Soft pressure sensor embedded in McKibben actuator

Shuichi Wakimoto, K. Suzumori, Takefumi Kanda, K. Kure

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

2 Citations (Scopus)

Abstract

This study aims at development of intelligent McKibben actuators with embedded soft displacement/pressure sensors and micro valves. In the previous report, development of the rubber displacement sensor incorporated in the McKibben actuator and its application to the position servo system were reported. In this report, the soft pressure sensor made of rubber and conductive film was developed and embedded in the McKibben actuator. By measuring electrical resistance of the conductive film which changes following deformation of the rubber with internal pressure change of the actuator, pressure can be estimated. The results of the fundamental experiments to clear the characteristics of the sensor showed that it has the drift characteristics by the influence of creep behavior of the rubber. Therefore, we tried to apply the mechanical model to the sensor model. 2-Voigt mechanical model which consists of two springs and two dampers could agree the sensor characteristics. Using the model, we carried out the pressure control experiments and the force control experiments of the actuator. The results indicated the efficacy of the model. Furthermore we expect that the modeling method will be able to contribute to improving accuracy of several soft mechanisms.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOIs
Publication statusPublished - 2007
Event2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland
Duration: Sep 4 2007Sep 7 2007

Other

Other2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
CountrySwitzerland
CityZurich
Period9/4/079/7/07

Fingerprint

Pressure sensors
Actuators
Rubber
Conductive films
Sensors
Rubber films
Acoustic impedance
Pressure control
Experiments
Servomechanisms
Force control
Creep

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Wakimoto, S., Suzumori, K., Kanda, T., & Kure, K. (2007). Soft pressure sensor embedded in McKibben actuator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM [4412443] https://doi.org/10.1109/AIM.2007.4412443

Soft pressure sensor embedded in McKibben actuator. / Wakimoto, Shuichi; Suzumori, K.; Kanda, Takefumi; Kure, K.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2007. 4412443.

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

Wakimoto, S, Suzumori, K, Kanda, T & Kure, K 2007, Soft pressure sensor embedded in McKibben actuator. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 4412443, 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Zurich, Switzerland, 9/4/07. https://doi.org/10.1109/AIM.2007.4412443
Wakimoto S, Suzumori K, Kanda T, Kure K. Soft pressure sensor embedded in McKibben actuator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2007. 4412443 https://doi.org/10.1109/AIM.2007.4412443
Wakimoto, Shuichi ; Suzumori, K. ; Kanda, Takefumi ; Kure, K. / Soft pressure sensor embedded in McKibben actuator. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2007.
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