Sensing and Reconstruction of 3D Deformation on Pneumatic Soft Robots

Sensing and Reconstruction of 3D Deformation on Pneumatic Soft Robots

IEEE/ASME Transactions on Mechatronics, 2021

IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), 2021

Rob B. N. Scharff Guoxin Fang Yingjun Tian Jun Wu Jo M. P. Geraedts Charlie C. L. Wang


Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators caused by interaction between each other. To tackle this problem, we present a method in this paper to sense and reconstruct 3D deformation on pneumatic soft robots by first integrating multiple low-cost sensors inside the chambers of pneumatic actuators and then using machine learning to convert the captured signals into shape parameters of soft robots. An exterior motion capture system is employed to generate the datasets for both training and testing. With the help of good shape parameterization, the 3D shape of a soft robot can be accurately reconstructed from signals obtained from multiple sensors. We demonstrate the effectiveness of this approach on two designs of soft robots -- a robotic joint and a deformable membrane. After parameterizing the deformation of these soft robots into compact shape parameters, we can effectively train the neural networks to reconstruct the 3D deformation from the sensor signals. The sensing and shape prediction pipeline can run at 50Hz in real-time on a consumer-level device.


Proprioception, 3D Deformation, Pneumatic Actuators, Soft Robotics



13.3 MB


  author={Scharff, Rob B. N. and Fang, Guoxin and Tian, Yingjun and Wu, Jun and Geraedts, Jo M. P. and Wang, Charlie C.L.},
  journal={IEEE/ASME Transactions on Mechatronics}, 
  title={Sensing and Reconstruction of 3-D Deformation on Pneumatic Soft Robots},