Passive and active acoustic sensing for soft pneumatic actuators

作     者：Wall, Vincent Zoeller, Gabriel Brock, Oliver 

作者机构：Tech Univ Berlin Robot & Biol Lab Berlin Germany Res Cluster Excellence Sci Intelligence Berlin Germany 

出 版 物：《INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH》 (国际机器人研究杂志)

年 卷 期：2023年第42卷第3期

页      面：108-122页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：European Commission (SOMA) [H2020-ICT-645599] Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) German Priority Program DFG-SPP 2100"Soft Material Robotic Systems" 

主　　题：Acoustic sensing force and tactile sensing computational sensor soft sensors pneumatic actuators soft robotics 

摘      要：We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it travels through the structure. Using simple machine learning, we create a computational sensor that infers the corresponding state from sound recordings. We demonstrate the acoustic sensor on a soft pneumatic continuum actuator and use it to measure contact locations, contact forces, object materials, actuator inflation, and actuator temperature. We show that the sensor is reliable (average classification rate for six contact locations of 93%), precise (mean spatial accuracy of 3.7 mm), and robust against common disturbances like background noise. Finally, we compare different sounds and learning methods and achieve best results with 20 ms of white noise and a support vector classifier as the sensor model.