Inverse Dynamics Model-Based Shape Control of Soft Continuum Finger Robot Using Parametric Curve

Soft continuum robots are more and used in various applications due to the multiple advantages offered by properties of hyper-elastic soft materials, such as resilience, flexibility, etc. Despite all these essential that make good candidates for some real-life needs (form enclosure grasping, obstacle-free navigation, etc.), controlling their shape remains challenging because hyper-redundancies. This letter investigates an inverse dynamics model-based control presence absence external efforts. To end, modeling based on Pythagorean Hodograph (PH) curves with prescribed lengths is combined Euler-Bernoulli reconstruct robot shapes then calculate actuator inputs case Thus, a relationship between PH points obtained. With above strategy, can be computed accordingly, therefore, real-time tasks becomes possible. The results proposed approach validated both numerically experimentally using two classes - Fluidic Elastomeric Actuator (FEA), describing 2D finger robot, single phalanges, 3D manipulator, namely Compact Bionic Handling Assistant (CBHA).