Haptic Intelligence

Three-Dimensional Surface Reconstruction of a Soft System via Distributed Magnetic Sensing

2024

Miscellaneous

hi

This study presents a new method for reconstructing continuous 3D surface deformations for a soft pneumatic actuation system using embedded magnetic sensors. A finite element analysis (FEA) model was developed to quantify the surface deformation given the magnetometer readings, with a relative error between the experimental and the simulated sensor data of 7.8%. Using the FEA simulation solutions and a basic model-based mapping, our method achieves sub-millimeter accuracy in measuring deformation from sensor data with an absolute error between the experimental and simulated sensor data of 13.5%. These results show promise for real-time adjustments to deformation, crucial in environments like prosthetic and orthotic interfaces with human limbs.

Author(s): Vani H. Sundaram and Lawrence Smith and Zoe Turin and Mark E. Rentschler and Cara Gonzalez Welker
Year: 2024
Month: May
Department(s): Haptic Intelligence
Bibtex Type: Miscellaneous (misc)
Paper Type: Workshop
Address: Yokohama, Japan
How Published: Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI
State: Published

BibTex 

@misc{Sundaram24-ICRAWS-Reconstruction,
  title = {Three-Dimensional Surface Reconstruction of a Soft System via Distributed Magnetic Sensing},
  author = {Sundaram, Vani H. and Smith, Lawrence and Turin, Zoe and Rentschler, Mark E. and Welker, Cara Gonzalez},
  howpublished = {Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI},
  address = {Yokohama, Japan},
  month = may,
  year = {2024},
  doi = {},
  month_numeric = {5}
}