Intelligent FMA using flexible displacement sensor with paste injection

Kenji Kure, Takefumi Kanda, Koichi Suzumori, Shuichi Wakimoto

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

14 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 and when they are used in a soft actuator, the actuator loses its compliance. To solve this problem, a flexible displacement sensor has been developed. This sensor was fabricated by depositing a conductive paste onto a rubber seat. Paste injection was utilized in the fabrication process of the sensor, and precise control of thickness, width and pattern of the conductive film and deposition onto a curved surface was realized by this system. Firstly, an experiment on a flat-type flexible displacement sensor was conducted to evaluate and improve the sensor. The experimental results showed sufficient linearity and detecting range. Then, an intelligent FMA (Flexible Microactuator) was fabricated by depositing the conductive paste onto the surface of an FMA. A servo control system for the intelligent FMA was set up, and high positioning accuracy was confirmed by a servo driving experiment.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1012-1017
Number of pages6
DOIs
Publication statusPublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

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Keywords

  • Conductive paste
  • Flexible displacement sensor
  • Flexible microactuator
  • Paste injection system

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Kure, K., Kanda, T., Suzumori, K., & Wakimoto, S. (2006). Intelligent FMA using flexible displacement sensor with paste injection. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1012-1017). [1641842] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641842