Designing accurate and real time sensing systems for continuum robots is difficult because of their high degrees of freedom. This paper proposes a magnetic field sensing solution for 3-DoF pose estimation of soft continuum robots. We investigated our sensor inside an origami continuum robot, capable of 3-DoF constant curvature motion. Using motion capture, we validate our sensing solution in this system, and we measure sensing errors of less than 1.6mm. Our experiments also demonstrate the sensor’s accuracy during external object contact and unmodeled shape deformation. This application uses a custom high speed particle filter that runs in excess of 2 kHz, allowing this system to be applicable for real time feedback control of continuum robots.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Mitchell, Mason

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042723-013027
• 105711

Advisor

• Onal, Cagdas
• Fichera, Loris

Year

• 2023

Date created

• 2023-04-27

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Source

• E-project-042723-013027

Rights statement

• In Copyright

Last modified

• 2023-06-18