Perpustakaan Digital ITB

Soft robots are advancing as a technology that enables safer and more flexible interactions with their environment, particularly in medical and industrial applications. However, research in the Production Engineering Laboratory at ITB still primarily relies on manual observation, capturing motion frame by frame and assembling the images to analyze movement. Additionally, most studies are limited to 2D motion analysis due to the complexity of synchronizing multiple motion capture cameras for accurate 3D tracking. This research aims to develop a real-time motion tracking system using OptiTrack. The soft continuum manipulator used in this study features three air cavities, allowing for a wider range of 3D motion. The system integrates an Arduino to regulate air pressure, controlling the manipulator's movement, while Motive and MATLAB are employed to capture and visualize both linear and angular motion in real time. Motion capture data is synchronized with pressure data using interpolation methods before being stored in a structured worksheet for further analysis. This approach facilitates a better understanding of the relationship between pneumatic actuation and manipulator deformation, enhancing insights into soft robot dynamics. The findings of this study are expected to contribute to the advancement of soft robotics, particularly in manufacturing and control systems. The developed real-time tracking system can serve as feedback for automated soft robot motion control. By providing a more sophisticated motion tracking capability, this research lays the foundation for future applications in human-robot interaction, industrial automation, and medical robotics development.