2 papers
cs.RO2022
Passive and Active Acoustic Sensing for Soft Pneumatic Actuators
Vincent Wall, Gabriel Zöller, Oliver Brock
We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actu…
cs.RO2022
A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing
Vincent Wall, Oliver Brock
We create a virtual 2D tactile array for soft pneumatic actuators using embedded audio components. We detect contact-specific changes in sound modulation to infer tactile informati…