Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications

SOFT ROBOTICS(2023)

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摘要
The design of soft actuators is often focused on achieving target trajectories or delivering specific forces and torques, rather than controlling the impedance of the actuator. This article outlines a new soft, tunable pneumatic impedance module based on an antagonistic actuator setup of textile-based pneumatic actuators intended to deliver bidirectional torques about a joint. Through mechanical programming of the actuators (select tuning of geometric parameters), the baseline torque to angle relationship of the module can be tuned. A high bandwidth fluidic controller that can rapidly modulate the pressure at up to 8 Hz in each antagonistic actuator was also developed to enable tunable impedance modulation. This high bandwidth was achieved through the characterization and modeling of the proportional valves used, derivation of a fluidic model, and derivation of control equations. The resulting impedance module was capable of modulating its stiffness from 0 to 100 Nm/rad, at velocities up to 120 degrees/s and emulating asymmetric and nonlinear stiffness profiles, typical in wearable robotic applications.
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关键词
antagonistic actuator,textile-based,pneumatic,fluidic control,tunable stiffness
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