I-SUPPORT Robot: Data and results of the identification and control of a two-module soft arm

This project focuses on the I-SUPPORT soft robotic arm, a two-module continuum manipulator designed for assistive bathing tasks. A novel methodology is developed for independent position and orientation control, called Independent Distal Module Actuation (IDMA). The proximal module controls position (X,Z), while the distal module controls orientation (pitch, yaw). To cope with the nonlinear and compliant behavior of the arm, fractional-order controllers (FOPI) are implemented after performing system identification with Intel RealSense camera data. The approach is validated in both vertical and horizontal configurations, and experiments include position tracking, orientation regulation, load disturbance rejection, and task execution (e.g., sponge rubbing on the back).