Passive and Active Acoustic Sensing for Soft Pneumatic Actuators - Code and Data

dc.contributor.authorWall, Vincent
dc.contributor.authorZöller, Gabriel
dc.contributor.authorBrock, Oliver
dc.contributor.otherHebecker, Marius
dc.date.accessioned2021-02-19T09:14:43Z
dc.date.available2021-02-19T09:14:43Z
dc.date.issued2020-12
dc.description.abstractThis data and code accompanies the paper "Passive and Active Acoustic Sensing for Soft Pneumatic Actuators" [1]. Abstract: We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure relevant actuator states. The physical state of the actuator influences the modulation of sound as it travels through the structure. Using simple machine learning, we create a computational sensor that infers the current state from sound recordings. We demonstrate the acoustic sensor on a PneuFlex actuator and use it to measure the contact location, contact force, object material and actuator inflation. We show that the sensor is reliable (the classification rate for six contact locations is 93%), precise (spatial resolution below 4mm), and robust against common disturbances like background noise. Finally, we compare different sounds and learning methods and achieve best results with 20ms of white noise and a support vector classifier as the sensor model. [1] Vincent Wall, Gabriel Zöller, and Oliver Brock. "Passive and Active Acoustic Sensing for Soft Pneumatic Actuators." (in preparation)en
dc.description.sponsorshipEC/H2020/645599/EU/Soft-bodied intelligence for Manipulation/SoMaen
dc.description.sponsorshipDFG, EXC 2002/1, 390523135, Science of Intelligence (SCIoI)en
dc.description.sponsorshipDFG, SPP 2100, 359715917, Soft Material Robotic Systemsen
dc.identifier.urihttps://depositonce.tu-berlin.de/handle/11303/12184.2
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-11059.2
dc.language.isoenen
dc.rights.urihttps://choosealicense.com/licenses/bsd-3-clause/en
dc.subject.ddc005 Computerprogrammierung, Programme, Datenen
dc.subject.otheracoustic sensingen
dc.subject.othersoft sensorsen
dc.subject.otherforce and tactile sensingen
dc.subject.otherpneumatic actuatorsen
dc.subject.othersoft material roboticsen
dc.titlePassive and Active Acoustic Sensing for Soft Pneumatic Actuators - Code and Dataen
dc.typeGeneric Research Data
tub.accessrights.dnbunknown*
tub.affiliationFak. 4 Elektrotechnik und Informatik::Inst. Technische Informatik und Mikroelektronik::FG Roboticsde
tub.affiliation.facultyFak. 4 Elektrotechnik und Informatikde
tub.affiliation.groupFG Roboticsde
tub.affiliation.instituteInst. Technische Informatik und Mikroelektronikde

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Python code used to record, convert, and evaluate all experimental data shown in the manuscript.
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Converted data; All data sets converted into spectra and corresponding labels.
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Description of the data sets and which experiment from the paper they correspond to.
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Plots for each of the evaluations
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Raw sound files. (Description of the data sets given in 'depositOnce_data_sets.xls')
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Results of the evaluations; Contains trained sensor models as well as the prediction scores and confusion matrices. The plots are generated from these files.
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VersionDateSummary
2021-02-18 10:58:41
Added additional experimental data and corresponding evaluations.
2020-12-15 14:34:10