Development of the extension type pneumatic soft actuator with built-in displacement sensor
Development of the extension type pneumatic soft actuator with built-in displacement sensor
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DOI：
10.1016/j.sna.2019.111623
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发表时间：
2019-12-01
影响因子：
4.6
通讯作者：
Kawashima, Kenji
中科院分区：
文献类型：
--
作者：
Azami, Osamu;Morisaki, Daisuke;Kawashima, Kenji
提出了一种在不需要外部位置传感器的情况下测量软气动执行器位移的方法。医疗系统和食品工业需要一次性、精确和人性化的致动器。该方法利用覆盖圆柱形软致动器的金属弹簧，因为弹簧的电感根据金属弹簧的长度而变化。弹簧还在加压期间限制致动器的径向膨胀。该致动器重量轻，重约30 [g]，可清洗，可消毒，一次性使用。得到了频率与位置关系的近似表达式，并通过实验验证了其有效性。所提出的致动器的位移传感具有良好的精度，用于医疗机器人和其他机器人与人类一起工作。(C)2019 Elsevier B.V.版权所有。
This paper proposes a method for a soft pneumatic actuator to measure its displacement without external position sensors, which are usually difficult for washing and sterilization. Medical systems and food industry desire disposable, precise, and human-friendly actuators. The method utilizes a metal spring which covers the cylindrical soft actuator, as the inductance of the spring changes according to the length of the metal spring. The spring also restrains the radial expansion of the actuator during pressurization. This actuator is lightweight, weighing about 30 [g] and is washable, sterilizable and disposable. An approximation of the relationship between the frequency and position was obtained, and its validity was evaluated through experiments. The displacement sensing of the proposed actuator has good accuracy for use in medical robots and other robots working with humans. (C) 2019 Elsevier B.V. All rights reserved.