A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
This paper presents a model-based strategy to decouple proprioceptive and contact signals from a common set of fluidic pressure sensors embedded in a soft architected segment. Using six air channels in an overdetermined system, a piecewise constant curvature model and Huber regression achieve shape estimation and contact detection. Single-segment tests yield a relative bending error of 0.11±0.02 and a 97% contact detection rate. Eight segments are integrated into the Air-Helix tendon-driven manipulator, demonstrating tactile teaching, admittance control, and object reconstruction.
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[Submitted on 17 Jul 2026]
Title:A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
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Abstract:Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains challenging. We present a model-based strategy that decouples proprioceptive and contact signals from a common set of fluidic pressure sensors embedded in a soft architected segment. Each segment of the Innervated Trimmed Helicoid (ITH) contains six air channels routed in a localized zigzag pattern along the circumference. With only three principal kinematic degrees of freedom (axial compression, bending in x, bending in y), the six pressure readings form an overdetermined system. A piecewise constant curvature model maps pressures to shape, and Huber regression identifies outlier channels whose residuals indicate external contact. On a single ITH segment, this approach achieves proprioceptive shape estimation with a relative bending error of 0.11 +/- 0.02 and a contact detection rate of 97% across 178 trials. We integrate eight ITH segments into Air-Helix, a tendon-driven soft continuum manipulator, and present exploratory whole-arm demonstrations that include tactile teaching by demonstration, admittance-controlled force regulation, and tactile object reconstruction. The results suggest that localized fluidic innervation combined with model-based redundancy resolution is a practical path toward concurrent proprioception and contact sensing in architected soft robots.
Comments: Accepted for publication in the proceedings of the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.15582 [cs.RO]
(or arXiv:2607.15582v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.15582
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Annan Zhang [view email] [v1] Fri, 17 Jul 2026 03:03:19 UTC (4,162 KB)
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