Sensing the Motion of Bellows-driven Joints via Inductance

The inductance sensing techniques I developed for fiber-reinforced soft actuators can also be applied to soft pneumatic bellows. Working with Pneubotics, I demonstrated inductance sensing on a unique bellows-driven continuum joint. The paper was a finalist for the Best Systems Paper at Robotics: Science & Systems 2017.

I developed inductance sensing techniques for the continuum joints of this bellows-driven robot. Image Credit: Pneubotics

Related Publications

  • Felt, W., Telleria, M.J., Allen, T., Hein, G., Pompa, J., Albert, K., Remy, C.D., 2018, “An inductance-based sensing system for bellows-driven continuum joints in soft robots”, Autonomous Robotics (In Press, extension of RSS version)
  • Felt, W., 2017,”Sensing Methods for Soft Robotics,”, PhD Thesis, [URL]
  • Felt, W., Telleria, M.J., Allen, T., Hein, G., Pompa, J., Albert, K., Remy, C.D., 2017, “An inductance-based sensing system for bellows-driven continuum joints in soft robots”, Robotics: Science and Systems (RSS), Cambridge, MA [URL]
  • Felt, W., Suen, M., and Remy, C.D., 2016, “Sensing the motion of bellows through changes in mutual inductance”, International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea [URL]

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