Contact force estimation from deformation of surface

Soft manipulators and interfaces are studied in various areas including human-robot systems. These soft interfaces can be used in sensing, moving, and grabbing objects. In our project, we are aiming to design 3D surface for object manipulation with stretchable materials such that it can move and lift objects with soft inflatable membrane interfaces. The surface will be designed with inflatable membrane and electrostatic clutches. Electrostatic clutches act to change stiffness of membrane and maintaining shapes under applied forces. As a result, we expect that membrane will be able to form various type of surfaces using these clutches. To estimate applied force from objects at the interface, we want to set up an algorithm to calculate force from surface deformation. Knowing the fact that energy of deformed surface can be measured by surface curvature or via discrete bending and stretching energy estimation from mass and spring network models, we have developed algorithms for simulating contact force from surface deformation to control the shape at real-time for stretchable membrane.