TU Berlin

Robotics and Biology LaboratoryAir-Mass Control of Soft Pneumatic Actuators with Air-Flow-Sensors

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Air-Mass Control of Soft Pneumatic Actuators with Air-Flow-Sensors

Bachelor Thesis - Joel Simon Fuchs


The goal of this thesis is to mitigate some of the issues the current air-mass control strategy of the soft-pneumatic-actuators introduces. So far the controller is derived in a data-driven way and does not rely on accurate sensor-based air-mass estimates. Therefore, when running the controller for a longer time duration, the internal air-mass estimates computed by the model are subject to drift. This results in not being able to control the actuators precisely anymore. In the recent past new air-flow-sensors have been developed that might be feasible for our requirements.

Description of Work

In the course of this thesis, different air-flow sensors are evaluated and incorporated into an air-mass-control-law for soft-pneumatic actuators.



Joel Simon Wolf

Adrian Sieler

Oliver Brock


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