Feedback Control of a Modular Proprioceptive Soft Actuator

Overview

This project involves the feedback control of a modular proprioceptive soft actuator using an Arduino for controlling the actuator and a Python script for data acquisition and sequence generation.

Project Files

Arduino Code

• File: soft_actuator_control.ino
• Purpose: This Arduino code is responsible for controlling the bend angle of a soft actuator. It uses a PID controller to adjust the actuator's angle based on sensor feedback.
• Authors: Jonathan Tirado, Joséphine Moisson de Vaux
• Date: May 13, 2023
• Version: 1.0

Key Components

• Bendlabs Sensor: Provides feedback on the bend angle of the actuator.
• MPX5100 Series Integrated Silicon Pressure Sensor: Measures pressure within the actuator.
• PID Controller: Maintains the desired angle by adjusting motor speed and valve states.

Python Code

• File: data_acquisition_and_sequence_generation.py
• Purpose: This Python script handles data acquisition and sequence generation for the soft actuator. It communicates with the Arduino via serial to control the bend angle and logs sensor data to a CSV file.
• Authors: Jonathan Tirado, Joséphine Moisson de Vaux
• Date: May 15, 2023
• Version: 1.0

Key Functions

• bend_control(ser, bend_val): Sends bend angle commands to the Arduino.
• main_loop(ser): Controls the actuator's bend angle in a sequence and records sensor data.
• save_data(filename, data): Saves the recorded data to a CSV file.

Bend Sensor Information

The bend sensor used in this project is provided by Nitto, a leading manufacturer of bend sensors. For more information about the sensor, please visit Nitto's website.

Getting Started

Prerequisites

• Arduino IDE: To upload the Arduino code to your board.
• Python: To run the data acquisition and sequence generation script.
• Serial Library: Install using pip install pyserial.

Setup

1. Arduino Setup:

   • Libraries:
     • Install the ads library for the Bendlabs sensor.
     • Install the PID_v1 library for the PID controller.
   • Connect the Bendlabs sensor and MPX5100 pressure sensor to the Arduino as specified in the code.
   • Upload the soft_actuator_control.ino to your Arduino board.

2. Python Setup:

   • Connect your computer to the Arduino via a serial connection (e.g., COM7).
   • Run the data_acquisition_and_sequence_generation.py script to start data acquisition and control sequence.

Running the Project

1. Arduino:

   • Ensure your sensors and actuators are properly connected.
   • Open the Arduino IDE, upload the code, and open the Serial Monitor to verify the setup.

2. Python:

   • Open a terminal or command prompt.
   • Navigate to the directory containing the Python script.
   • Run the script using python data_acquisition_and_sequence_generation.py.

Data Logging

• The Python script logs sensor data to a CSV file named linear_control_experiment_1.csv.
• The data includes timestamps and sensor readings, which can be analyzed for further research and development.