Three-Dimensional Surface Reconstruction of a Soft System via Distributed Magnetic Sensing
This study presents a new method for reconstructing continuous 3D surface deformations for a soft pneumatic actuation system using embedded magnetic sensors. A finite element analysis (FEA) model was developed to quantify the surface deformation given the magnetometer readings, with a relative error between the experimental and the simulated sensor data of 7.8%. Using the FEA simulation solutions and a basic model-based mapping, our method achieves sub-millimeter accuracy in measuring deformation from sensor data with an absolute error between the experimental and simulated sensor data of 13.5%. These results show promise for real-time adjustments to deformation, crucial in environments like prosthetic and orthotic interfaces with human limbs.
| Author(s): | Sundaram, Vani H. and Smith, Lawrence and Turin, Zoe and Rentschler, Mark E. and Gonzalez Welker, Cara |
| Year: | 2024 |
| Month: | May |
| BibTeX Type: | Miscellaneous (misc) |
| Address: | Yokohama, Japan |
| Electronic Archiving: | grant_archive |
| How Published: | Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI |
| State: | Published |
| URL: | https://drive.google.com/file/d/1_NWZnPLvRYXdHxeKp0w1wN5uWLOu3nJm/view |
BibTeX
@misc{Sundaram24-ICRAWS-Reconstruction,
title = {Three-Dimensional Surface Reconstruction of a Soft System via Distributed Magnetic Sensing},
abstract = {This study presents a new method for reconstructing continuous 3D surface deformations for a soft pneumatic actuation system using embedded magnetic sensors. A finite element analysis (FEA) model was developed to quantify the surface deformation given the magnetometer readings, with a relative error between the experimental and the simulated sensor data of 7.8%. Using the FEA simulation solutions and a basic model-based mapping, our method achieves sub-millimeter accuracy in measuring deformation from sensor data with an absolute error between the experimental and simulated sensor data of 13.5%. These results show promise for real-time adjustments to deformation, crucial in environments like prosthetic and orthotic interfaces with human limbs.},
howpublished = {Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI},
address = {Yokohama, Japan},
month = may,
year = {2024},
author = {Sundaram, Vani H. and Smith, Lawrence and Turin, Zoe and Rentschler, Mark E. and Gonzalez Welker, Cara},
url = {https://drive.google.com/file/d/1_NWZnPLvRYXdHxeKp0w1wN5uWLOu3nJm/view},
month_numeric = {5}
}