Identification and Control of a Soft-Robotic Bladder Towards Impedance-Style Haptic Terrain Display

This letter evaluates the capabilities of a soft robotic pneumatic actuator derived from terrain display haptic device, “Smart Shoe.” The bladder design Smart Shoe is upgraded to include pressure supply and greater output flow capabilities. Forcing characteristics are identified incorporated as feedforward terms in sliding-mode tracking controller provide impedance control. A bench top setup created rigorously test this new type actuator. bandwidth stiffness capability evaluated relative forces displacements encountered during human gait. Four force vs. displacement profiles relevant proposed evaluated. It was found that could sustain similar soft-soled shoe on concrete, well other (sand, dirt, etc.). Compressions done at 20 mm/s, which speed gait, showed promising results desired trajectory. show can trajectories, providing basis for future wearable devices.