Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin
- Sonar, Harshal Arun
- Gerratt, Aaron Powers
- Lacour, Stéphanie
- Paik, Jamie
DOIAbstract
In this article, we achieve a closed-loop control over haptic feedback, first time for an entirely soft platform. We prototyped a novel self-sensing soft pneumatic actuator (SPA) with soft strain sensors, called SPA-skin, which withstands large multiaxial strains and is capable of high-frequency sensing and actuation. To close-loop control the haptic feedback, the platform requires a cohesively integrated system. Our system consists of a stretchable low profile (<500 μm) SPA and an ultra-compliant thin-metal film strain sensor that create a novel bidirectional platform for tactile sensing via force-tunable vibratory feedback. With this prototype, we demonstrated control of the actuator shape in real time up to 100 Hz at output forces up to ...
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