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 language | English |
|---|---|
| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| DOIs | |
| Publication status | Published - 2007 |
| Event | 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland Duration: Sep 4 2007 → Sep 7 2007 |
Other
| Other | 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
|---|---|
| Country | Switzerland |
| City | Zurich |
| Period | 9/4/07 → 9/7/07 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Soft pressure sensor embedded in McKibben actuator
AU - Wakimoto, Shuichi
AU - Suzumori, K.
AU - Kanda, Takefumi
AU - Kure, K.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=48649100143&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48649100143&partnerID=8YFLogxK
U2 - 10.1109/AIM.2007.4412443
DO - 10.1109/AIM.2007.4412443
M3 - Conference contribution
AN - SCOPUS:48649100143
SN - 1424412641
SN - 9781424412648
BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ER -