Development of intelligent McKibben actuator with built-in soft conductive rubber sensor
Development of intelligent McKibben actuator with built-in soft conductive rubber sensor
复制标题
内置软质导电橡胶传感器的智能McKibben执行器的开发
DOI：
10.1109/sensor.2005.1496524
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Kanda
中科院分区：
文献类型：
--
作者：
S. Wakimoto;K. Suzumori;T. Kanda
本研究的目的是开发一种智能麦吉本驱动器，其中集成了一个软橡胶位移传感器。最近，McKibben致动器因其重量轻，输出功率高和高顺应性而吸引了工程师。但在目前将其用于伺服控制的情况下，系统需要编码器或电位计，因此系统往往会增大尺寸并失去柔度，而柔度对于安全可靠的机构来说是一个重要的优势。我们已经开发了一个软位移传感器，并将其纳入到一个McKibben驱动器，命名为智能McKibben驱动器，并证明了它的潜力。
This study aims at the development of an intelligent McKibben actuator, in which a soft rubber displacement sensor is integrated. Recently, the McKibben actuator has attracted engineers because of light weight, high output power and high compliance. But in the case of using it for servo control at present, the systems need encoders or potentiometers, therefore the systems tend to grow in size and take away from compliance which is an important advantage for a safe and secure mechanism. We have developed a soft displacement sensor and incorporated it in a McKibben actuator, named it the intelligent McKibben actuator, and proved its potential.