Control of Tendon-Driven Soft Foam Robot Hands

Abstract

This paper presents a series of control strategies for soft compliant manipulators. We provide a novel approach to control multi-fingered tendon-driven foam hands using a CyberGlove and a simple ridge regression model. The results achieved include complex posing, dexterous grasping and in-hand manipulations. To enable efficient data sampling and a more intuitive design process of foam robots, we implement and evaluate a finite element based simulation. The accuracy of this model is evaluated using a Vicon motion capture system. We then use this simulation to solve inverse kinematics and compare the performance of supervised learning, reinforcement learning, nearest neighbor and linear ridge regression methods in terms of their accuracy and sample efficiency.