Contraction Sensing with Smart Braid McKibben Muscles.
Contraction Sensing with Smart Braid McKibben Muscles.
复制标题
DOI：
10.1109/tmech.2015.2493782
复制
发表时间：
2016-06
期刊：
影响因子：
--
通讯作者：
Remy CD
中科院分区：
文献类型：
--
作者：
Felt W;Chin KY;Remy CD
软流体致动器的固有顺应性使得它们在可穿戴设备和软机器人中具有吸引力。它们的灵活性允许它们在没有传统旋转或棱柱接头的情况下使用。然而，如果没有这些关节，测量致动器的运动是具有挑战性的。执行器级传感器可以提高连续体机器人和具有柔性或多自由度关节的机器人的性能。我们通过用导电绝缘线编织充气人工肌肉（PAM或McKibben肌肉）的加强编织物来使其“智能”。这些导线形成了一个类似螺线管的电路，其电感比PAM收缩时增加了一倍多。增强纤维和传感纤维可用于测量PAM致动器的收缩，其具有所测量的电感的简单线性函数。而其他提出的自感测技术依赖于添加特殊的弹性体或换能器，在这项工作中提出的技术可以在没有这种修改的情况下实现。我们提出并实验验证了两个模型的智能编织传感器的基础上长螺线管近似和诺依曼公式，分别。我们在准静态条件下测试了由智能编织物制成的McKibben肌肉，并在动态条件下测试了各种端部载荷。我们还测试了智能编织传感器与钢的性能。
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 quasistatic conditions with various end-loads and in dynamic conditions. We also test the performance of the Smart Braid sensor alongside steel.