Flexible displacement sensor using piezoelectric polymer for intelligent FMA

Y. Yamamoto, K. Kure, T. Iwa, Takefumi Kanda, K. Suzumoru

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

Recently, a variety of soft actuators have been developed. However, applicable sensors such as potentiometers and optical encoders generally have high stiffness. Therefore, a soft actuator loses its compliance when these sensors are used with the actuator. Thus, in this research, we have developed a flexible displacement sensor that can keep the compliance of a soft actuator. The fabricated flexible displacement sensor is composed of piezoelectric polymer, conductive paste and base rubber. Piezoelectric polymer: poly(vinylidene fluoridetrifluoroethylene) [P(VDF/TrFE)] was used for the detection of displacement and conductive paste was used for electrodes. An intelligent FMA (Flexible Microactuator) was developed by attaching these sensors. Displacement of the inteDigent FMA and the sensor output voltage were compared, and sensing features were evaluated. Furthermore, servo control of the intelligent FMA using the sensor was performed. As a result, high positioning accuracy was verified.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages765-770
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Yamamoto, Y., Kure, K., Iwa, T., Kanda, T., & Suzumoru, K. (2007). Flexible displacement sensor using piezoelectric polymer for intelligent FMA. In IEEE International Conference on Intelligent Robots and Systems (pp. 765-770). [4399268] https://doi.org/10.1109/IROS.2007.4399268