviors. To demonstrate our approach and show how the programmable sensor morphologies discriminate different motion patterns, we have built a soft elastic prismatic silicone (E = 1.31MPa) block and designed two sensors to discriminate serpentine and twisting patterns.

AB - Robots composed of soft materials can achieve high deformability and conformity with unstructured and dynamic environments due to their body mechanics. However, it is challenging to gather desirable information about these robots' behaviors as conventional sensory systems are not designed to detect infinite degrees of freedom on continuum bodies. This paper presents a technical method to sensorize a soft elastic body by using conductive thermoplastic elastomer (CTPE) based strain gauge sensors. Due to its thermoplastic nature, CTPE based sensors can be fabricated in flexible sizes and shapes and integrated into the soft elastic bodies. We analyze soft elastic deformations and extract strain vectors to find finite unique regions on continuum surfaces. Then we use these regions to design the morphologies of our fiber shaped CTPE sensors to discriminate soft robotic behaviors. To demonstrate our approach and show how the programmable sensor morphologies discriminate different motion patterns, we have built a soft elastic prismatic silicone (E = 1.31MPa) block and designed two sensors to discriminate serpentine and twisting patterns.

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Culha U, Wani U, Nurzaman SG, Clemens F, Iida F. Motion pattern discrimination for soft robots with morphologically flexible sensors. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Institute of Electrical and Electronics Engineers. 2014. p. 567-572. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6942616

Motion pattern discrimination for soft robots with morphologically flexible sensors

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