Toward Intrinsic Force Sensing and Control in Parallel Soft Robots

With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of robots to estimate or intrinsically sense forces without requiring external sensing mechanisms. While this mainly been shown tendon-based continuum manipulators deformable comprising push–pull rod actuation, fluid drives still pose great challenges due actuation variability nonlinear mechanical system responses. In work, we investigate capabilities a hydraulic, parallel robot subsequently control forces. A comprehensive algorithm is derived for static, quasi-static, dynamic force sensing, which relies on volume pressure information system. The validated single degree-of-freedom fluidic actuator. Results indicate that axial acting actuator can be estimated with mean error 0.56 $\pm$ 0.66 N within range 0–6 quasi-static configuration. methodology applied as well coupled robot. It seen are controllable both systems, capability controlling directional case multidegree-of-freedom