New concept and fundamental experiments of a smart pneumatic artificial muscle with a conductive fiber
New concept and fundamental experiments of a smart pneumatic artificial muscle with a conductive fiber
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导电纤维智能气动人工肌肉新概念及基础实验
DOI：
10.1016/j.sna.2016.08.004
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Koichi Suzumori
中科院分区：
文献类型：
--
作者：
Shuichi Wakimoto;Junpei Misumi;Koichi Suzumori
由橡胶管和纤维制成的网状套筒组成的McKibben人工肌肉是一种很有前途的人工肌肉驱动器，因为它具有高功率、低重量和柔性。本文提出并研制了一种新型的具有压力传感功能的智能McKibben型人工肌肉。致动器套筒上的一根纤维从正常材料转换为导电材料。通过观察导电纤维的电阻来估计所施加的压力。因此，光纤可以同时作为传感器和执行器元件。本报告建立了智能人工肌肉的制作工艺，并阐明了其基本特性。此外，一个紧凑的驱动控制系统的智能人工肌肉，它使用一个小型的旋转泵没有外部传感器，电/气调节器，或阀门，提出。
A McKibben artificial muscle consisting of a rubber tube and a mesh sleeve made from fibers is a promising actuator as an artificial muscle because of its high power, low weight, and flexibility. However, an external pressure sensor or an expensive electro/pneumatic regulator is generally required to control the pneumatic pressure to drive the actuator.A novel smart McKibben-type artificial muscle with a pressure-sensing function has been proposed and developed in this study. One fiber on the sleeve of the actuator is converted from a normal to a conductive material. The applied pressure is estimated by observing the electrical resistance of the conductive fiber. Therefore, the fiber works as both a sensor and an actuator element.The fabrication process of the smart artificial muscle is established in this report, and the basic characteristics are clarified. Moreover, a compact driving control system of the smart artificial muscle, which uses a small rotary pump without external sensors, electro/pneumatic regulator, or valves, is proposed.