Active Acoustic Contact Sensing for Soft Pneumatic Actuators
Gabriel Zöller,Vincent Wall,Oliver Brock,Gabriel Zöller,Vincent Wall,Oliver Brock
We present an active acoustic sensor that turns soft pneumatic actuators into contact sensors. The whole surface of the actuator becomes a sensor, rendering the question of where best to place a contact sensor unnecessary. At the same time, the compliance of the soft actuator remains unaffected. A small, embedded speaker emits a frequency sweep which travels through the actuator before it is recor...
