TY - JOUR
T1 - Self-Sensing and Feedback Control for a Twin Coil Spring-Based Flexible Ultrasonic Motor
AU - Sato, Yunosuke
AU - Kanada, Ayato
AU - Mashimo, Tomoaki
N1 - Funding Information:
Manuscript received February 24, 2020; accepted June 22, 2020. Date of publication July 9, 2020; date of current version July 17, 2020. This letter was recommended for publication by Associate Editor C. Onal and Editor C. Laschi upon evaluation of the reviewers’ comments. This work was supported by JSPS KAKENHI under Grant 19H02110. (Corresponding author: Yunosuke Sato.) Yunosuke Sato and Tomoaki Mashimo are with the Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi 441-8580, Japan (e-mail: y-sato@is.me.tut.ac.jp; mashimo@me.tut.ac.jp).
Publisher Copyright:
© 2016 IEEE.
PY - 2020/10
Y1 - 2020/10
N2 - We propose a twin coil spring-based soft actuator that can move forward and backward with extensibility and can bend left and right with flexibility. It is driven by two flexible ultrasonic motors, each consisting of a compact metallic stator and an elastic elongated coil spring. The position of the end effector is determined by the positional relationship of the two coils and can be kinetically controlled with a constant curvature model. In our design, the coil springs act not only as a flexible slider but also as a resistive positional sensor. Changes in the resistance between the stator and the coil spring end are converted to a voltage and used for position detection. Each flexible ultrasonic motor with the self-sensing is experimentally evaluated, and it has shown good response characteristics, high sensor linearity, and robustness, without losing flexibility and controllability. We build a twin coil spring-based flexible ultrasonic motor prototype and demonstrate feedback control of planar motion based on the constant curvature model.
AB - We propose a twin coil spring-based soft actuator that can move forward and backward with extensibility and can bend left and right with flexibility. It is driven by two flexible ultrasonic motors, each consisting of a compact metallic stator and an elastic elongated coil spring. The position of the end effector is determined by the positional relationship of the two coils and can be kinetically controlled with a constant curvature model. In our design, the coil springs act not only as a flexible slider but also as a resistive positional sensor. Changes in the resistance between the stator and the coil spring end are converted to a voltage and used for position detection. Each flexible ultrasonic motor with the self-sensing is experimentally evaluated, and it has shown good response characteristics, high sensor linearity, and robustness, without losing flexibility and controllability. We build a twin coil spring-based flexible ultrasonic motor prototype and demonstrate feedback control of planar motion based on the constant curvature model.
KW - continuum robots
KW - flexible robots
KW - piezoelectric actuators
KW - Soft sensors and actuators
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U2 - 10.1109/LRA.2020.3008118
DO - 10.1109/LRA.2020.3008118
M3 - Article
AN - SCOPUS:85088696236
SN - 2377-3766
VL - 5
SP - 5425
EP - 5431
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 9137634
ER -