Modified Stiffness-Based Soft Optical Waveguide Integrated Pneumatic Artificial Muscle (PAM) Actuators for Contraction and Force Sensing
- Title
- Modified Stiffness-Based Soft Optical Waveguide Integrated Pneumatic Artificial Muscle (PAM) Actuators for Contraction and Force Sensing
- Author
- 최영진
- Keywords
- Power, Energy and Industry Applications; Components, Circuits, Devices and Systems; Actuators; Strain; Robot sensing systems; Optical sensors; Sensors; Force; Optical feedback; Contraction sensing; force sensing; pneumatic artificial muscle (PAM) actuator; soft optical waveguide
- Issue Date
- 2021-12
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 26, NO 6, Page. 3243-3253
- Abstract
- This article presents design, fabrication, characterization, and experimental verification of a new sensing method (soft optical sensing) for pneumatic artificial muscle (PAM) actuators. Soft optical waveguides are designed and fabricated using the proposed modified stiffness concept for soft sensors. The design of the sensor allows us to measure both contraction and force of a PAM actuator under loaded conditions. This proposed method makes it possible to have a highly sensitive actuator system with linear contraction sensing. The sensorized PAMs are supposed to work in high-pressure applications with the ability to be used repeatedly without significant degradation in signal quality. To characterize and validate the proposed method, two PAM actuators make use of two separately designed test systems to plot and model the characteristic curves. Finally, the validation for control is provided using measured sensor data as feedback to the controller.
- URI
- https://ieeexplore.ieee.org/document/9346042?arnumber=9346042&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/169558
- ISSN
- 1083-4435; 1941-014X
- DOI
- 10.1109/TMECH.2021.3056563
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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