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Fabrication, Characterization and Control of Knit-covered Pneumatic Artificial Muscle

Title
Fabrication, Characterization and Control of Knit-covered Pneumatic Artificial Muscle
Author
최영진
Keywords
Conductive knit cover; pneumatic artificial muscle; sensing; control
Issue Date
2019-06
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE ACCESS, v. 7, Page. 84770-84783
Abstract
This paper presents the design, fabrication, characterization, and validation of three kinds of knit-covered pneumatic artificial muscle (called k-PAM) actuators, in which three different knits are made by braiding silver-plated (conductive) yarn and non-conductive yarns with different stitch methods. After a successful characterization process, these k-PAM actuators are able to provide feedback information on actuator length corresponding to the applied pressure. A complete fabrication method is proposed to make the actuator work for higher pressures (up to 300 kPa or more). Furthermore, since the force generated by the actuator is decoupled from the external force, ultimately, it can be directly used to measure both the length and the force. This paper contains the detailed characterization processes, the experimental validations of the sensing ability, and the several characteristics of the k-PAM actuators. It is expected that the k-PAM actuator can be used directly for robotic applications in higher pressure conditions, while the semi-permanent conductive knit cover provides the actuator with durability in highly repetitive situations.
URI
https://ieeexplore.ieee.org/document/8750788https://repository.hanyang.ac.kr/handle/20.500.11754/116406
ISSN
2169-3536
DOI
10.1109/ACCESS.2019.2925682
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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