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cs.RO2023
Model Based Position Control of Soft Hydraulic Actuators
Mark Runciman, Enrico Franco, James Avery +2
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by emp…
cs.RO2023
Soft Continuum Actuator Tip Position and Contact Force Prediction, Using Electrical Impedance Tomography and Recurrent Neural Networks
Amirhosein Alian, George Mylonas, James Avery
Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely used in numerous surgical applications. One of the complications associated with using soft…