This thesis discusses the design and validation of a closed-loop position (bending angle) controller of a 3D printed soft robotic (PneuNet) actuator using feedback from a 3D printed
embedded strain sensor. First different models describing the actuator and sensor are discussed.Then open-loop position data is collected using a camera and marker tracking. This positional data is then used to train the models. A closed-loop position controller is realized consisting of a polynomial model in conjunction with a PID controller outputting a set-pressure.
Finally the controller is validated by measuring the root-mean-square error (RMSE) and correlation coefficient (R) between the reference angle and the measured angle. A RMSE ranging from 8.2 degrees to 14.9 degrees and an R-value ranging from 0.967 to 0.992 was achieved depending on the reference signal.
