Integrated Capacitance Sensing for Miniature Artificial Muscle Actuators
Integrated Capacitance Sensing for Miniature Artificial Muscle Actuators
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DOI：
10.1109/jsen.2019.2946268
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发表时间：
2020-02-01
影响因子：
4.3
通讯作者：
Vander Poorten, Emmanuel
中科院分区：
文献类型：
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作者：
Legrand, Julie;Loenders, Bart;Vander Poorten, Emmanuel
McKibben气动人工肌肉因其重量轻、小型化潜力大、柔顺性好、驱动力大等优点，在外科手术器械中的应用日益广泛。然而，由于肌肉固有的滞后性，精确的位置和力控制仍然具有挑战性。本工作提出了一种用于微型人工肌肉的易于制作的集成电容传感器，该传感器用两根导线代替肌肉编织的两股。通过测量两根导线之间在高频激励下的电容，可以推断出肌肉的长度。这种新的集成传感器仍然可以使McKibben肌肉微型化。与原始的McKibben肌肉相比，集成了电容传感的微型肌肉只损失了3%的收缩长度。该传感器可以预测肌肉长度，精度为0.31 mm，平均可达到肌肉总收缩范围的80%以上。
The use of McKibben pneumatic artificial muscles in surgical instruments is increasing due to their light weight, miniaturization potential, compliance and large actuation force. However, precise position and force control is still challenging due to the intrinsic muscle hysteresis. The present work proposes an easy-to-make integrated capacitance sensor for miniature artificial muscles by replacing two strands of the muscle braid with two conductive wires. By measuring the capacitance at high excitation frequency between both wires, the length of the muscle can be deduced. This new integrated sensor still allows the miniaturization of McKibben muscles. The miniature muscle with integrated capacitance sensing only loses 3% of its contraction length with regard to an original McKibben muscle. The sensor can predict the muscle length with a 0.31mm precision over 80% of the muscle total achievable contraction range in average.