Smart braid: Air muscles that measure force and displacement
Smart braid: Air muscles that measure force and displacement
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智能编织物：测量力和位移的空气肌肉
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
C. Remy
中科院分区：
文献类型：
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作者：
Wyatt Felt;C. Remy
本文介绍了一种测量气动人工肌肉收缩长度和力输出的新方法。我们的关键创新是用形成单一电路的绝缘线来制作这些纤维增强的致动器的编织。这个回路的电感和电阻的变化可能与肌肉收缩长度和肌力有关。我们在两块McKibben肌肉中实施了所提出的方法，这两块肌肉在不同的气压(0-200kpa)和负载(0-45N)下进行了评估。实验证实了我们的理论预测，即测量的电感与收缩长度之间大致呈线性关系，以及测量的电阻与执行力之间存在很强的相关性。我们能够以5N的分辨率确定力，以0.5 mm的分辨率确定收缩长度。这项技术可以用来制造灵活、精确和坚固的自感知执行器，使许多机器人应用受益。
In this paper, we introduce a novel method to measure the contraction length and force output of Pneumatic Artificial Muscles. Our key innovation is to make the braid of these fiber-reinforced actuators out of insulated wires that form a single electric circuit. Changes in the inductance and resistance of this circuit can be related to muscle contraction length and muscle force. We implemented the proposed approach in two McKibben muscles that were evaluated under a variety of air pressures (0-200 kPa) and loads (0-45 N). The experiments confirmed our theoretical prediction of a roughly linear relationship between the measured inductance and the contraction length, as well as a strong correlation between the measured resistance and the actuator force. We were able to determine force with a resolution of 5N and contraction length with a resolution of 0.5 mm. This technique can be used to create flexible, precise, and robust self-sensing actuators that benefit a multitude of robotic applications.