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Updated: Mar 2, 2026

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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
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PubMed
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.

Keywords:
InductanceIntelligent structuresPneumatic systemsRobot sensing systems

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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.