Contraction Sensing with Smart Braid McKibben Muscles

IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
Wyatt FeltC David Remy

Abstract

The inherent compliance of soft fluidic actuators makes them attractive for use in wearable devices and soft robotics. Their flexible nature permits them to be used without traditional rotational or prismatic joints. Without these joints, however, measuring the motion of the actuators is challenging. Actuator-level sensors could improve the performance of continuum robots and robots with compliant or multi-degree-of-freedom joints. We make the reinforcing braid of a pneumatic artificial muscle (PAM or McKibben muscle) "smart" by weaving it from conductive, insulated wires. These wires form a solenoid-like circuit with an inductance that more than doubles over the PAM contraction. The reinforcing and sensing fibers can be used to measure the contraction of a PAM actuator with a simple, linear function of the measured inductance. Whereas other proposed self-sensing techniques rely on the addition of special elastomers or transducers, the technique presented in this work can be implemented without modifications of this kind. We present and experimentally validate two models for Smart Braid sensors based on the long solenoid approximation and the Neumann formula, respectively. We test a McKibben muscle made from a Smart Braid in qu...Continue Reading

Citations

Oct 25, 2017·Soft Robotics·Wyatt FeltC David Remy
Feb 8, 2020·Soft Robotics·Lucas O Tiziani, Frank L Hammond
Sep 27, 2018·Advanced Science·Hongbo WangLucia Beccai
Mar 7, 2020·Advanced Materials·Joselle M McCrackenTimothy J White
Dec 29, 2020·Frontiers in Neurorobotics·Nan LinXinming Zhang

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