Force Estimation at the Bionic Soft Arm’s Tool-center-point during the Interaction with the Environment
Samuel Pilch,Daniel Klug,Oliver Sawodny,Samuel Pilch,Daniel Klug,Oliver Sawodny
Soft continuum robots enable new application areas in contrast to standard rigid robots, such as interaction with a varying environment. Due to their compliant continuous structure, they are inherently safe and adaptive to environmental conditions. In this paper, the interaction with the environment is performed at the tool-center-point of a soft continuum manipulator and is realized by a hybrid f...
