Color-Based Sensing of Bending Deformation on Soft Robots

Rob Scharff; Rens M. Doornbusch; Xander L. Klootwijk; Ajinkya A. Doshi; Eugeni L. Doubrovski; Jun Wu; Jo M.P. Geraedts; Charlie C.L. Wang

doi:10.1109/ICRA.2018.8460521

Color-Based Sensing of Bending Deformation on Soft Robots

Rob Scharff, Rens M. Doornbusch, Xander L. Klootwijk , Ajinkya A. Doshi, Eugeni L. Doubrovski, Jun Wu, Jo M.P. Geraedts, Charlie C.L. Wang

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

Abstract

This paper introduces a novel approach for sensing the bending deformation on soft robots by leveraging multicolor 3D printing. The measurement of deformation enables to complete the feedback loop of deformation control on soft actuators. The working principle of our approach is based on using compact color sensors to detect deformation that is visualized by the change of color ratios. Two novel designs are presented to generate color signals on 3D printed objects, which we call an external signal generator and an internal signal generator. Signal processing and calibration methods are developed to transform the raw RGB-data into a meaningful deformation metric. Our experimental tests taken on soft pneumatic actuators verify that color signals can be stably generated and captured to indicate the bending deformation. The results also demonstrate the usability of this sensing approach in deformation control.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation (ICRA)
Editors	K. Lynch
Place of Publication	978-1-5386-3082-2
Publisher	IEEE
Pages	4181-4187
Number of pages	7
ISBN (Electronic)	978-1-5386-3081-5
DOIs	https://doi.org/10.1109/ICRA.2018.8460521
Publication status	Published - 2018
Event	ICRA 2018: 2018 IEEE International Conference on Robotics and Automation - Brisbane Convention & Exhibition Centre, Brisbane, Australia Duration: 21 May 2018 → 25 May 2018

Conference

Conference	ICRA 2018: 2018 IEEE International Conference on Robotics and Automation
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18

Access to Document

10.1109/ICRA.2018.8460521

Cite this

@inproceedings{884a83fe7a464af58b67ffe594d9cfd2,

title = "Color-Based Sensing of Bending Deformation on Soft Robots",

abstract = "This paper introduces a novel approach for sensing the bending deformation on soft robots by leveraging multicolor 3D printing. The measurement of deformation enables to complete the feedback loop of deformation control on soft actuators. The working principle of our approach is based on using compact color sensors to detect deformation that is visualized by the change of color ratios. Two novel designs are presented to generate color signals on 3D printed objects, which we call an external signal generator and an internal signal generator. Signal processing and calibration methods are developed to transform the raw RGB-data into a meaningful deformation metric. Our experimental tests taken on soft pneumatic actuators verify that color signals can be stably generated and captured to indicate the bending deformation. The results also demonstrate the usability of this sensing approach in deformation control.",

author = "Rob Scharff and Doornbusch, {Rens M.} and Klootwijk, {Xander L.} and Doshi, {Ajinkya A.} and Doubrovski, {Eugeni L.} and Jun Wu and Geraedts, {Jo M.P.} and Wang, {Charlie C.L.}",

year = "2018",

doi = "10.1109/ICRA.2018.8460521",

language = "English",

pages = "4181--4187",

editor = "K. Lynch",

booktitle = "2018 IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "IEEE",

address = "United States",

note = "ICRA 2018: 2018 IEEE International Conference on Robotics and Automation ; Conference date: 21-05-2018 Through 25-05-2018",

}

Scharff, R, Doornbusch, RM, Klootwijk , XL, Doshi, AA, Doubrovski, EL , Wu, J , Geraedts, JMP & Wang, CCL 2018, Color-Based Sensing of Bending Deformation on Soft Robots. in K Lynch (ed.), 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 978-1-5386-3082-2 , pp. 4181-4187, ICRA 2018: 2018 IEEE International Conference on Robotics and Automation , Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460521

Color-Based Sensing of Bending Deformation on Soft Robots. / Scharff, Rob; Doornbusch, Rens M.; Klootwijk , Xander L. et al.
2018 IEEE International Conference on Robotics and Automation (ICRA). ed. / K. Lynch. 978-1-5386-3082-2 : IEEE, 2018. p. 4181-4187.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Color-Based Sensing of Bending Deformation on Soft Robots

AU - Scharff, Rob

AU - Doornbusch, Rens M.

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AU - Doubrovski, Eugeni L.

AU - Wu, Jun

AU - Geraedts, Jo M.P.

AU - Wang, Charlie C.L.

PY - 2018

Y1 - 2018

N2 - This paper introduces a novel approach for sensing the bending deformation on soft robots by leveraging multicolor 3D printing. The measurement of deformation enables to complete the feedback loop of deformation control on soft actuators. The working principle of our approach is based on using compact color sensors to detect deformation that is visualized by the change of color ratios. Two novel designs are presented to generate color signals on 3D printed objects, which we call an external signal generator and an internal signal generator. Signal processing and calibration methods are developed to transform the raw RGB-data into a meaningful deformation metric. Our experimental tests taken on soft pneumatic actuators verify that color signals can be stably generated and captured to indicate the bending deformation. The results also demonstrate the usability of this sensing approach in deformation control.

AB - This paper introduces a novel approach for sensing the bending deformation on soft robots by leveraging multicolor 3D printing. The measurement of deformation enables to complete the feedback loop of deformation control on soft actuators. The working principle of our approach is based on using compact color sensors to detect deformation that is visualized by the change of color ratios. Two novel designs are presented to generate color signals on 3D printed objects, which we call an external signal generator and an internal signal generator. Signal processing and calibration methods are developed to transform the raw RGB-data into a meaningful deformation metric. Our experimental tests taken on soft pneumatic actuators verify that color signals can be stably generated and captured to indicate the bending deformation. The results also demonstrate the usability of this sensing approach in deformation control.

U2 - 10.1109/ICRA.2018.8460521

DO - 10.1109/ICRA.2018.8460521

M3 - Conference contribution

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EP - 4187

BT - 2018 IEEE International Conference on Robotics and Automation (ICRA)

A2 - Lynch, K.

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CY - 978-1-5386-3082-2

T2 - ICRA 2018: 2018 IEEE International Conference on Robotics and Automation

Y2 - 21 May 2018 through 25 May 2018

ER -

Color-Based Sensing of Bending Deformation on Soft Robots

Abstract

Conference

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