The Application of Multi-physics Coupling in Deformation Sensing and Control of Soft Robots

In recent years, the applications of small-scale and soft robots in various tasks have significantly increased. However, traditional control systems have been proven no longer competent for further use due to neglecting material deformation, a vital factor for these new robotic systems. This paper focuses on developing a novel approach for detecting material deformation that can be applied to establish better-suited control systems for soft robots. Using COMSOL Multiphysics simulation software and coding software, a coupling between solid mechanics and electric current fields can be created to investigate the relationship between deformation and voltage changes. Based on the data generated from the simulation, it is aimed at discovering relationships that exist between the deformation and processible electrical signals. The experiment results demonstrate that the proposed approach can successfully reveal the expected relationship and possess the potential to form the conversion between deformation and electrical signals intended for use in control systems. This research provides a novel approach to upgrading the control system for soft robots, with promising applications in control scenarios.