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ID persistente
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doi:10.21950/KKAKOB |
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Fecha de publicación
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2025-09-10 |
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Título
| I-SUPPORT Robot: Data and results of the identification and control of a two-module soft arm |
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Autor
| Relaño, Carloshttps://ror.org/03ths8210ORCIDhttps://orcid.org/0000-0002-3276-4668
Tang, Zhi Qianghttps://ror.org/01tgyzw49ORCIDhttps://orcid.org/0000-0001-6555-9938
Laschi, Ceciliahttps://ror.org/01tgyzw49ORCIDhttps://orcid.org/0000-0001-5248-1043
MONJE MICHARET, CONCEPCIÓN ALICIAhttps://ror.org/03ths8210ORCIDhttps://orcid.org/0000-0001-8295-127X |
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Contacto
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Utilice el botón de e-mail de arriba para contactar.
Monje Micharet, Concepción Alicia (Universidad Carlos III de Madrid) |
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Descripción
| This project focuses on the I-SUPPORT soft robotic arm, a two-module continuum manipulator designed for assistive bathing tasks. A novel methodology is developed for independent position and orientation control, called Independent Distal Module Actuation (IDMA). The proximal module controls position (X,Z), while the distal module controls orientation (pitch, yaw). To cope with the nonlinear and compliant behavior of the arm, fractional-order controllers (FOPI) are implemented after performing system identification with Intel RealSense camera data. The approach is validated in both vertical and horizontal configurations, and experiments include position tracking, orientation regulation, load disturbance rejection, and task execution (e.g., sponge rubbing on the back).
The dataset includes identification data collected from the Intel RealSense depth camera while actuating the modules with tendons and McKibben chambers, as well as experimental results of step responses under different load conditions. It also contains position tracking experiments in both vertical and horizontal configurations, orientation control datasets of the distal module, and task control datasets corresponding to sponge rubbing experiments. In addition, MATLAB scripts are provided for modeling, controller design, data collection, and plotting, which allow the reproduction and analysis of the experiments described. |
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Materia
| Ingeniería |
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Palabra clave
| Soft robotics
I-SUPPORT
Fractional-order control
Continuum manipulator
Assistive robotics
Orientation control |
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Publicación relacionada
| IsSupplementTo: Relaño, C., Tang, Z., Laschi, C., & Monje, C. A. (2025). A novel enhanced methodology for position and orientation control of the I-SUPPORT robot. Biomimetics (Basel, Switzerland), 10(8), 502. https://doi.org/10.3390/biomimetics10080502 handle 10016/47840 https://hdl.handle.net/10016/47840 |
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Notas
| The methodology begins with the identification stage, where tendon and McKibben actuation signals were applied to each module and the Intel RealSense camera recorded the XYZ position of the end effector. The collected data were processed using MATLAB scripts in the Utils/ and Data_collection/ folders, which handled the signal conversion between pitch–yaw and tendon inputs and stored the results. Transfer functions for each axis were then obtained through least-squares identification, with the proximal module modeled under cable actuation and the distal module under pneumatic actuation. Based on these models, fractional-order PI controllers (FOPI) were designed using the iso-m tuning method. The controllers were tested in both vertical and horizontal configurations of the I-SUPPORT arm, where position and orientation tasks were performed and external disturbances were introduced by attaching different weights ranging from 10 to 70 g. Finally, the methodology was validated through functional experiments such as the sponge rubbing task, which demonstrated the ability of the system to perform real-world assistive actions with robustness and precision. |
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Idioma
| Inglés |
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Información de la subvención
| Ministerio de Economía, Industria y Competitividad: PID2020-113194GB-I00 (SOFIA)
Ministerio de Economía, Industria y Competitividad: PLEC2023-010218 (ADAPTA)
National Robotics Program (Singapore): Project Soft and Hybrid Robot Phase 2a
National Research Foundation (Singapore): CARTIN |
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Depositante
| Monje Micharet, Concepción Alicia |
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Fecha de depósito
| 2025-08-27 |
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Software
| MATLAB, Version: R2022a
Intel RealSense SDK
Arduino IDE |
