DESIGN OF A TENDON DRIVEN SOFT CONTINUUM ROBOTIC ARM USING PROPRIOCEPTIVE SENSORS

Author

Richard Sperling, University of Rhode IslandFollow

Date of Award

2018

Degree Type

Thesis

Degree Name

Master of Science in Mechanical Engineering (MSME)

Department

Mechanical, Industrial and Systems Engineering

First Advisor

Hongyan Yuan

Abstract

In this thesis the use of proprioceptive sensors in elephant trunk inspired soft continuum robots was explored. After presenting the basics for this project, a review of existing soft continuum robots is given. The sensors used are o_-the-shelf stretch senors. Those sensors are carbon black impregnated rubber cords. The design and the fabrication of the robot are described. Using material characteristics a calibration process was developed to improve the sensor's consistency. The robot is then tested in open-loop as well as a closed-loop experiment. Results of those experiments are presented and discussed.

Recommended Citation

Sperling, Richard, "DESIGN OF A TENDON DRIVEN SOFT CONTINUUM ROBOTIC ARM USING PROPRIOCEPTIVE SENSORS" (2018). Open Access Master's Theses. Paper 1286.
https://digitalcommons.uri.edu/theses/1286