Health and Behavior: Soft Sensors and Actuators for Wearables to Assist People with Disabilities

Led by Erik Engeberg, Ph.D.

REU Scholar: Arhan Sankhla

REU Scholar Home Institution: Rice University

REU Mentor: Erik Engeberg, Ph.D.

Utilizing Hall Effect Sensors and Artificial Neural Networks to Classify Soft Magnetic Actuator Pose

Soft robotics, renowned for their high dexterity and safety, are increasingly utilized in dynamic and sensitive biomedical applications such as gripping, locomotion, and medical devices. Despite advancements, a critical challenge remains in effectively sensing and controlling soft pneumatic actuators, primarily due to inadequate methods for real-time position and shape detection. This research addresses this gap by employing Hall Effect sensors in conjunction with soft pneumatic actuators composed of varying ratios of ferrofluid and silicon. The Hall Effect sensors measure the intensity of the magnetic field generated by the actuators, which varies with different ferrofluid concentrations under specified pressures. A neural network is trained using data collected from these sensors across three distinct pressures for each ferrofluid-to-silicon ratio, aiming to classify actuator pose accurately. The study utilizes MATLAB's Neural Net Pattern Recognition (NPR) tool to analyze the data and evaluate the classification accuracy of the neural network. The impact of ferrofluid concentration on the consistency of sensor data and the overall effectiveness of Hall Effect sensors in actuator control is examined. The findings are expected to reveal optimal ferrofluid ratios for improved sensor accuracy and actuator control. This work is significant as it provides a novel approach to enhancing the integration of sensing and control in soft pneumatic actuators, thus advancing their application in sensitive and dynamic environments. The results will offer practical recommendations for designing soft pneumatic actuators with effective sensing capabilities, potentially broadening their use in critical biomedical and other applications.