Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder
arxiv(2024)
摘要
The human shoulder, with its glenohumeral joint, tendons, ligaments, and
muscles, allows for the execution of complex tasks with precision and
efficiency. However, current robotic shoulder designs lack the compliance and
compactness inherent in their biological counterparts. A major limitation of
these designs is their reliance on external sensors like rotary encoders, which
restrict mechanical joint design and introduce bulk to the system. To address
this constraint, we present a bio-inspired antagonistic robotic shoulder with
two degrees of freedom powered by self-sensing hydraulically amplified
self-healing electrostatic actuators. Our artificial muscle design decouples
the high-voltage electrostatic actuation from the pair of low-voltage
self-sensing electrodes. This approach allows for proprioceptive feedback
control of trajectories in the task space while eliminating the necessity for
any additional sensors. We assess the platform's efficacy by comparing it to a
feedback control based on position data provided by a motion capture system.
The study demonstrates closed-loop controllable robotic manipulators based on
an inherent self-sensing capability of electrohydraulic actuators. The proposed
architecture can serve as a basis for complex musculoskeletal joint
arrangements.
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