伸縮ひずみセンサを用いたソフトロボットに着せるモーションセンサ

抄録

A cloth-like motion measurement method for soft robots is proposed in this paper. The wearable device with multiple elastic strain sensors is attached to a soft robot to enable real-time sensing of deformation such as bending, twisting, and stretching. The elastic strain sensors are attached so that each deformation can be inferred from the elastic strain sensors’ elongation values by using TensorFlow2. Even when multiple deformations occur at the same time, each deformation can be independently measured. This paper describes how to place the elastic strain sensors on the soft robot with a genetic algorithm and how to estimate the deformation using machine learning.