Soft Robotic Mannequin: Design and Algorithm for Deformation Control

This article presents a novel soft robotic system for deformable mannequin that can be employed to physically realize the 3-D geometry of different human bodies. The membrane on is deformed by inflating several curved chambers using pneumatic actuation. Controlling freeform surface adjusting actuation in challenging as membrane’s shape commonly determined interaction between all chambers. Using vision feedback provided structured-light based scanner, we developed an efficient algorithm compute optimized chambers, which could drive deform into best approximation target shapes. Our converges quickly including pose estimation loop optimization. time-consuming step evaluating derivatives avoided Broyden update when possible. effectiveness our with controlled deformation has been verified experiments.