System and Method for Controlling Operation of Robotic Manipulator with Soft Robotic Touch

A feedback controller for controlling a robotic manipulator including one or more actuators mechanically connected to joints of the robotic manipulator for moving an end effector based on measurements of one or more tactile sensors attached to the end effector, the feedback controller includes a circuitry forming modules of the feedback controller, the modules comprising:

• a tactile sensor compensator configured to (1) receive measurement signals from one or more tactile sensors, wherein the measurement signals include measurements of one or more magnitudes of one or more forces along one or more directions relative to the tactile sensor and (2) filter the measurement signals to align some or all of the measurement signals to one or more directions of motion of the end effector to produce an impedance shaping signal;
• and
• a motion controller configured to (1) determine one or more control signals to the actuators to track a reference state of the end effector based on measurements of the state of the end effector;
• (2) combine the control signal with the impedance shaping signal to produce control commands and (2) output the determined control commands to the actuators causing a change in the state of the end effector, wherein the state of the end effector includes one or a combination of an end effector position, an end effector velocity, and an end effector force.