Novel Twisted and Coiled Polymer Fiber Actuator Fabricated from Polymer-coated Optical Fiber
Novel Twisted and Coiled Polymer Fiber Actuator Fabricated from Polymer-coated Optical Fiber
复制标题
由聚合物涂层光纤制成的新型扭曲和卷曲聚合物纤维致动器
DOI：
10.1109/lra.2021.3070247
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发表时间：
2021
影响因子：
5.2
通讯作者：
Tahara Kenji
中科院分区：
文献类型：
--
作者：
Masuya Ken;Tahara Kenji
提出了一种基于聚合物涂层光纤的新型缠绕聚合物光纤(TCPF)驱动器。TCPF执行器是一种由加热驱动的软执行器；TCPF执行器与冷却系统相结合在机器人中的应用已被广泛研究。感测是此类装置中的一个主要问题；尤其是温度感测对于TCPF的安全使用非常重要。为了实现这一点，通常利用加热丝的电性能。然而，这种方法受到输入电压噪声的影响，因为用于激励的电路与用于传感的电路相同。为了分离这些电路，本研究开发了一种基于光纤的TCPF温度传感方法。为了只将聚合物的热传输到光纤，我们将光纤嵌入TCPF中。本研究实验证明，用聚合物涂层光纤制作的TCPF驱动器可以通过加热驱动。此外，利用所开发的传感方法，我们实现了等轴测条件下的温度和力控制。
This study proposes a novel twisted and coiled polymer fiber (TCPF) actuator fabricated from a polymer-coated optical fiber. The TCPF actuator is a soft actuator that is driven by heating; the TCPF actuator in combination with a cooling system has been widely studied for applications in robotics. Sensing is a major issue in such units; in particular, temperature sensing is important for the safe usage of the TCPF. To achieve this, the electrical properties of the heating wire are typically utilized. However, this method is affected by the input voltage noise because the circuit used for actuation is the same as that used for sensing. To separate these circuits, this study developed a temperature-sensing method for the TCPF based on an optical fiber. For propagating only the heat of the polymer to the optical fiber, we embedded the optical fiber in the TCPF. This study experimentally demonstrated that the TCPF actuator fabricated using the polymer-coated optical fiber can be driven by heating. Furthermore, using the developed sensing method, we achieved temperature and force control under isometric conditions.