Abstract
Recently, practical use of soft actuators is expected in the field of welfare robot. However, feedback control system for soft actuator has not been realized because appropriate sensor did not exist. Potentiometers or optical encoders which are generally used as displacement sensors have high stiffness and such sensors diminish the compliance of soft actuator. This paper presents fabrication of flexible displacement sensor and FMA (Flexible Microactuator) using this sensor. The flexible displacement sensor was fabricated by depositing conductive paste on the surface of rubber. A paste injection system was utilized to deposit the paste and it realized precise control of thickness, width and pattern of the film. Firstly, an experiment on flat type flexible displacement sensor was carried out to evaluate and improve the sensor. The experimental result showed enough linearity and detecting range. Then Intelligent FMA was fabricated by depositing conductive paste on the surface of FMA. Servo control system for Intelligent FMA was set up and high positioning accuracy was confimed by servo driving experiment.
| Original language | English |
|---|---|
| Pages (from-to) | 2512-2518 |
| Number of pages | 7 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 72 |
| Issue number | 8 |
| Publication status | Published - Aug 2006 |
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Keywords
- Conductive paste
- Flexible displacement sensor
- FMA
- Paste injection system
ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Development of intelligent FMA by using paste injection (1st Report, fabrication of flexible displacement sensor with conductive paste and FMA using the sensor). / Kure, Kenji; Kanda, Takefumi; Suzumori, Koichi; Wakimoto, Shuichi.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 72, No. 8, 08.2006, p. 2512-2518.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Development of intelligent FMA by using paste injection (1st Report, fabrication of flexible displacement sensor with conductive paste and FMA using the sensor)
AU - Kure, Kenji
AU - Kanda, Takefumi
AU - Suzumori, Koichi
AU - Wakimoto, Shuichi
PY - 2006/8
Y1 - 2006/8
N2 - Recently, practical use of soft actuators is expected in the field of welfare robot. However, feedback control system for soft actuator has not been realized because appropriate sensor did not exist. Potentiometers or optical encoders which are generally used as displacement sensors have high stiffness and such sensors diminish the compliance of soft actuator. This paper presents fabrication of flexible displacement sensor and FMA (Flexible Microactuator) using this sensor. The flexible displacement sensor was fabricated by depositing conductive paste on the surface of rubber. A paste injection system was utilized to deposit the paste and it realized precise control of thickness, width and pattern of the film. Firstly, an experiment on flat type flexible displacement sensor was carried out to evaluate and improve the sensor. The experimental result showed enough linearity and detecting range. Then Intelligent FMA was fabricated by depositing conductive paste on the surface of FMA. Servo control system for Intelligent FMA was set up and high positioning accuracy was confimed by servo driving experiment.
AB - Recently, practical use of soft actuators is expected in the field of welfare robot. However, feedback control system for soft actuator has not been realized because appropriate sensor did not exist. Potentiometers or optical encoders which are generally used as displacement sensors have high stiffness and such sensors diminish the compliance of soft actuator. This paper presents fabrication of flexible displacement sensor and FMA (Flexible Microactuator) using this sensor. The flexible displacement sensor was fabricated by depositing conductive paste on the surface of rubber. A paste injection system was utilized to deposit the paste and it realized precise control of thickness, width and pattern of the film. Firstly, an experiment on flat type flexible displacement sensor was carried out to evaluate and improve the sensor. The experimental result showed enough linearity and detecting range. Then Intelligent FMA was fabricated by depositing conductive paste on the surface of FMA. Servo control system for Intelligent FMA was set up and high positioning accuracy was confimed by servo driving experiment.
KW - Conductive paste
KW - Flexible displacement sensor
KW - FMA
KW - Paste injection system
UR - http://www.scopus.com/inward/record.url?scp=33750706920&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33750706920&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:33750706920
VL - 72
SP - 2512
EP - 2518
JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 8
ER -