History-Aware Force Sensing and Tunable Stiffness in a Pneumatic Kresling Origami Cell
Overview
This research presents a 3D-printed PEBA Kresling origami cell equipped with magnetic angular sensing that supports three operating modes: force sensing at zero gauge pressure, tunable stiffness under positive pressure, and self-sensing actuation under negative pressure.
Generated from attributed reports · Updated 1 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · RMSE at zero gauge pressure: 0.76 other · Basis not reported
“, and self-sensing actuation under negative gauge pressure. A multiscale gated recurrent unit (GRU) network estimates contact force from angular histories to account for the the combined effects of geometric deformation and material response. At zero gauge pressure, the model achieves a test RMSE of 0.76~N. Positive gauge pressure approximately doubles the average axial loading stiffness at +20~kPa over the first 3~m”
Exact source · revision 1Source owner not reported
Reported quantity · RMSE under positive gauge pressure: 0.93 other · Basis not reported
“m of compression, while pressure-specific models maintain RMSEs below 0.93~N. Under negative gauge pressure, an energy-based compensation model enables contact force estimation using the the model trained at zero gauge pressure, achieving RMSEs of 1.66--2.10~N under quasi-static conditions. These results demonstrate a compact approach to combining force feedback, tunable axial stiffness, and self-sensing actuation in”
Exact source · revision 1Source owner not reported
Reported quantity · RMSE under negative gauge pressure: 1.66 other · Basis not reported · Differing source assertions
“m of compression, while pressure-specific models maintain RMSEs below 0.93~N. Under negative gauge pressure, an energy-based compensation model enables contact force estimation using the the model trained at zero gauge pressure, achieving RMSEs of 1.66--2.10~N under quasi-static conditions. These results demonstrate a compact approach to combining force feedback, tunable axial stiffness, and self-sensing actuation in”
Exact source · revision 1Source owner not reported
Reported quantity · RMSE under negative gauge pressure: 2.1 other · Basis not reported · Differing source assertions
“m of compression, while pressure-specific models maintain RMSEs below 0.93~N. Under negative gauge pressure, an energy-based compensation model enables contact force estimation using the the model trained at zero gauge pressure, achieving RMSEs of 1.66--2.10~N under quasi-static conditions. These results demonstrate a compact approach to combining force feedback, tunable axial stiffness, and self-sensing actuation in”
Exact source · revision 1Source owner not reported
Reported quantity · compression distance: 3 other · Basis not reported
“, and self-sensing actuation under negative gauge pressure. A multiscale gated recurrent unit (GRU) network estimates contact force from angular histories to account for the the combined effects of geometric deformation and material response. At zero gauge pressure, the model achieves a test RMSE of 0.76~N. Positive gauge pressure approximately doubles the average axial loading stiffness at +20~kPa over the first 3~m”
Exact source · revision 1Source owner not reported
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsSignalHistory-Aware Force Sensing and Tunable Stiffness in a Pneumatic Kresling Origami Cell
This research presents a 3D-printed PEBA Kresling origami cell equipped with magnetic angular sensing that supports three operating modes: force sensing at zero gauge pressure, tunable stiffness under positive pressure, and self-sensing actuation under negative pressure.
Event coverage history
There is not enough continuous observation data to show a trend.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).