# Kinematic Modeling of Handed Shearing Auxetics via Piecewise Constant Curvature

arXiv: https://arxiv.org/abs/2112.04706 · HTML: https://mlsanity.com/paper/2112.04706/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Dec 2021.

## Built on by (most cited first, 1 of 1)

- [Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control](https://mlsanity.com/paper/2411.00138/) (2024)

## Abstract (arXiv)

Handed Shearing Auxetics (HSA) are a promising technique for making motor-driven, soft, continuum robots. Many potential applications from inspection tasks to solar tracking require accurate kinematic models to predict the position and orientation of these structures. Currently there are no models for HSA based continuum platforms. To address this gap we propose to adapt Piecewise Constant Curvature (PCC) Models using a length change coupling matrix. This models the interaction of HSA structures in a 2x2 array. The coupling matrix maps the change in motor angles to length changes and defines the configuration space in our modified PCC Model. We evaluate our model on a composite movement encompassing bending, extension and compression behavior. Our model achieves a positional accuracy with mean error of 5.5mm or 4.5% body length and standard deviation of 1.72mm. Further, we achieve an angular accuracy with mean error of -2.8^circ and standard deviation of 1.9^circ.