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Contraction Sensing with Smart Braid McKibben Muscles.
Wyatt Felt1, Khai Yi Chin1, C David Remy1
1Robotics and Motion Laboratory (RAMlab), University of Michigan, Ann Arbor, MI, USA.
IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
|May 16, 2017
Summary
Researchers developed a "smart" braid for pneumatic artificial muscles (PAMs) that doubles its inductance upon contraction. This self-sensing capability allows for accurate motion measurement without additional components, enhancing soft robotics applications.
Area of Science:
- Soft Robotics and Wearable Devices
- Sensor Technology
- Materials Science
Background:
- Soft fluidic actuators offer inherent compliance for wearable devices and soft robotics, enabling jointless designs.
- Measuring actuator motion in compliant systems is challenging due to the absence of traditional joints.
- Actuator-level sensors are crucial for improving the performance of continuum robots and those with complex joints.
Purpose of the Study:
- To develop a self-sensing capability for pneumatic artificial muscles (PAMs) by modifying their reinforcing braid.
- To enable accurate measurement of PAM contraction without external transducers or material modifications.
- To validate novel sensing models for enhanced robotic control and performance.
Main Methods:
- Fabrication of a "smart" braid using conductive, insulated wires woven into the reinforcing structure of PAMs.
- Characterization of the inductance changes within the smart braid during PAM contraction.
- Experimental validation of two theoretical models (long solenoid approximation and Neumann formula) for inductance-based sensing.
Main Results:
- The smart braid's inductance more than doubles upon PAM contraction, providing a clear sensing signal.
- A simple, linear function of measured inductance accurately correlates with PAM contraction.
- The smart braid sensor demonstrated reliable performance in quasistatic and dynamic conditions, comparable to traditional sensors.
Conclusions:
- The smart braid offers an intrinsic self-sensing method for PAMs, eliminating the need for external sensors or specialized materials.
- This technique significantly simplifies the integration of sensing capabilities into soft robotic actuators.
- The developed smart braid technology holds promise for advancing the control and application of soft robotics and wearable devices.
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